WO2023071828A1

WO2023071828A1 - Positioning method and system, terminal device, satellite, computer-readable storage medium, and program product

Info

Publication number: WO2023071828A1
Application number: PCT/CN2022/125337
Authority: WO
Inventors: 涂奎; 王宇欣; 刘诗虎; 沈淀
Original assignee: 中移(上海)信息通信科技有限公司; 中移智行网络科技有限公司; 中国移动通信集团有限公司
Priority date: 2021-10-26
Filing date: 2022-10-14
Publication date: 2023-05-04
Also published as: CN113687399A; CN113687399B

Abstract

A positioning method and system, a terminal device and a satellite, which relate to the technical field of communications, so as to solve the problems that existing positioning methods have high terminal costs and cannot provide high-precision positioning services in scenarios without network coverage. The positioning method comprises: a terminal device receiving N positioning signals transmitted by N satellites (101); receiving N groups of differential positioning information that are broadcasted by the N satellites and that are associated with M ground reference stations (102); determining a target ground reference station according to a target parameter (103), the target parameter comprising information of the number of times each ground reference station among the M ground reference stations appears in the N groups of differential positioning information; and positioning the location of the terminal device according to target differential positioning information associated with the target ground reference station among the N groups of differential positioning information and the N positioning signals (104). In the positioning method, the terminal device does not need to have a mobile communication function, terminal costs may be reduced, and the positioning method may also be used in a scenario without mobile network coverage.

Description

A positioning method, system, terminal equipment, satellite, computer readable storage medium and program product

Cross References to Related Applications

The embodiment of this application is based on the Chinese patent application with the application number 202111244688.4, the application date is October 26, 2021, and the application name is "a positioning method, system, terminal equipment and satellite", and the priority of the Chinese patent application is required Right, the entire content of this Chinese patent application is hereby incorporated into this application as a reference.

technical field

The present application relates to the field of communication technology, and in particular to a positioning method, system, terminal equipment, satellite, computer-readable storage medium and program product.

Background technique

At present, satellite positioning is a relatively common positioning method. By observing multiple satellites, the distance between the known satellite and the user terminal is measured, and then the specific location of the user terminal can be determined by integrating the data of multiple satellites. However, satellite signals are easily affected by factors such as sunspot movement, bad weather, and electromagnetic interference, resulting in inaccurate positioning. In related technologies, differential positioning technology is usually used to counteract these interference effects. The principle is to measure the current satellite signal by setting a ground reference station, and calculate the signal's position based on the actual position known by the ground reference station and the received satellite signal. The differential positioning information is sent by the reference station to the user terminal, and the user terminal uses the differential positioning information to correct its measurement results, thereby obtaining more accurate positioning results.

In the related technology, the user terminal obtains the differential positioning information through the interaction between the mobile communication network and the high-precision positioning platform, that is, the user terminal needs to support the mobile communication function, and the location needs to be covered by the mobile communication network, which causes the high cost of the user terminal , and cannot provide high-precision positioning services in scenarios without network coverage.

Contents of the invention

Embodiments of the present application provide a positioning method, system, terminal device, satellite, computer-readable storage medium, and program product, which reduce the cost of terminal device positioning and improve positioning accuracy in scenarios without network coverage.

In the first aspect, the embodiment of the present application provides a positioning method, including:

The terminal device receives N positioning signals transmitted by N satellites, where one satellite corresponds to one positioning signal, and N is an integer greater than 1;

The terminal device receives N sets of differential positioning information associated with M ground reference stations broadcast by the N satellites, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes information associated with the M ground reference stations. M _j differential positioning information of M _j ground reference stations in the station, j is any integer from 1 to N, M is an integer greater than 1, and M _j is a positive integer;

The terminal device determines the target ground reference station according to the target parameter, wherein the target parameter includes information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information;

The terminal device locates the position of the terminal device according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals.

In some embodiments, the target parameter further includes received power information of each positioning signal in the N positioning signals;

The terminal device determines the target ground reference station according to the target parameters, including:

The terminal device determines the number of occurrences of the i-th ground reference station in the N sets of differential positioning information, where i is any integer from 1 to M;

The terminal device uses the received power of the positioning signal transmitted by the satellite corresponding to each group of differential positioning information to weight the number of occurrences of the i-th ground reference station in the corresponding set of differential positioning information, and determine the i-th ground reference station The weighted times of the reference station;

The terminal device determines the ground reference station with the most weighted times as the target ground reference station.

In some embodiments, the terminal device uses the received power of the positioning signal transmitted by the satellite corresponding to each set of differential positioning information to weight the number of occurrences of the i-th ground reference station in the corresponding set of differential positioning information, and determine The weighted times of the i-th ground reference station include:

The terminal device is based on the formula

Calculate the weighted number K _i of the i-th ground reference station, where P _j represents the received power of the positioning signal transmitted by the j-th satellite corresponding to the j-th group of differential positioning information, and R _ij represents the i-th ground reference station The number of occurrences in the jth group of differential positioning information.

In some embodiments, each set of differential positioning information carries the position information of the associated ground reference stations; the target parameters also include the position information of the M ground reference stations; the terminal device determines the target according to the target parameters Ground reference stations, including:

determining preliminary location information of the terminal device according to the N positioning signals;

According to the position information of the M ground reference stations and the preliminary position information, determine the ground reference station closest to the terminal device among the M ground reference stations as the target ground reference station.

In some embodiments, the terminal device locates the position of the terminal device according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals, including:

The terminal device locates the position of the terminal device according to the target differential positioning information and the N positioning signals within the continuous target duration;

The terminal device re-determines a target ground reference station for locating the position of the terminal device after an interval of the target time length, and repositions the terminal device based on the re-determined target ground reference station.

In some embodiments, the target duration is determined based on the target parameter and the moving speed of the terminal device.

In the second aspect, the embodiment of this application also provides another positioning method, including:

The satellite transmits a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal;

The satellite receives differential positioning information associated with at least one ground reference station sent by the satellite ground station;

The satellite broadcasts the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.

In a third aspect, the embodiment of the present application further provides a terminal device, including a transceiver and a processor, wherein,

The transceiver is used to receive N positioning signals transmitted by N satellites, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1; and the N positioning signals associated with M ground reference stations broadcast by the N satellites are received. A set of differential positioning information, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes M _j differential positioning information associated with M _j ground reference stations in the M ground reference stations, where j is 1 to any integer in N, M is an integer greater than 1, and M _j is a positive integer;

The processor is used to determine the target ground reference station according to the target parameter, wherein the target parameter includes information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information; according to the The N sets of differential positioning information are associated with the target differential positioning information of the target ground reference station and the N positioning signals to locate the position of the terminal device.

