CN113740891B

CN113740891B - Method for determining position and speed of terminal equipment by using navigation satellite and electronic device

Info

Publication number: CN113740891B
Application number: CN202010474070.6A
Authority: CN
Inventors: 肖洋; 黄国胜; 郭永峰; 刘永祥; 谭冠中
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2024-09-06
Anticipated expiration: 2040-05-29
Also published as: WO2021238994A1; CN113740891A

Abstract

The application provides a method and an electronic device for determining the position and the speed of a terminal device by using a navigation satellite, wherein the method performs piecewise fitting on forecast orbit data by using a polynomial model, and determining the basis function coefficients of a polynomial model corresponding to each segment of forecast orbit data, and determining the time-associated position and speed of the terminal equipment by the terminal equipment based on the basis function coefficients, the fitted clock error parameters, the navigation satellite pseudo-range and the carrier phase. The embodiment of the application can greatly simplify the fitting process of the forecast orbit parameters of the server side and the process of calculating the navigation satellite position and speed of the GNSS chip of the terminal equipment, thereby effectively reducing the power consumption of the GNSS chip, prolonging the fitting time to 8-12 hours under the condition of ensuring that the fitting error of the satellite orbit is within the allowable range, and leading the GNSS chip to realize lower parameter updating frequency. In addition, on the basis of reducing the first positioning time of the terminal equipment and improving the user experience, the network request frequency and the dependence on the network quality are greatly reduced.

Description

Method for determining position and speed of terminal equipment by using navigation satellite and electronic device

Technical Field

The present application relates to the field of communications technologies, and in particular, to a method and an electronic device for determining a position and a speed of a terminal device using a navigation satellite.

Background

Intelligent terminals such as mobile phones, hand rings, pad and the like have become indispensable equipment in life of people. In these terminals, in addition to conventional map and navigation services, more and more services based on location services (Location Based Service, LBS) provided by other applications, such as location-based take-away, online shopping, etc., are also gaining more and more attention.

As an important part of location-based services, global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) technology plays an irreplaceable role. Currently, there are a number of global satellite navigation systems in the world that have begun to be commercially available, including the U.S. global positioning system (Global Positioning System, GPS), the chinese beidou satellite navigation system (BeiDou Navigation SATELLITE SYSTEM, BDS), the russian global satellite navigation system, GLONASS, and the european galileo satellite navigation system (Galileo satellite navigation system) systems.

Because of the low communication rate of the GNSS system, for example, the bit rate of the navigation message is 50bps, that is, 20ms for each bit length, a word is formed by every 30 bits, and a subframe is formed by every 10 words, which is 6s. Each frame of navigation messages contains 5 subframes, 30s in length, which can be used to calculate accurate satellite orbit and clock information. When the terminal equipment initiates a positioning request, a set of complete navigation messages are required to be demodulated from the navigation signals in order to complete positioning by a GNSS chip arranged in the terminal. In the case of good signal quality, the first positioning time (Time to First Fix, TTFF) is also not less than 30 seconds; and if the signal quality is poor, this process will take longer. The long waiting time will seriously affect the user experience.

In response to these problems, assisted global navigation satellite system (Auxiliary-Global Navigation SATELLITE SYSTEM, AGNSS) technology has been proposed in the prior art. At present, the AGNSS technology is mainly divided into two forms, the first form is standard AGNSS service, broadcast ephemeris of a current visible satellite is provided for a user through real-time network connection, the other form is ephemeris extension (Extended Ephemeris) service, prediction ephemeris with longer validity period can be provided for the user, and the first positioning time can be effectively reduced in both modes, but the prior art can not meet the higher requirement of the user on self positioning. The standard AGNSS service needs to acquire ephemeris data from an AGNSS server in real time, so that higher network connection frequency is needed, and certain requirements are met on network quality; in each positioning process, the GNSS chip needs to frequently use ephemeris parameters to calculate the position and the speed of the navigation satellite, and the process involves more floating point operations, so that the calculated amount of the GNSS chip is larger and the power consumption is higher.

Disclosure of Invention

In view of the above, the present application provides a method for determining a terminal device, a method for forecasting a satellite orbit, and an electronic device, which can solve the problem of the amount of computation required by a GNSS chip in resolving the position and speed of a navigation satellite, thereby effectively reducing the power consumption of the GNSS chip.

Some embodiments of the present application provide a method for determining a location and a velocity of a terminal device using navigation satellites. The application is described in terms of several aspects, embodiments and advantages of which can be referenced to one another.