The processor is used to:

Determine the number of occurrences of the i-th ground reference station in the N sets of differential positioning information, where i is any integer from 1 to M;

Using the received power of the positioning signal transmitted by the satellite corresponding to each group of differential positioning information, weighting the number of occurrences of the i-th ground reference station in the corresponding group of differential positioning information, and determining the weight of the i-th ground reference station frequency;

The ground reference station with the most weighted times is determined as the target ground reference station.

In some embodiments, the processor is configured to formula-based

In some embodiments, each set of differential positioning information carries position information of associated ground reference stations; the target parameters also include position information of the M ground reference stations;

The processor is also used to:

In some embodiments, the processor is further configured to:

Within the continuous target duration, locate the position of the terminal device according to the target differential positioning information and the N positioning signals;

After the interval of the target duration, re-determine the target ground reference station used to locate the position of the terminal device, and reposition the terminal device based on the re-determined target ground reference station, to obtain the relocated terminal device Location.

In a fourth aspect, the embodiment of the present application further provides a satellite, including: a transceiver and a processor, wherein the second transceiver is used for:

Transmitting a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal;

receiving differential positioning information associated with at least one ground reference station sent by the satellite ground station;

broadcasting the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.

In the fifth aspect, the embodiment of the present application also provides a positioning system, including: N satellites, M ground reference stations, a positioning platform, a satellite communication platform, a satellite ground station, and terminal equipment, wherein both N and M are greater than 1 an integer of

The N satellites are all used to transmit positioning signals to the ground;

The M ground reference stations are used to observe the positioning signals transmitted by the N satellites, wherein each ground reference station observes some or all of the satellites in the N satellites; and sends positioning signals to the positioning platform respectively data observation;

The positioning platform is used to receive the positioning signal observation data respectively sent by the M ground reference stations to obtain M sets of positioning signal observation data; based on the M sets of positioning signal observation data, calculate the differential positioning associated with each ground reference station information to obtain M groups of differential positioning information; according to the difference of the corresponding satellites, the M groups of differential positioning information are combined into N groups of differential positioning information, wherein one set of differential positioning information corresponds to one satellite, and the jth group of differential positioning information includes association M _j pieces of differential positioning information of M _j ground reference stations in the M ground reference stations, j is any integer from 1 to N;

sending the N sets of differential positioning information to the satellite communication platform;

The satellite communication platform is used to receive the N sets of differential positioning information sent by the positioning platform;

sending the N sets of differential positioning information to the satellite ground station;

The satellite ground station is used to send respectively corresponding differential positioning information to the N satellites;

The N satellites are also respectively used to receive the differential positioning information corresponding to each sent by the satellite ground station; broadcast the respective differential positioning information;

The terminal device is used to receive N positioning signals transmitted by the N satellites; receive the N sets of differential positioning information broadcast by the N satellites; determine the target ground reference station according to the target parameters, wherein the target The parameters include information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information; according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and The N positioning signals are used to locate the position of the terminal device.

In the sixth aspect, the embodiment of the present application also provides a terminal device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program The steps in the positioning method described in the first aspect above are realized.

In the seventh aspect, the embodiment of the present application also provides a satellite, including: a transceiver, a memory, a processor, and a computer program stored in the memory and operable on the processor, and the computer program is implemented when the processor executes the computer program. The steps in the positioning method described in the second aspect above.

In the eighth aspect, the embodiment of the present application also 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 positioning method described in the first aspect above is implemented. or implement the steps in the positioning method described in the second aspect above.

In this embodiment of the application, the terminal device receives N positioning signals transmitted by N satellites, where one satellite corresponds to one positioning signal, and N is an integer greater than 1; the terminal device receives the associated M N sets of differential positioning information of ground reference stations, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes M _j differential positioning information associated with M _j ground reference stations in the M ground reference stations Positioning information, j is any integer from 1 to N, M is an integer greater than 1, and M _j is a positive integer; the terminal device determines the target ground reference station according to the target parameters, wherein the target parameters include the The number of occurrences of each ground reference station among the M ground reference stations in the N sets of differential positioning information; the terminal device associates the target differential positioning information and the target ground reference station in the N sets of differential positioning information The N positioning signals are used to locate the position of the terminal device. In this way, the terminal device can select the target ground suitable for the current use of the terminal by receiving multiple sets of differential positioning information associated with multiple ground reference stations broadcast by satellites, and according to the number of times each ground reference station appears in the multiple sets of differential positioning information. The target differential positioning information corresponding to the reference station can then be combined with the target differential positioning information and the positioning signal transmitted by the satellite to perform high-precision positioning of the terminal equipment. This method does not require the terminal equipment to have mobile communication functions, thereby reducing the cost of the terminal. It can also be used in scenarios without mobile network coverage.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that need to be used in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is one of the flowcharts of the positioning method provided by the embodiment of the present application;

FIG. 2 is an architecture diagram of a positioning system provided by an embodiment of the present application;

Fig. 3 is the second flowchart of the positioning method provided by the embodiment of the present application;

FIG. 4 is one of the structural diagrams of a terminal device provided in an embodiment of the present application;

Fig. 5 is one of the structural diagrams of the satellite provided by the embodiment of the present application;

FIG. 6 is the second structural diagram of the terminal device provided by the embodiment of the present application;

FIG. 7 is the second structural diagram of the satellite provided by the embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

Referring to FIG. 1, FIG. 1 is a flow chart of the positioning method provided in the embodiment of the present application. As shown in FIG. 1, it includes the following steps:

Step 101, the terminal device receives N positioning signals transmitted by N satellites, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1.

The embodiment of the present application may implement a high-precision positioning function for a terminal device based on the satellite communication-based high-precision positioning system architecture shown in FIG. 2 . As shown in Figure 2, the positioning system includes N satellites 21, M ground reference stations 22, a positioning platform 23, a satellite communication platform 24, a satellite ground station 25 and a terminal device 26, wherein N and M can be determined according to actual scenarios The satellite coverage corresponding to the location of the terminal device 26 and the coverage of the ground reference station are determined, that is, for the terminal device that needs to be positioned currently, there are N satellites that can cover the current location of the terminal device, and the terminal device can receive N Each satellite can be observed by different ground reference stations, and each ground reference station can observe different satellite positioning signals according to different deployment locations. For example, in an embodiment as shown in FIG. 2 , the terminal device 26 can receive positioning signals transmitted from satellite 1 to satellite 4, wherein satellite 1 can be observed by ground reference station 1 and ground reference station 2, and satellite 2 can be observed by ground reference station 1 and ground reference station 2. Ground reference station 1 to ground reference station 3 observe, satellite 3 can be observed by ground reference station 1 to ground reference station 3, and satellite 4 can be observed by ground reference station 2 and ground reference station 3.

Among them, the satellite 21 refers to the equipment used to send and receive satellite communication signals and transmit positioning signals in the satellite system, wherein the satellite communication signal includes communication information between the satellite and the satellite ground station and the Internet access provided by the satellite to the satellite communication terminal equipment, For point-to-point or broadcast information such as voice and short message, the positioning signal is a reference signal for terminal equipment to provide positioning.

The ground reference station 22 is used for long-term continuous observation of satellite positioning signals, and the observation data is transmitted to the positioning platform in real time or regularly by the communication facility for the calculation of differential positioning information. Ground reference stations are usually covered continuously, and the station spacing is between tens of kilometers to hundreds of kilometers.

The positioning platform 23 may be a high-precision positioning platform, which is used to calculate the observation data of each ground reference station, and calculate the differential positioning information associated with each ground reference station, which is used for the positioning terminal to perform position calculation.

The satellite communication platform 24 is an important part of the satellite communication system, and its basic function is to transmit signals to satellites and receive signals transmitted by other satellite ground stations via satellites at the same time.

The satellite ground station 25 is used to manage the sending and receiving of satellite communication information and obtain differential positioning information from the positioning platform, and send the differential positioning information calculated by the positioning platform to the satellite ground station, which is sent to the satellite by the satellite ground station, and then broadcast by satellite broadcasting .

The terminal device 26 is used to judge and select the differential positioning information suitable for current use through the received satellite positioning signal and the differential positioning information broadcasted by the satellite, and finally calculate the high-precision position information of the terminal according to the satellite positioning signal and the differential positioning information.

In this way, in the embodiment of the present application, the N satellites can respectively transmit positioning signals to the ground, so that the terminal device can receive the N positioning signals transmitted by the N satellites, and the positioning signals are conventional satellite positioning signals.

Step 102, the terminal device receives N sets of differential positioning information associated with M ground reference stations broadcast by the N satellites, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes the information associated with the M M _j pieces of differential positioning information of M _j ground reference stations in ground reference stations, j is any integer from 1 to N, M is an integer greater than 1, and M _j is a positive integer.

In the embodiment of the present application, each ground reference station can observe the positioning signals transmitted by the corresponding satellites according to their respective coverage areas, and can send the observation results to the positioning platform. It is understandable that the range covered by non-synchronous satellites usually changes, and the range covered by ground reference stations does not correspond to the range covered by satellite signals. Therefore, one ground reference station will observe multiple satellite positioning signals, and one satellite transmits The positioning signal of is also observed by multiple ground reference stations, and the ground reference stations can send their observed data to the positioning platform.

In the embodiment of the present application, the positioning platform may be based on the observation results reported by each ground reference station. The corresponding differential positioning information is calculated, and the calculated differential positioning information is sent to the satellite communication platform. In some embodiments, the positioning platform can first gather the data observed by each ground reference station together, and calculate the corresponding differential positioning information, as shown in the example of the satellite observation by the ground reference station in Figure 2, satellite 1 can be obtained The observation relationship between the satellite 4 and the ground reference station 1 and the ground reference station 3 can be shown in Table 1 below.

Table 1 Observation data of ground reference stations and corresponding differential positioning information

It should be noted that the above Table 1 is just an example. The actual table is updated according to the actual measurement situation of the ground reference station. The observation data and differential positioning information in the table are only indicative. The algorithm and The conventional high-precision positioning algorithm is the same, that is, the differential parameters of the signal can be calculated according to the actual position known by the ground reference station and the position based on the received satellite signal.

The positioning platform can readjust the observation data in the above Table 1 from the satellite dimension to form a differential positioning information table, which can be specifically shown in Table 2 below.

In the embodiment of the present application, through the above adjustments, N sets of differential positioning information corresponding to different satellites can be obtained. Each set of differential positioning information includes differential positioning information associated with several ground reference stations, wherein the jth set of differential positioning information includes associations. The M _j differential positioning information of the M _j ground reference stations in the M ground reference stations, for example, the first group of differential positioning information corresponding to the satellite 1 in Table 2 includes the associated ground reference station 1 and the ground reference station 2 respectively The second differential positioning information corresponding to satellite 2 includes three differential positioning information associated with ground reference station 1 to ground reference station 3, and the third differential positioning information corresponding to satellite 3 includes The 3 differential positioning information from reference station 1 to ground reference station 3, the fourth group of differential positioning information corresponding to satellite 4 includes 2 differential positioning information associated with ground reference station 2 and ground reference station 3 respectively.

Table 2 Differential positioning information table

The positioning platform can send the above N sets of differential positioning information to the satellite communication platform, and then the satellite communication platform sends the N sets of differential positioning information to each satellite respectively through the satellite ground station, that is, the satellite communication platform sends Each satellite only sends a set of differential positioning information corresponding to the satellite.

After the N satellites receive their respective differential positioning information, they can broadcast their respective differential positioning information to the terminal equipment, wherein, the differential positioning information broadcast by each satellite only includes The differential positioning information corresponding to the observation, for example, the differential positioning information broadcast by satellite 1 is only the differential positioning information corresponding to satellite 1 in the above differential positioning information table 2, that is, including the differential positioning associated with ground reference station 1 and ground reference station 2 respectively information.

In this way, the terminal device can receive N sets of differential positioning information broadcast by the N satellites and associated with the M ground reference stations.

Step 103, the terminal device determines the target ground reference station according to the target parameter, wherein the target parameter includes information on the number of occurrences of each ground reference station among the M ground reference stations in the N sets of differential positioning information.

When the terminal device needs a high-precision positioning service, it can select its currently applicable target differential positioning information from the received N sets of differential positioning information; N sets of differential positioning information, counting the number of occurrences of each ground reference station in the N sets of differential positioning information among the M ground reference stations, and then selecting a target ground reference station suitable for positioning based on the number of times information , and then select the target differential positioning information associated with the target ground reference station from the N sets of differential positioning information, and use it as the differential positioning information used for the current positioning.