In a first aspect, the present application provides a method for determining a position and a speed of a terminal device by using a navigation satellite, which is applied to a server and a terminal device communicatively connected with the server, and includes: the server fits the satellite orbit and the clock error parameters of the navigation satellite based on the EOP parameters and the precise ephemeris of the navigation satellite, and the fitted satellite orbit and the fitted clock error parameters are obtained; the server determines the corresponding positions of the navigation satellites at all time points in a first period based on the fitted satellite orbit parameters so as to obtain forecast orbit data of the navigation satellites; the method comprises the steps that a server segments forecast track data according to a second period to obtain multiple pieces of forecast track data, fits each piece of forecast track data in the multiple pieces of forecast track data through a polynomial model, and determines a basis function coefficient of the polynomial model corresponding to each piece of forecast track data, wherein the second period is smaller than the first period; the server sends the basic function coefficients and the fitted clock error parameters to the terminal equipment and stores the basic function coefficients and the fitted clock error parameters in a memory of the terminal equipment, when a GNSS chip of the terminal equipment needs to calculate, the parameters are acquired from the memory, and the position and the speed of the terminal equipment related to time are determined based on the basic function coefficients, the fitted clock error parameters, the navigation satellite pseudo-range and the carrier phase acquired by the parameters. The embodiment of the application can greatly simplify the fitting process of the forecast orbit parameters of the server side and the process of calculating the navigation satellite position and speed of the GNSS chip of the terminal equipment, thereby effectively reducing the power consumption of the GNSS chip, prolonging the fitting time to 8-12 hours under the condition of ensuring that the fitting error of the satellite orbit is within the allowable range, and leading the GNSS chip to realize lower parameter updating frequency. In addition, the first positioning time of the terminal equipment is reduced, and the network request frequency and the dependence on the network quality are reduced under the condition of improving the user experience.

In a possible implementation of the first aspect, the method further includes: and the server acquires and calculates the EOP parameters and the precise ephemeris of the navigation satellite based on the broadcast ephemeris parameters, the pseudo-range of the navigation satellite and the carrier phase.

In a possible implementation manner of the first aspect, the determining, by the terminal device, a position and a speed of the terminal device specifically includes: the GNSS chip of the terminal equipment calculates the time-associated position and speed of the navigation satellite based on the basis function coefficient and the basis function; the GNSS chip of the terminal device calculates the time-associated position and speed of the terminal device based on the position and speed of the navigation satellite, the clock error parameter, and the acquired pseudo-range and carrier phase of the navigation satellite.

In a possible implementation of the first aspect, the polynomial model is a chebyshev polynomial. The model can greatly simplify the satellite orbit parameter fitting process at the server end and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the terminal equipment.

In a possible implementation of the first aspect, the determining, by the server, basis function coefficients of a polynomial model corresponding to each segment of forecast track data includes: the server acquires the positions of the navigation satellites in the forecast orbit data at equal intervals in each section of forecast orbit data by taking a third time period as an interval, wherein the third time period is smaller than the second time period; setting the order of the basis function, and fitting the position of the navigation satellite in each piece of collected forecast orbit data based on the basis function to determine the basis function coefficient corresponding to each piece of forecast orbit data. Compared with the existing broadcast ephemeris parameter fitting process, the fitting process is greatly simplified in calculation process, the server can rapidly complete orbit parameter fitting, and the scheme greatly simplifies the process of calculating the position and the speed of the navigation satellite by the GNSS chip, so that the GNSS chip can rapidly calculate the position and the speed of the navigation satellite, and self-positioning and speed measurement are realized.

In a possible implementation of the first aspect, a least squares algorithm is used to fit the positions of the navigation satellites in the forecast orbit data. The fitting algorithm has the advantages of high fitting speed and simple calculation process.

In a second aspect, the present application provides a method for determining a position and a velocity of a terminal device using a navigation satellite, applied to the terminal device, including: the terminal equipment acquires clock error parameters sent by the server, basic function coefficients of a polynomial model corresponding to the forecast orbit data and stores the basic function coefficients in a memory, and when a GNSS chip of the terminal equipment needs to calculate, the parameters are acquired from the memory and the position and the speed of a navigation satellite are determined based on the basic function and the basic function coefficients of the polynomial model; the GNSS chip of the terminal device determines its own position and velocity based on the position and velocity of the navigation satellite, the fitted clock error parameter, and the acquired pseudo-range and carrier phase of the navigation satellite. The embodiment of the application can greatly simplify the fitting process of the forecast orbit parameters of the server side and the process of calculating the navigation satellite position and speed of the GNSS chip of the terminal equipment, thereby effectively reducing the power consumption of the GNSS chip, prolonging the fitting time to 8-12 hours under the condition of ensuring that the fitting error of the satellite orbit is within the allowable range, and leading the GNSS chip to realize lower parameter updating frequency. In addition, the first positioning time of the terminal equipment is reduced, and the network request frequency and the dependence on the network quality are reduced under the condition of improving the user experience.

In a possible implementation of the second aspect, the polynomial model is a chebyshev polynomial. The model can greatly simplify the satellite orbit parameter fitting process at the server end and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the terminal equipment.

In a third aspect, the present application also provides a method for forecasting an orbit of a navigation satellite, applied to a server, including: the server fits the satellite orbit and the clock error parameters based on the EOP parameters and the precise ephemeris of the navigation satellite to obtain the fitted satellite orbit and the fitted clock error parameters; the server determines the corresponding positions of the navigation satellites at all time points in a first period based on the fitted satellite orbit parameters so as to obtain forecast orbit data; the server segments the forecast track data according to a second period of time to obtain a plurality of pieces of forecast track data, fits each piece of forecast track data in the plurality of pieces of forecast track data through a polynomial model, and determines a basis function coefficient of the polynomial model corresponding to each piece of forecast track data, wherein the second period of time is smaller than the first period of time; the server outputs base function coefficients and clock skew parameters for a terminal device communicatively coupled to the server to determine a time-dependent position and velocity of the terminal device. According to the embodiment of the application, the fitting process of the server-side forecast orbit parameters is greatly simplified, and the process of calculating the navigation satellite position and speed by the GNSS chip of the terminal equipment is simplified, so that the power consumption of the GNSS chip is effectively reduced, the fitting time length can be prolonged to 8-12 hours under the condition that the satellite orbit fitting error is ensured to be within the allowable range, and the GNSS chip can realize lower parameter updating frequency. In addition, the first positioning time of the terminal equipment is reduced, and the network request frequency and the dependence on the network quality are reduced under the condition of improving the user experience.

In a possible implementation of the third aspect, the method further includes: and the server acquires and calculates the EOP parameters and the precise ephemeris of the navigation satellite based on the broadcast ephemeris parameters, the pseudo-range of the navigation satellite and the carrier phase.

In a possible implementation of the third aspect, the polynomial model is chebyshev polynomial. The model can greatly simplify the satellite orbit parameter fitting process at the server end and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the terminal equipment.

The server determines basis function coefficients of a polynomial model corresponding to each segment of forecast track data, comprising: the server acquires the positions of the navigation satellites in the forecast orbit data at equal intervals in each section of forecast orbit data by taking a third time period as an interval, wherein the third time period is smaller than the second time period; setting the order of the basis function, and fitting the position of the navigation satellite in each piece of collected forecast orbit data based on the basis function to determine the basis function coefficient corresponding to each piece of forecast orbit data. Wherein the second period may be divided by the third period. The method greatly simplifies the satellite orbit parameter fitting process at the server side and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the terminal equipment.

In a possible implementation of the first aspect, a least squares algorithm is used to fit the positions of the navigation satellites in the forecast orbit data.

In a fourth aspect, the application also discloses an electronic device comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, and the electronic device is configured to perform the method of the second aspect.

In a possible implementation manner of the fourth aspect, the electronic device is a mobile phone, and a system where the electronic device is located is the mobile phone; or the electronic device is a chip, and the system where the electronic device is located is a mobile terminal where the chip is located.

In a fifth aspect, the application also provides an electronic device comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, the electronic device being configured to perform the method of the third aspect.

In a possible implementation manner of the fifth aspect, the electronic device is a server, and a system in which the electronic device is located is the server; or the electronic device is a chip, and the system where the electronic device is located is a server where the chip is located.

In a sixth aspect, the application also provides a computer program product comprising instructions which, when run on an electronic device, cause a processor to perform the methods of the second and third aspects.

In a seventh aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the methods of the second and third aspects.

Drawings

FIG. 1 is a scene graph of determining the location of a terminal device using navigation satellites in accordance with an embodiment of the application;

fig. 2 is a scene diagram of determining a location of a terminal device by using a standard AGNSS technology in the prior art;

FIG. 3 is a schematic diagram of a mobile phone according to an embodiment of the present application;

FIG. 4 is a block diagram of a server according to some embodiments of the application;

FIG. 5 is a flow chart for determining the location and speed of a terminal device according to one embodiment of the application;

FIG. 6 is a trajectory diagram of a process of fitting the orbit of a navigation satellite according to one embodiment of the application;

FIG. 7 is a block diagram of an electronic device according to some embodiments of the application;

fig. 8 is a block diagram of a system on a chip (SoC) in accordance with some embodiments of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

It is to be appreciated that as used herein, the term "module" may refer to or include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and/or memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable hardware components that provide the described functionality, or may be part of such hardware components.

It is to be appreciated that in various embodiments of the application, the processor may be a microprocessor, a digital signal processor, a microcontroller, or the like, and/or any combination thereof. According to another aspect, the processor may be a single core processor, a multi-core processor, or the like, and/or any combination thereof.

It is understood that the terminal device of the present application may be a mobile phone, a tablet computer, a desktop computer, a Personal Digital Assistant (PDA), a wearable device, a navigator, a vehicle-mounted device, or the like equipped with a navigation function.

At present, in order to improve the experience of a user, the first positioning time of the user equipment is required to be improved, and an assisted global navigation satellite system (auxliary-Global Navigation SATELLITE SYSTEM, AGNSS) technology is proposed, wherein the AGNSS technology is mainly divided into two forms, the first form is standard AGNSS service, broadcast ephemeris of a current visible satellite is provided for the user through real-time network connection, and the user equipment acquires required ephemeris data from an AGNSS server in a network request mode in each positioning initiating process, so that a GNSS chip is assisted to realize quick positioning and speed measurement. The standard AGNSS service needs to acquire ephemeris data from an AGNSS server in real time, so that higher network connection frequency is needed, and certain requirements are met on network quality; in each positioning process, the GNSS chip needs to frequently use ephemeris parameters to calculate the position and the speed of the navigation satellite, and the process involves more floating point operations, so that the calculated amount of the GNSS chip is larger and the power consumption is higher.