In one embodiment, the terminal device may determine the number of occurrences of each ground reference station among the M ground reference stations according to the ground reference station associated with each differential positioning information in the N sets of differential positioning information, and The ground reference station with the most occurrences is determined as the target ground reference station.

In the embodiment of this application, since the number of corresponding satellites above the terminal device is observed to be the largest from the ground reference station closest to the terminal device, the satellites above the terminal device can receive more recent The differential positioning information corresponding to the ground reference station, so when counting and summarizing the differential positioning information, the ground reference station with the most occurrences is the ground reference station closest to the terminal device. At this time, the differential positioning information corresponding to the ground reference station is used. Location information is the best option to improve the accuracy of the final location.

For example, the terminal device has received 4 sets of differential positioning information broadcasted by satellite 1 to satellite 4, assuming that the aforementioned differential positioning information table 2 is an example, the differential positioning information broadcast by satellite 1 includes the associated ground reference station 1 and the ground reference station For the differential positioning information of station 2, the differential positioning information broadcast by satellite 2 includes the differential positioning information of the associated ground reference station 1 to the ground reference station 3, and the differential positioning information broadcast by the satellite 3 includes the associated ground reference station 1 to the ground reference station The differential positioning information of station 3 and the differential positioning information broadcast by satellite 4 include the differential positioning information of the associated ground reference station 2 and ground reference station 3. By counting the occurrence times of each ground reference station, it can be determined that the ground reference station 1 has appeared 3 times, ground reference station 2 appeared 4 times, ground reference station 3 appeared 3 times, and ground reference station 2 appeared the most, so the differential positioning information obtained by ground reference station 2 can be selected as the current most Differential positioning information suitable for use by the terminal device.

The step 103 includes:

That is, in another embodiment, the influence of satellite position on the received power of the positioning signal can be considered, and on the basis of the previous embodiment, the power of each satellite positioning signal received is used as a weight to count the weighted times of each ground reference station, And the ground reference station with the most weighted times is determined as the target ground reference station. In some embodiments, the terminal device can measure the power of each received satellite positioning signal, and then use the received power of each satellite positioning signal to weight the number of occurrences of each ground reference station in each satellite; in some implementations In an example, the terminal device may directly use the received power of each satellite positioning signal as a weighting factor, so that the weighting times of each ground reference station in the differential positioning information broadcast by each satellite may be equal to the actual number of times multiplied by the corresponding weighting coefficient The terminal device may also convert the receiving power of each satellite positioning signal into a weighting coefficient according to the power level, so that the greater the power, the higher the corresponding power level, and the greater the weighting coefficient.

Exemplarily, ground reference station 1 and ground reference station 2 appear in the differential positioning information broadcast by satellite 1. Therefore, the power of the positioning signal received by the terminal device from satellite 1 can be multiplied by the actual power of ground reference station 1 respectively. The number of times 1 and the actual number 1 of the ground reference station 2 can also be multiplied by the actual number 1 of the ground reference station 1 and the actual number of times 1 of the ground reference station 2 by the power level corresponding to the power of the positioning signal received by the terminal device from the satellite 1. The number of times is 1, to obtain the weighted times of ground reference station 1 and ground reference station 2 in the differential positioning information broadcast by satellite 1, and the weighted times of each ground reference station in the differential positioning information broadcast by each satellite can be counted in the same way , and finally sum the weighted times of each ground reference station in the differential positioning information broadcasted by each satellite, and then the total weighted times of each ground reference station can be obtained.

In this way, in this embodiment, considering that the receiving power of the positioning signal of the more remote satellite is smaller, the corresponding ground reference station may also be more remote, and the occurrence times of the farther ground reference station can be weakened by weighting the positioning signal power value , so as to ensure the selection of the target ground reference station with a better position, and then obtain a better positioning effect.

The terminal device calculates the weighted number K _i of the i-th ground reference station based on formula (1), where P _j represents the received power of the positioning signal transmitted by the j-th satellite corresponding to the j-th group of differential positioning information, and R _ij Indicates the number of occurrences of the i-th ground reference station in the j-th group of differential positioning information.

That is, in one embodiment, the power of each satellite positioning signal received by the terminal device can be directly used to weight the occurrence times of each ground reference station in the differential positioning information broadcast by the corresponding satellite, and then the statistics of each ground reference station weighted times. In some embodiments, specific formulas can be used to quickly calculate the weighted times of each ground reference station.

In some embodiments, taking the aforementioned differential positioning information table 2 as an example, the terminal device measures the received power of each satellite positioning signal, and then calculates the number of occurrences of each d ground reference station weighted by the power value, and the power value can be in watts (W ) as the unit, the calculation formula of the counting times corresponding to each ground reference station can be formula (1); wherein, K _i is the counted number of times of ground reference station i, and P _j is when the terminal equipment receives the positioning signal of satellite j The measured received power, R _ij indicates whether satellite j is observed by ground reference station i, that is, whether there is differential positioning information associated with ground reference station i in the jth group of differential positioning information broadcast by satellite j, if satellite j is observed by ground reference station i When the ground reference station i observes, then R _ij =1, otherwise R _ij =0, taking the statistical number K ₁ of the ground reference station 1 in the aforementioned differential positioning information table 2 as an example, it can be calculated by formula (2).

K ₁ =P ₁ ×R ₁₁ +P ₂ ×R ₁₂ +P ₃ ×R ₁₃ +P ₄ ×R ₁₄ =P ₁ ×1+P ₂ ×1+P ₃ ×1+P ₄ ×0=P ₁ + P ₂ +P ₃ formula (2)

The differential positioning information most suitable for current use selected for the terminal device is the differential positioning information calculated by the observation data of the target ground reference station m, and the calculation publicity of the target ground reference station m can be formula (3):

Wherein, m represents the differential positioning information corresponding to the ground reference station with the largest number of statistics, and m is taken as the current best differential positioning information of the terminal device.

In this way, in this embodiment, by using a specific power weighting formula, the times of each ground reference station can be quickly and accurately calculated, and because the influence of the satellite position on the signal power is taken into account, the occurrence times of the farther ground reference stations can be weakened, and the The number of occurrences of closer ground reference stations ensures that the differential positioning information corresponding to the most suitable target ground reference station is selected, thereby obtaining better positioning results.

That is to say, in another embodiment, it may be considered to carry the position information of the ground reference stations in the differential positioning information and report it to the satellite. In this way, the satellite can include the position information of each ground reference station together when broadcasting the differential positioning information. and broadcast to the terminal device, so that the terminal device can select the ground reference station with the closest distance as the target ground reference station based on the position information of each ground reference station.

In some embodiments, the positioning platform may add the position information of each ground reference station to the differential positioning information sent to the satellite communication platform, and the satellites may receive the differential positioning information sent by the satellite ground station. After broadcasting the differential positioning information, the position information of the ground reference station corresponding to each differential positioning information can also be broadcast together. For example, satellite 1 corresponds to ground reference station 1 and ground reference station 2, and the broadcast differential positioning information Also contains the position information of ground reference station 1 and ground reference station 2.

The terminal device can determine its rough positioning position according to the received satellite positioning signal, and by comparing with the position of each ground reference station, select the differential positioning information corresponding to the target ground reference station closest to it as the The terminal device calculates the calculation data of the high-precision positioning position.

It should be noted that, considering that the position information of ground reference stations usually needs to be kept secret in practice, in order to protect the position information of ground reference stations, the positioning platform can add a random offset to the actual position of each ground reference station. Shift the value before sending it.

In this way, through this embodiment, the differential positioning information that is more suitable as the target ground reference station for positioning calculation can be selected from the perspective of distance, so as to ensure a better positioning effect.

Step 104, the terminal device locates the position of the terminal device according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals.

In this step, the terminal device can calculate the positioning result according to the positioning signal received from the satellite and the selected target differential positioning information associated with the target ground reference station, that is, the terminal device can receive the satellite positioning signal, and then The satellite positioning signal is corrected by using the differential parameters in the selected target differential positioning information to obtain high-precision positioning results.

In some embodiments, the step 104 includes:

In actual situations, terminal devices are usually within the coverage of the same ground reference station without large-scale movement, and are suitable for using the corresponding data of the ground reference station as differential positioning information for positioning. Therefore, in most cases, the terminal device only needs to select from the differential positioning information of all ground reference stations corresponding to the currently received satellites when selecting the differential positioning information for the first time, which can reduce a lot of information receiving and computing, thereby reducing the energy consumption of terminal equipment.

In this embodiment, in order to reduce the calculation amount of the terminal and ensure the accuracy of positioning, the originally selected differential positioning information can be kept for a period of time, and then re-selected among many differential positioning information according to the current actual situation after a period of time; In this way, within the continuous target duration, the target differential positioning information and the N positioning signals can be used to locate the position of the terminal device; and after the interval of the target duration, re-execute the The process, for example, re-executes steps 101 to 104 to re-determine the target ground reference station used to locate the position of the terminal device, and reposition the terminal device based on the re-determined target ground reference station. Wherein, the target duration may be set in advance based on empirical values, or may be calculated and determined according to the actual usage of the terminal device.

In this way, by using the differential positioning information corresponding to the initially determined target ground reference station for a period of time, the calculation amount and information receiving work of the terminal in the positioning process can be effectively reduced, and the occupation of equipment resources can be reduced. Re-determining the target ground reference station can guarantee the positioning accuracy to a certain extent.

That is, in one embodiment, the interval duration of the target ground reference station can be adjusted based on the target parameters and the moving speed of the terminal device. In this way, the differential positioning information can be updated in time according to the actual situation, and the positioning accuracy can be improved; , the target parameter may be the frequency information of each ground reference station. For example, the target duration may be negatively correlated with the moving speed of the terminal device, and when it is detected that the moving speed of the terminal device is faster, the differential positioning information may be updated at shorter intervals.

In one embodiment, formula (4) can be used to calculate the target duration ΔT:

Wherein, K _imax is the maximum value of the statistical times of each ground reference station, K _imax2 is the second largest value of the statistical times of each ground reference station, v is the moving speed of the terminal equipment, and μ is an adjustable coefficient, which can be Set according to the actual application situation, and adjust the target duration ΔT through μ.

In this way, by calculating the interval for updating differential positioning information based on the target parameters and the moving speed of the terminal device, it is possible to ensure that the differential positioning information used for current positioning is updated in a timely manner based on actual conditions, thereby ensuring the accuracy of positioning.

Compared with the existing technology, the embodiment of the present application has the following technical advantages:

1) Simplify the terminal equipment. This application realizes that the satellite positioning signal and the differential positioning signal are broadcasted by satellite broadcasting at the same time, and can provide high-precision positioning services for terminal equipment only through satellites, so that terminal equipment can only have the function of satellite reception, without having the function and module of mobile communication , so compared with the prior art, the present application can simplify the terminal equipment and reduce the terminal cost.

2) No need for mobile communication coverage. This application realizes that satellite positioning signals and differential positioning signals are broadcasted by satellite broadcasting at the same time, and can provide high-precision positioning services for positioning terminals only through satellites. In scenarios without base station coverage or poor coverage (such as mining areas, ports, etc.), This application can still provide high-precision positioning services, so this application does not require mobile communication coverage compared to the prior art.

3) The selection of differential positioning information is better. After the terminal equipment of this application receives multiple differential positioning information broadcasted by satellite broadcasting, it can select the one suitable for the current use of the terminal equipment through the position of the ground reference station or the method of comparing the occurrence times of the ground reference station from the received differential positioning information. The differential positioning information corresponding to the ground reference station can obtain more accurate positioning results in high-precision positioning calculations by using better differential positioning information. Therefore, this application can select better differential positioning information compared with the existing technology.

In the positioning method of the embodiment of the present application, the terminal device receives N positioning signals transmitted by N satellites, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1; the terminal device receives the associated positioning signals broadcast by the N satellites. N sets of differential positioning information of M ground reference stations, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes M _j of the M _j ground reference stations associated with the M ground reference stations Differential positioning information, j is any integer from 1 to N, M is an integer greater than 1, and _Mj is a positive integer; the terminal device determines the target ground reference station according to the target parameters, wherein the target parameters include the The number of occurrences of each ground reference station among the M ground reference stations in the N sets of differential positioning information; the terminal device associates the target differential positioning information of the target ground reference station in the N sets of differential positioning information and the N positioning signals to locate the position of the terminal device. In this way, the terminal device can select the target ground suitable for the current use of the terminal by receiving multiple sets of differential positioning information associated with multiple ground reference stations broadcast by satellites, and according to the number of times each ground reference station appears in the multiple sets of differential positioning information. The target differential positioning information corresponding to the reference station can then be combined with the target differential positioning information and the positioning signal transmitted by the satellite to perform high-precision positioning of the terminal equipment. This method does not require the terminal equipment to have mobile communication functions, thereby reducing the cost of the terminal. It can also be used in scenarios without mobile network coverage.