Another form is ephemeris extension (Extended Ephemeris) service, namely PGNSS service, which can provide a longer-term-validity prediction ephemeris for a user, wherein the ephemeris validity period can be generally 7-28 days, and the service mode can reduce the frequent acquisition of ephemeris data from a server, thereby reducing the network request frequency and the dependence on network quality of user equipment in the positioning process, but in the service mode, a GNSS chip calculates the positions and the speeds of all visible GNSS satellites based on kepler orbit parameters, and when the number of visible satellites is large, the risk of large calculation amount and high power exists.

To this end, the present application proposes a method for determining the position and velocity of a terminal device using navigation satellites (GNSS satellites) to solve the above-mentioned technical problems.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Fig. 1 shows a scene diagram for determining the position of a terminal device using navigation satellites.

The technical scheme of the application is based on a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS). GNSS systems refer broadly to all satellite navigation systems, including global, regional and augmentation such as GPS in the united states, glonass in russia, galileo in europe, beidou satellite navigation systems in china, and related augmentation systems such as wide area augmentation systems (Wide Area Augmentation System, WAAS) in the united states, european static navigation overlay systems (European Geostationary Navigation Overlay Service, EGNOS) in europe, and multi-functional transport satellite augmentation systems in japan, regional navigation satellite systems (Indian Regional Navigation SSTELLITE SYSTEM, IRNSS) in india, etc., as well as other satellite navigation systems under construction and later construction. The international GNSS system is a complex combination system of multiple systems, multi-level, multi-mode, etc. These systems may enable positioning of user equipment. The system mainly comprises three parts, namely a navigation satellite constellation (a set of satellites capable of transmitting into orbit to work normally), a ground monitoring station and user equipment, wherein the ground monitoring station can consist of a navigation satellite observation station (GNSS observation station), a main control station and a ground antenna station.

The basic principle of the global navigation satellite system is that the distance between the navigation satellite with a known position and a user receiver is measured, and the specific position of the terminal equipment at the user end can be known by integrating satellite orbit data of a plurality of satellites. The satellite position can be calculated according to the satellite navigation signal transmitting time and satellite ephemeris. The distance from the user terminal device to the navigation satellite is obtained by recording the time that the navigation satellite signal propagates to the user terminal device and multiplying the time by the speed of light, and the distance is not the real distance between the user terminal device and the navigation satellite but the pseudo-range due to the interference of troposphere, ionosphere, multipath, user clock error and the like. The navigation message includes satellite ephemeris, working condition, clock correction, ionospheric delay correction, atmospheric refraction correction, etc. When the user terminal equipment receives the navigation message, the satellite navigation signal transmitting time is extracted, the satellite navigation signal transmitting time is compared with the signal receiving time represented by the local clock, the distance between the satellite and the user can be obtained, the satellite ephemeris data in the navigation message is utilized to calculate the position of the satellite transmitting message, and the user terminal equipment can obtain the information such as the position and the speed in the geodetic coordinate system.

Referring to fig. 1, in this scenario, a navigation satellite 101 transmitting into orbit, a navigation satellite observation station 102, an orbit server 103, a forecast ephemeris server 104, a data exchange center 105 and a user's terminal device 106 are included. The function of each device can be briefly said, wherein the navigation satellite observation station 102 (GNSS observation station) acquires a navigation message from the navigation satellite 101, extracts satellite ephemeris from the navigation message, collects navigation satellite pseudo-ranges and carrier phases at the same time, and transmits these data to the orbit server 103, the orbit server 103 calculates the navigation satellite precise ephemeris and earth orbit plane (Earth Orbit Plane, EOP) parameters by the satellite ephemeris, the navigation satellite pseudo-ranges and the carrier phases, transmits the precise ephemeris and EOP parameters of the navigation satellite to the prediction ephemeris server 104 (PGNSS server), the prediction ephemeris server 104 performs parameter fitting on the satellite orbit and clock error of the navigation satellite based on the precise ephemeris and EOP parameters, and performs long-term prediction (generally 7-28 days) on the satellite orbit based on the fitted satellite orbit and clock error parameters, segments the orbit data by using a polynomial model to obtain a basis function coefficient, transmits the basis function coefficient and the fitted clock error parameters to the terminal device 105, and stores the basis function coefficient and the fitted error parameters in the memory of the terminal device 105, and acquires the basis function coefficient and the carrier phase error parameters of the terminal device 105 from the memory, and the terminal device obtains the parameters and the time error and the associated parameters of the terminal phase error and the navigation satellite.

Compared with the prior art AGNSS and ephemeris extension service scheme, the method provided by the embodiment of the application has the advantages that the prediction orbit data is subjected to subsection fitting by adopting the polynomial model at the prediction ephemeris server 104, because the ephemeris fitting error can be increased along with the increase of fitting time in the fitting process, under the condition that the orbit fitting precision is ensured, the fitting time of each section of the prediction orbit data can be prolonged to 8-12 hours, and because the validity period of each set of parameters is 8-12 hours, the GNSS chip only needs to update the parameters once for 8-12 hours, and in the prior art, the time interval of updating the parameters of the GNSS chip is less than 4 hours. The embodiment of the application can greatly simplify the fitting process of the forecast orbit parameters of the server side and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the terminal equipment, thereby effectively reducing the power consumption of the GNSS chip. In addition, the first positioning time of the terminal equipment is reduced, and the network request frequency and the dependence on the network quality are reduced under the condition of improving the user experience.