Referring to FIG. 3, FIG. 3 is a flow chart of the positioning method provided in the embodiment of the present application, as shown in FIG. 3, including the following steps:

Step 301, the satellite transmits a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal.

Step 302, the satellite receives differential positioning information associated with at least one ground reference station sent by the satellite ground station.

Step 303: The satellite broadcasts the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.

It should be noted that this embodiment is an implementation manner corresponding to the satellite side of the embodiment shown in FIG. 1 , and reference may be made to related introductions in the embodiment shown in FIG. 1 . To avoid repetition, details are not repeated here.

In the positioning method in the embodiment of the present application, the satellite transmits a positioning signal to the ground, and the terminal device and the ground reference station receive the positioning signal; the satellite receives the differential positioning information associated with at least one ground reference station sent by the satellite ground station; the The satellite broadcasts the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal. In this way, by broadcasting the differential positioning information associated with at least one ground reference station to the terminal device, the terminal device can perform high-precision positioning on the terminal device based on the received differential positioning information broadcast by the satellite and the positioning signal transmitted by the satellite. This method does not require a terminal The device has mobile communication functions, which can reduce terminal costs and can also be used in scenarios without mobile network coverage.

The embodiment of the present application also provides a terminal device. Referring to FIG. 4, FIG. 4 is a structural diagram of a terminal device provided in an embodiment of the present application. Since the problem-solving principle of the terminal device is similar to that of the positioning method in the embodiment of the present application, the implementation of the terminal device can refer to the implementation of the method, and repeated descriptions will not be repeated.

As shown in FIG. 4, the terminal device includes a transceiver 401 and a processor 402, where,

The transceiver 401 is used to receive N positioning signals transmitted by N satellites, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1; and receive N groups of associated M ground reference stations broadcast by the N satellites Differential positioning information, wherein one satellite corresponds to a group of differential positioning information, and the jth group of differential positioning information includes M _j differential positioning information associated with M _j ground reference stations in the M ground reference stations, and j is 1 to Any integer in N, M is an integer greater than 1, and M _j is a positive integer;

The processor 402 is configured to determine the target ground reference station according to the target parameters, wherein the target parameter includes information on the number of occurrences of each ground reference station in the N sets of differential positioning information among the M ground reference stations; In the N sets of differential positioning information, the target differential positioning information of the target ground reference station and the N positioning signals are associated to locate the position of the terminal device.

Processor 402 is used to:

In some embodiments, the processor 402 is used to

Processor 402 is also used to:

In some embodiments, processor 402 is also configured to:

After the target time interval, re-determine a target ground reference station for locating the position of the terminal device, and reposition the terminal device based on the re-determined target ground reference station.

The terminal device provided by the embodiment of the present application can execute the above-mentioned method embodiment, and its implementation principle and technical effect are similar, so the embodiments of the present application will not repeat them here.

The terminal device in the embodiment of the present application receives N positioning signals transmitted by N satellites, where one satellite corresponds to one positioning signal, and N is an integer greater than 1; the terminal device receives the associated M ground positioning signals broadcast by the N satellites. N sets of differential positioning information of reference stations, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes M _j differential positioning information associated with M _j ground reference stations in the M ground reference stations , j is any integer from 1 to N, M is an integer greater than 1, and M _j is a positive integer; the terminal device determines the target ground reference station according to the target parameters, wherein the target parameters include the M information on the number of occurrences of each ground reference station among the ground reference stations in the N sets of differential positioning information; the terminal device correlates the target differential positioning information of the target ground reference station in the N sets of differential positioning information and the N positioning signals for locating the position of the terminal device. In this way, the terminal device can select the target ground suitable for the current use of the terminal by receiving multiple sets of differential positioning information associated with multiple ground reference stations broadcast by satellites, and according to the number of times each ground reference station appears in the multiple sets of differential positioning information. The target differential positioning information corresponding to the reference station can then be combined with the target differential positioning information and the positioning signal transmitted by the satellite to perform high-precision positioning of the terminal equipment. This method does not require the terminal equipment to have mobile communication functions, thereby reducing the cost of the terminal. It can also be used in scenarios without mobile network coverage.

The embodiment of the present application also provides a satellite. Referring to FIG. 5 , FIG. 5 is a structural diagram of a satellite provided by an embodiment of the present application. Since the principle of the satellite to solve the problem is similar to the positioning method in the embodiment of the present application, the implementation of the satellite can refer to the implementation of the method, and the repetition will not be repeated.

As shown in Figure 5, the satellite includes a transceiver 501 and a processor 502, wherein,

Transceiver 501 is used for:

The satellite provided in the embodiment of the present application can execute the above-mentioned method embodiment, and its implementation principle and technical effect are similar, so the embodiments of the present application will not repeat them here.

In the positioning method in the embodiment of the present application, the satellite transmits a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal; the satellite receives the differential positioning information associated with at least one ground reference station sent by the satellite ground station; The satellite broadcasts the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal. In this way, by broadcasting the differential positioning information associated with at least one ground reference station to the terminal device, the terminal device can perform high-precision positioning on the terminal device based on the received differential positioning information broadcast by the satellite and the positioning signal transmitted by the satellite. This method does not require a terminal The device has mobile communication functions, which can reduce terminal costs and can also be used in scenarios without mobile network coverage.

The embodiment of the present application also provides a positioning system. As shown in Figure 2, the positioning system includes N satellites 21, M ground reference stations 22, positioning platform 23, satellite communication platform 24, satellite ground station 25 and terminal equipment 26, wherein, N and M are greater than 1 integer;

The N satellites 21 are all used to transmit positioning signals to the ground;

The M ground reference stations 22 are used to observe the positioning signals transmitted by the N satellites 21, wherein each ground reference station observes some or all of the satellites in the N satellites 21; 23 Send positioning signal observation data;

The positioning platform 23 is used to receive the positioning signal observation data sent by the M ground reference stations 22 respectively, and obtain M sets of positioning signal observation data; based on the M sets of positioning signal observation data, calculate the differential positioning associated with each ground reference station information to obtain M groups of differential positioning information; according to the difference of the corresponding satellites, the M groups of differential positioning information are combined into N groups of differential positioning information, wherein one set of differential positioning information corresponds to one satellite, and the jth group of differential positioning information includes association M _j differential positioning information of M _j ground reference stations in the M ground reference stations, j is any integer from 1 to N; send the N sets of differential positioning information to the satellite communication platform 24;

The satellite communication platform 24 is used to receive the N sets of differential positioning information sent by the positioning platform 23; send the N sets of differential positioning information to the satellite ground station 25;

The satellite ground station 25 is used to send respectively corresponding differential positioning information to the N satellites 21;

The N satellites 21 are also respectively used for receiving the differential positioning information corresponding to each sent by the satellite ground station 25; broadcasting the respective differential positioning information;

The terminal device 26 is used to receive the N positioning signals transmitted by the N satellites 21; receive the N sets of differential positioning information broadcast by the N satellites 21; determine the target ground reference station according to the target parameters, wherein the The target parameters include information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information; according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals to locate the position of the terminal device 26 .

The embodiment of the present application serves as the implementation of the system side corresponding to the embodiment shown in Figure 1, where the implementation of each device can refer to the relevant introduction in the embodiment shown in Figure 1, and can achieve the same technical effect. No longer.

The embodiment of the present application also provides a terminal device. Since the problem-solving principle of the terminal device is similar to that of the positioning method in the embodiment of the present application, the implementation of the terminal device can refer to the implementation of the method, and repeated descriptions will not be repeated. As shown in Figure 6, the satellite of the embodiment of the present application includes:

The processor 600 is used to read the program in the memory 620 and perform the following process: receive N positioning signals transmitted by N satellites through the transceiver 610, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1;

Receive N sets of differential positioning information associated with M ground reference stations broadcast by the N satellites through the transceiver 610, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes the information associated with the M ground reference stations M _j differential positioning information of M _j ground reference stations in the station, j is any integer from 1 to N, M is an integer greater than 1, and M _j is a positive integer; according to the target parameters, determine the target ground reference station , wherein, the target parameter includes information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information;

Positioning the terminal device according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals.

The transceiver 610 is used for receiving and sending data under the control of the processor 600 .

Wherein, in FIG. 6 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 600 and various circuits of the memory represented by the memory 620 are linked together. The bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and therefore will not be further described herein. The bus interface provides the interface. Transceiver 610 may be a plurality of elements, including a transmitter and a transceiver, providing a means for communicating with various other devices over a transmission medium.

Processor 600 is responsible for managing the bus architecture and general processing, and memory 620 may store data used by processor 600 when performing operations. For different user equipments, the user interface 630 may also be an interface capable of connecting externally and internally to required equipment, and the connected equipment includes but not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

The processor 600 is also used to read the program in the memory 620, and perform the following steps:

In some embodiments, the processor 600 is also configured to read the program in the memory 620, and perform the following steps:

formula based

The embodiment of the present application also provides a satellite. Since the principle of the satellite to solve the problem is similar to the positioning method in the embodiment of the present application, the implementation of the satellite can refer to the implementation of the method, and the repetition will not be repeated. As shown in Figure 7, the satellite of the embodiment of the present application includes:

The processor 700 is used to read the program in the memory 720 and execute the following processes:

Transmitting a positioning signal to the ground through the transceiver 710, so that the terminal equipment and the ground reference station receive the positioning signal;

Receive differential positioning information associated with at least one ground reference station sent by the satellite ground station through the transceiver 710;

Broadcasting the differential positioning information through the transceiver 710, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.

Wherein, in FIG. 7 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 700 and various circuits of the memory represented by the memory 720 are linked together. The bus architecture can also integrate devices such as peripherals, voltage regulators, and power management circuits

Various other circuits such as are linked together, which are well known in the art, and therefore, will not be further described herein. The bus interface provides the interface. Transceiver 710 may be a plurality of elements, including a transmitter and a receiver, providing a means for communicating with various other devices over transmission media.

The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 can store data used by the processor 700 when performing operations.

In addition, the computer-readable storage medium in the embodiment of the present application is used to store a computer program, and the computer program can be executed by a processor to implement the various steps in the method embodiment shown in Figure 1 above, or to implement the steps shown in Figure 3 above. Each step in the method embodiment.

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

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units may be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the sending and receiving methods described in various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

The above description is the preferred implementation mode of the present application. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can also be made without departing from the principles described in the application. These improvements and modifications are also It should be regarded as the protection scope of this application.

Industrial Applicability

In the embodiment of the present application, the terminal device can receive multiple sets of differential positioning information associated with multiple ground reference stations broadcast by satellites, and select the information that is suitable for the current location of the terminal according to the number of occurrences of the multiple sets of differential positioning information of each ground reference station. The target differential positioning information corresponding to the target ground reference station used can then be combined with the target differential positioning information and the positioning signal transmitted by the satellite to perform high-precision positioning of the terminal equipment. This method does not require the terminal equipment to have mobile communication functions, thereby reducing the terminal equipment cost, and can also be used in scenarios without mobile network coverage.

Claims

A positioning method, comprising:

The terminal device receives N positioning signals transmitted by N satellites, where one satellite corresponds to one positioning signal, and N is an integer greater than 1;

The terminal device receives N sets of differential positioning information associated with M ground reference stations broadcast by the N satellites, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes information associated with the M ground reference stations. M j differential positioning information of M j ground reference stations in the station, j is any integer from 1 to N, M is an integer greater than 1, and M j is a positive integer;

The terminal device determines the target ground reference station according to the target parameter, wherein the target parameter includes information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information;

The terminal device locates the position of the terminal device by associating the target differential positioning information of the target ground reference station with the N positioning signals in the N sets of differential positioning information.
The method according to claim 1, wherein the target parameter further comprises received power information of each positioning signal in the N positioning signals;

The terminal device determines the target ground reference station according to the target parameters, including:

The terminal device determines the number of occurrences of the i-th ground reference station in the N sets of differential positioning information, where i is any integer from 1 to M;

The terminal device uses the receiving power of the positioning signals transmitted by the satellites corresponding to each group of differential positioning information to weight the number of occurrences of the i-th ground reference station in the corresponding set of differential positioning information, and determine the i-th Weighted times for ground reference stations;

The terminal device determines the ground reference station with the most weighted times as the target ground reference station.
The method according to claim 2, wherein the terminal device uses the received power of the positioning signals transmitted by the satellites corresponding to each group of differential positioning information to detect the ith ground reference station that appears in the corresponding group of differential positioning information The number of times is weighted to determine the weighted times of the i-th ground reference station, including:

The terminal device is based on the formula
Calculate the weighted number K i of the i-th ground reference station, where P j represents the received power of the positioning signal transmitted by the j-th satellite corresponding to the j-th group of differential positioning information, and R ij represents the i-th ground reference station The number of occurrences in the jth group of differential positioning information.
The method according to claim 1, wherein each group of differential positioning information carries position information of associated ground reference stations; the target parameters also include position information of the M ground reference stations;