Several of the two forms of the prior art are described below.

Fig. 2 illustrates a scenario in which the standard AGNSS technology determines the location of a terminal device, as illustrated in fig. 2, the GNSS observation station 202 demodulates broadcast ephemeris parameters from navigation messages (GNSS signals) in real time and sends the broadcast ephemeris parameters to the AGNSS server 203, and in each positioning process initiated by the terminal device 204 of the user, for example, the terminal device 204 receives an operation that the user opens a positioning service, for example, the terminal device 204 receives an operation that the user opens map software, and the like, and acquires required ephemeris data from the AGNSS server 203 in a network request manner, thereby assisting the GNSS chip to implement quick positioning and speed measurement. The method comprises the following specific steps:

Step1, the GNSS observation station 202 acquires GNSS signals in real time or periodically, demodulates broadcast ephemeris parameters from the GNSS signals, and sends the broadcast ephemeris parameters to the AGNSS server 203;

Step2, the AGNSS server 203 receives and stores the broadcast ephemeris parameters of the navigation satellite;

Step3, in each positioning process, the terminal device 204 obtains current broadcast ephemeris parameters from the AGNSS server 203 in a request mode, and the GNSS chip of the terminal device 204 calculates parameters such as the position, the running speed, the running state and the like of the visible GNSS satellite based on the broadcast ephemeris parameters;

Step4, the GNSS chip calculates the position and the speed of the terminal equipment associated with time based on the GNSS satellite position and the speed and the GNSS observation data.

According to the standard AGNSS technology, the terminal equipment of the user needs to acquire the broadcast ephemeris parameters from the AGNSS server in each positioning process, so that higher network connection frequency is needed, and the network quality requirement is higher. And the position and the speed of the GNSS satellite are frequently calculated through broadcast ephemeris parameters, and the calculation process involves more floating point operations and occupies more resources of a processor. The calculated amount is large, the resolving time is long, and the power consumption of the GNSS chip is high. According to the application, the predicted orbit data of 7-28 days are obtained by long-term prediction of the satellite orbit, the terminal equipment does not need to frequently acquire broadcast ephemeris parameters from a server, the dependence on a network is reduced, and the predicted orbit data is subjected to piecewise fitting by adopting a polynomial model, so that the fitting process of the parameters of the predicted orbit at the server end is simplified, and the process of calculating the position and the speed of a navigation satellite by a GNSS chip of the terminal equipment is simplified, thereby effectively reducing the power consumption of the GNSS chip, and prolonging the fitting time to 8-12 hours under the condition that the fitting error of the satellite orbit is ensured to be within an allowable range, so that the GNSS chip realizes lower parameter updating frequency.

Three schemes of the prior art ephemeris extension service are described below in connection with fig. 1.

The specific steps of the first scheme are as follows:

Step1, the GNSS observation station 102 acquires broadcast ephemeris parameters, GNSS pseudo-ranges and carrier phase observables of the GNSS satellites, and sends them to the orbit server 103;

step2, the orbit server 103 calculates EOP parameters and GNSS satellite precise ephemeris based on the broadcast ephemeris parameters, GNSS pseudoranges and carrier phases;

the step3.pgnss server 104 fits the satellite orbit and clock error parameters based on the EOP parameters and the precise ephemeris;

the pgnss server 104 predicts the satellite orbit for a long period of time (7-28 days) based on the satellite orbit parameters fitted in Step3 to obtain predicted orbit parameters;

Step5.pgnss server 104 fits the predicted orbit parameters piecewise (typically for a set of 4 hours) using kepler orbit parameters;

the pgnss server 104 compresses or encodes the fitted forecast orbit parameters and Step3 fitted clock error parameters (collectively referred to as broadcast ephemeris parameters) and then transmits the compressed or encoded parameters to the terminal device;

Step7, the terminal 105 can recover the broadcast ephemeris parameters by decompression or decoding, and the GNSS chip of the terminal calculates the position and speed of the visible GNSS satellite based on the predicted orbit parameters;

The GNSS chip calculates its own position and velocity based on GNSS satellite position, velocity, fitted clock error parameters, and GNSS pseudoranges and carrier phases.

The specific steps of the second scheme are as follows:

Steps 1-Step5 are identical to the first protocol and reference is made specifically to the relevant steps of the first protocol.

Step6, PGNSS server 104 fits the fitted forecast track parameters into curves according to the time variation conditions, and sends curve coefficients corresponding to the forecast track parameters and Step3 fitted clock error parameters to terminal equipment 105;

step7, the terminal equipment 105 recovers the predicted orbit parameters according to the curve coefficients, and the GNSS chip of the terminal equipment calculates the position and the speed of the visible GNSS satellite based on the predicted orbit parameters;

Step8, the GNSS chip calculates the position and the speed of the GNSS chip based on the GNSS satellite position, the speed and the clock error parameter and the GNSS pseudo-range and the carrier phase.