The terminal device determines the target ground reference station according to the target parameters, including:

determining preliminary location information of the terminal device according to the N positioning signals;

According to the position information of the M ground reference stations and the preliminary position information, determine that among the M ground reference stations, the ground reference station closest to the terminal device is the target ground reference station.
The method according to claim 1, wherein the terminal device locates the terminal device according to the N sets of differential positioning information, associating the target differential positioning information of the target ground reference station with the N positioning signals locations, including:

The terminal device locates the position of the terminal device according to the target differential positioning information and the N positioning signals within the continuous target duration;

The terminal device re-determines a target ground reference station for locating the position of the terminal device after an interval of the target time length, and repositions the terminal device based on the re-determined target ground reference station to obtain a relocation location of the terminal device.
The method according to claim 5, wherein the target duration is determined based on the target parameter and the moving speed of the terminal device.
A positioning method, including:

The satellite transmits a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal;

The satellite receives differential positioning information associated with at least one ground reference station sent by the satellite ground station;

The satellite broadcasts the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.
A terminal device, comprising: a transceiver and a processor, wherein the transceiver is used to receive N positioning signals transmitted by N satellites, wherein one satellite corresponds to one positioning signal, and N is an integer greater than 1; and receiving N sets of differential positioning information associated with M ground reference stations broadcast by the N satellites, wherein one satellite corresponds to a set of differential positioning information, and the jth set of differential positioning information includes M j associated with the M ground reference stations M j differential positioning information of a ground reference station, j is any integer from 1 to N, M is an integer greater than 1, and M j is a positive integer;

The first processor is configured to determine a target ground reference station according to a target parameter, wherein the target parameter includes information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information; Positioning the terminal device according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and the N positioning signals.
The terminal device according to claim 8, wherein the target parameter further includes received power information of each positioning signal in the N positioning signals;

The processor is used to:

Determine the number of occurrences of the i-th ground reference station in the N sets of differential positioning information, where i is any integer from 1 to M;

Using the received power of the positioning signal transmitted by the satellite corresponding to each group of differential positioning information, weighting the number of occurrences of the i-th ground reference station in the corresponding group of differential positioning information, and determining the weight of the i-th ground reference station frequency;

The ground reference station with the most weighted times is determined as the target ground reference station.
The terminal device according to claim 9, wherein the processor is configured to
Calculate the weighted number K i of the i-th ground reference station, where P j represents the received power of the positioning signal transmitted by the j-th satellite corresponding to the j-th group of differential positioning information, and R ij represents the i-th ground reference station The number of occurrences in the jth group of differential positioning information.
The terminal device according to claim 8, wherein each set of differential positioning information carries position information of associated ground reference stations; the target parameters also include position information of the M ground reference stations;

The processor is also used to:

determining preliminary location information of the terminal device according to the N positioning signals;

According to the position information of the M ground reference stations and the preliminary position information, determine the ground reference station closest to the terminal device among the M ground reference stations as the target ground reference station.
The terminal device according to claim 8, wherein the processor is further configured to:

Within the continuous target duration, according to the target differential positioning information and the position of the N positioning signals;

After the target time interval, re-determine a target ground reference station for locating the position of the terminal device, and reposition the terminal device based on the re-determined target ground reference station.
The terminal device according to claim 12, wherein the target duration is determined based on the target parameter and the moving speed of the terminal device.
A satellite, comprising: a transceiver and a processor, wherein the transceiver is used for:

Transmitting a positioning signal to the ground, so that the terminal equipment and the ground reference station receive the positioning signal;

receiving differential positioning information associated with at least one ground reference station sent by the satellite ground station;

broadcasting the differential positioning information, so that the terminal device receives the differential positioning information, and locates the position of the terminal device based on the differential positioning information and the positioning signal.
A positioning system, comprising: N satellites, M ground reference stations, a positioning platform, a satellite communication platform, a satellite ground station and terminal equipment, wherein N and M are both integers greater than 1;

The N satellites are all used to transmit positioning signals to the ground;

The M ground reference stations are used to observe the positioning signals transmitted by the N satellites, wherein each ground reference station observes some or all of the satellites in the N satellites; and sends positioning signals to the positioning platform respectively data observation;

The positioning platform is used to receive the positioning signal observation data respectively sent by the M ground reference stations to obtain M sets of positioning signal observation data; based on the M sets of positioning signal observation data, calculate the differential positioning associated with each ground reference station information to obtain M groups of differential positioning information; according to the difference of the corresponding satellites, the M groups of differential positioning information are combined into N groups of differential positioning information, wherein one set of differential positioning information corresponds to one satellite, and the jth group of differential positioning information includes association M j differential positioning information of M j ground reference stations in the M ground reference stations, j is any integer from 1 to N; sending the N sets of differential positioning information to the satellite communication platform;

The satellite communication platform is used to receive the N sets of differential positioning information sent by the positioning platform; send the N sets of differential positioning information to the satellite ground station;

The satellite ground station is used to send respectively corresponding differential positioning information to the N satellites;

The N satellites are also respectively used to receive the differential positioning information corresponding to each sent by the satellite ground station; broadcast the respective differential positioning information;

The terminal device is used to receive N positioning signals transmitted by the N satellites; receive the N sets of differential positioning information broadcast by the N satellites; determine the target ground reference station according to the target parameters, wherein the target The parameters include information on the number of occurrences of each of the M ground reference stations in the N sets of differential positioning information; according to the target differential positioning information associated with the target ground reference station in the N sets of differential positioning information and The N positioning signals are used to locate the position of the terminal device.
A terminal device, comprising: a transceiver, a memory, a processor, and a computer program stored on the memory and operable on the processor; the processor is used to read the program in the memory to implement the The steps in the positioning method described in any one of claims 1 to 6.
A satellite, comprising: a transceiver, a memory, a processor, and a computer program stored on the memory and operable on the processor; the processor is used to read the program in the memory to implement the claim Steps in the positioning method described in 7.
A computer-readable storage medium for storing a computer program, which implements the steps in the positioning method according to any one of claims 1 to 6 when the computer program is executed by a processor; or implements the steps described in claim 7 Steps in the positioning method described above.
A computer program product comprising computer readable code, said computer program product comprising a computer program or instructions which, when run on a terminal device, causes said terminal device to perform claims 1 to 6 The method of any one; or, where said computer program or instructions run on a satellite, causing said satellite to perform the method of claim 7.