The specific steps of the third scheme are as follows:

Steps 1-3 are identical to the first protocol.

Step4, PGNSS server 104 directly transmits the satellite orbit and clock error parameters fitted by Step3 to terminal equipment 105;

Step5 the terminal equipment 105 predicts the satellite orbit for a long period of time based on the fitted satellite orbit parameters to obtain predicted orbit parameters;

Step6, the terminal equipment 105 fits the forecast orbit parameters into kepler orbit parameters, and a GNSS chip of the terminal equipment 105 calculates the position and the speed of the visible GNSS satellite based on the fitted kepler orbit parameters;

step7, the GNSS chip calculates the position and the speed of the GNSS chip based on the GNSS satellite position, the speed and the clock error parameter and the GNSS pseudo-range and the carrier phase.

In the existing three schemes, in each positioning process of the terminal equipment, the GNSS chip needs to calculate the positions and speeds of all visible GNSS satellites based on Kepler orbit parameters, and when the number of visible satellites is large, the risk of large operand and high power exists. In addition, in the third scheme, the terminal device of the user needs to autonomously forecast the satellite orbit, which is a great amount of operation, and is a challenge for the processor of the terminal device of the user. In the application, on the PGNSS server side, the server adopts a polynomial model to carry out sectional fitting on the predicted orbit parameters of the navigation satellite, and under the condition of ensuring fitting precision, the fitting duration of each section can be prolonged by 8-12 hours, which is far longer than 4 hours in the prior art, so that a GNSS chip realizes lower parameter updating frequency. And the base function coefficient is obtained by fitting the predicted orbit, and the terminal equipment side calculates the position and the speed of the terminal equipment associated with time based on the base function coefficient.

The process of determining the position and speed of the terminal device in the application scenario by using the mobile phone as an example of the terminal device is described below.

Fig. 3 shows a schematic diagram of the structure of a mobile phone. Referring to fig. 3, the cellular phone 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (universal serial bus, USB) connector 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, keys 190, a motor 191, an indicator 192, a camera 193, a display 194, and a subscriber identity module (subscriber identification module, SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyro sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.

It should be understood that the structure illustrated in the embodiments of the present application is not limited to the specific embodiment of the mobile phone 100. In other embodiments of the application, the handset 100 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, such as: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (IMAGE SIGNAL processor, ISP), a controller, a video codec, a digital signal processor (DIGITAL SIGNAL processor, DSP), a baseband processor, and/or a neural-Network Processor (NPU), etc. Wherein the different processing units may be separate devices or may be integrated in one or more processors.

In some embodiments, the memory in the processor 110 may store instructions for calculating the location and speed of the handset 100 so that the processor may retrieve these instructions directly from the memory, enabling a fast calculation of the location and speed of the handset 100.

In some embodiments, the processor 110 may include one or more interfaces. The interface may include an integrated circuit (inter-INTEGRATED CIRCUIT, I2C) interface.

The I2C interface may also be coupled to a GNSS chip that may be used to calculate the position and operating speed of the handset 100.

The wireless communication function of the mobile phone 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, a modem processor, a baseband processor, and the like.

The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the handset 100 may be used to cover a single or multiple communication bands. Different antennas may also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed into a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

In some embodiments, the antenna 1 and the mobile communication module 150 of the handset 100 are coupled, and the antenna 2 and the wireless communication module 160 are coupled, so that the handset 100 can communicate with a network and other devices through wireless communication technology. The wireless communication techniques can include the Global System for Mobile communications (global system for mobile communications, GSM), general packet radio service (GENERAL PACKET radio service, GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), BT, GNSS, WLAN, NFC, FM, and/or IR techniques, among others. The GNSS may include a global satellite positioning system (global positioning system, GPS), a global navigation satellite system (global navigation SATELLITE SYSTEM, GLONASS), a beidou satellite navigation system (beidou navigation SATELLITE SYSTEM, BDS), a quasi zenith satellite system (quasi-zenith SATELLITE SYSTEM, QZSS) and/or a satellite based augmentation system (SATELLITE BASED AUGMENTATION SYSTEMS, SBAS).

In one embodiment, the handset 100 may obtain the basis function coefficients of the polynomial model corresponding to the predicted satellite orbit and the fitted clock-difference parameters of the navigation satellite from the predicted ephemeris server through antenna 1 and antenna 2. And the pseudoranges and carrier phases that the handset 100 can acquire via the antenna 1 and the antenna 2, so that the GNSS chip calculates the position and velocity of the handset 100 based on these data.

The mobile phone 100 implements display functions through a GPU, a display 194, an application processor, and the like. The GPU is a microprocessor for image processing, and is connected to the display 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

In one embodiment of the present application, the display 194 may display the position and the moving speed of the mobile phone 100 in the form of a map, and may display a map navigation interface, so that the user may more intuitively observe the position and the surrounding road conditions, and better experience is provided to the user.

The internal memory 121 may be used to store computer executable program code including instructions. The internal memory 121 may include a storage program area and a storage data area.

In some embodiments of the present application, the internal memory 121 may store data such as the basis function coefficients of the polynomial model, the fitted clock error parameters of the navigation satellite, the pseudo-range and carrier phase, etc., the basis functions of the polynomials used to participate in the calculations, and computer instructions for processing and calculating these data, by which the GNSS chip may process these data and calculate the position and velocity of the mobile phone 100.

The handset 100 may implement audio functions through an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, an application processor, and the like. Such as music playing, recording, etc.

The speaker 170A, also referred to as a "horn," is used to convert audio electrical signals into sound signals. The handset 100 may listen to music, or to hands-free calls, through the speaker 170A.

In one embodiment of the application, the user can navigate and broadcast through the loudspeaker 170A, and can directly hear the position of the user without watching the interface of the mobile phone 100, and when the user is driving or is inconvenient to watch the mobile phone, the current position and road condition information of the user are informed through the way of broadcasting through the loudspeaker 170A, so that the driving is safer, and the user experience is improved.

The software system of the mobile phone 100 may employ a layered architecture, an event driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. In the embodiment of the application, taking an Android system with a layered architecture as an example, a software structure of the mobile phone 100 is illustrated.

Fig. 4 is a block diagram of a server 1200 according to an embodiment of the application.

Referring now to fig. 4, a server 1200 may include one or more processors 1201 coupled to a controller hub 1203. For at least one embodiment, the controller hub 1203 communicates with the processor 1201 via a multi-drop Bus, such as a Front Side Bus (FSB), a point-to-point interface, such as a fast channel interconnect (Quick Path Interconnect, QPI), or similar connection 1206. The processor 1201 executes instructions that control general types of data processing operations. In one embodiment, controller Hub 1203 includes, but is not limited to, a graphics memory controller Hub (Graphics Memory Controller Hub, GMCH) (not shown) and an Input Output Hub (IOH) (which may be on separate chips) (not shown), where the GMCH includes memory and graphics controllers and is coupled to the IOH.

In one embodiment of the present application, the processor 1201 may be coupled to a GNSS chip, which fits the satellite orbit and clock error parameters of the navigation satellites based on the precise ephemeris and EOP parameters, and long-term predicts the satellite orbit (typically 7-28 days) based on the fitted satellite orbit and clock error parameters, and fits the predicted orbit data segment by segment using a polynomial model to obtain the basis function coefficients.

The device 1200 may also include a coprocessor 1202 and memory 1204 coupled to the controller hub 1203. Or one or both of the memory and GMCH may be integrated within the processor (as described in the present application), with the memory 1204 and co-processor 1202 being directly coupled to the processor 1201 and to the controller hub 1203, the controller hub 1203 being in a single chip with the IOH. The Memory 1204 may be, for example, a dynamic random access Memory (Dynamic Random Access Memory, DRAM), a phase change Memory (PHASE CHANGE Memory, PCM), or a combination of both. In one embodiment, the coprocessor 1202 is a special-purpose processor, such as, for example, a high-throughput MIC processor (MANY INTEGERATED Core, MIC), a network or communication processor, compression engine, graphics processor, general-purpose graphics processor (General Purpose Computing on GPU, GPGPU), embedded processor, or the like. Optional properties of the co-processor 1202 are shown in fig. 4 with dashed lines.

Memory 1204, as a computer-readable storage medium, may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. For example, memory 1204 may include any suitable non-volatile memory, such as flash memory, and/or any suitable non-volatile storage device, such as one or more Hard disk drives (Hard-DISK DRIVE, HDD (s)), one or more Compact Disc (CD) drives, and/or one or more digital versatile Disc (DIGITAL VERSATILE DISC, DVD) drives.

In one embodiment of the application, the memory 1204 may be used to store data such as ephemeris and EOP parameters, as well as instructions for calculating the position and velocity of the navigation satellites, which the processor 1201 may retrieve and execute by the GNSS chip and calculate the position and velocity of the navigation satellites. Meanwhile, the memory can also store data such as the position, the speed and the like of the navigation satellite calculated by the GNSS chip.

In one embodiment, the server 1200 may further include a network interface (Network Interface Controller, NIC) 1206. The network interface 1206 may include a transceiver to provide a radio interface for the server 1200 to communicate with any other suitable device (e.g., front end module, antenna, etc.). In various embodiments, the network interface 1206 may be integrated with other components of the server 1200. The network interface 1206 may implement the functions of the communication units in the above-described embodiments.

In one embodiment of the application, a transceiver in the network interface 1206 may receive the navigation satellite ephemeris and EOP parameters calculated from the broadcast ephemeris parameters, the navigation satellite pseudoranges, and the carrier phase and store them in the memory 1204 for further processing by the processor 1201. The base function coefficients and the fitted clock error parameters corresponding to the predicted satellite orbits obtained after processing by the processor 1201 are sent to the terminal equipment of the user, so that the GNSS chip of the terminal of the user can further calculate the position and the speed of the GNSS chip of the user by using the data.

It is noted that fig. 4 is merely exemplary. That is, although the server 1200 is shown in fig. 4 as including a plurality of devices such as the processor 1201, the controller hub 1203, the memory 1204, etc., in practical applications, the apparatus using the methods of the present application may include only a part of the devices of the server 1200, for example, may include only the processor 1201 and the NIC206. The nature of the alternative device is shown in dashed lines in fig. 4.

In accordance with some embodiments of the present application, the process of determining the location and velocity of a terminal device using navigation satellites is described in specific embodiments below. Wherein fig. 5 shows a flow chart for determining the position and velocity of a terminal device.

Referring to fig. 5, in step S500, the GNSS observation station acquires a navigation message including data such as broadcast ephemeris parameters, GNSS pseudo-ranges, and carrier phase observables, and sends the navigation message to the orbit server. The GNSS observatory demodulates the broadcast ephemeris parameters from the navigation signals from the navigation satellites, collects GNSS pseudo-ranges and carrier phase observables, and transmits these data to the orbit server.

In step S510, the orbit server calculates EOP parameters and the precise ephemeris of the navigation satellites based on the broadcast ephemeris parameters, GNSS pseudoranges and carrier phase data transmitted in step S500. The EOP parameter calculation may be obtained by calculating based on a GNSS pseudo-range and a carrier phase, for example, after obtaining the GNSS pseudo-range and the carrier phase observed quantity by the orbit server, based on an EOP initial value given to the GNSS pseudo-range and the carrier phase observed quantity, the position of the ground GNSS observation station is converted to an inertial frame, and a least square batch processing algorithm is adopted, and a satellite dynamics model is combined to calculate a precise ephemeris of the navigation satellite and an EOP parameter correction, so that a precise EOP parameter can be obtained based on the EOP correction. The orbit server sends the EOP parameters and the refined ephemeris to the PGNSS server to cause the PGNSS server to perform the following steps.

In step S520, PGNSS server fits the satellite orbit and clock bias parameters based on the EOP parameters and the precise ephemeris. The fitting of the clock difference parameters can be carried out by modeling the satellite clock difference by adopting a primary term model and a secondary term model, and fitting the primary term or the secondary term coefficient by adopting a least square algorithm, so that the fitting of the clock difference parameters is realized. In one embodiment of the application, the satellite orbit parameters and the clock error parameters may be fitted by the following method.

First, satellite positions are converted to an inertial frame based on EOP parameters, and a navigation satellite orbit is fitted.

The following describes a fitting procedure of the navigation satellite orbit with reference to fig. 6, fig. 6 shows a trajectory diagram of the fitting procedure of the navigation satellite orbit, and in fig. 6, the fitting procedure includes a predicted satellite orbit 1, a predicted satellite orbit 2 and a predicted satellite orbit 3, wherein a circular point represents precise ephemeris data, and a square point represents a position of the navigation satellite at a selected reference time. Selecting a proper light pressure model, such as a ROCK model, an ECOM model, a GSPM model and the like, initializing light pressure parameters, forecasting the satellite orbit forwards and backwards according to the initialized light pressure parameters and orbit initial values, forecasting the satellite orbit as a forecast satellite orbit 1 in fig. 5 exists due to errors of the initialized parameters, obvious orbit residuals exist between the forecast satellite orbit 1 and a precise ephemeris, correcting the satellite orbit initial values and the light pressure parameters according to the orbit residuals, forecasting the satellite orbit again according to the corrected orbit initial values and the light pressure parameters to obtain a forecast satellite orbit 2, and continuously correcting the orbit initial values and the light pressure parameters by utilizing the residuals of the forecast satellite orbit 2 until the forecast orbit residuals are smaller than a threshold value to obtain a forecast satellite orbit 3, thereby completing satellite orbit fitting.

In the application, a specific fitting algorithm of the clock error parameter and the satellite orbit parameter can be fitted by adopting a least square method. The specific fitting algorithm of the clock error parameter and the satellite orbit parameter in this step can be an existing common fitting algorithm, which is not described in detail herein.

In step S530, PGNSS server determines forecast orbit data based on the fitted satellite orbit parameters. Based on satellite orbit parameters, PGNSS server can model satellite acceleration, in the forecasting process, the forecasting value of satellite motion speed is obtained by integrating navigation satellite acceleration, and the forecasting value of navigation satellite position is obtained by integrating the speed forecasting value again. To obtain the corresponding position and speed of the navigation satellite at each time point, i.e. the forecast orbit data, in the future 7-28 days or longer.

Step S540, PGNSS server performs piecewise fitting on the forecast track data through the polynomial model to determine the basis function coefficients of the polynomial model corresponding to each piece of forecast track data. The polynomial model consists of a base function and corresponding coefficients thereof, and can be a first class chebyshev polynomial or a second class first class chebyshev polynomial.

In accordance with embodiments of the present application, instead of fitting the forecast trajectory data using chebyshev polynomials, other general polynomials may be used.

In step S550, the server sends the base function coefficient obtained in step S540 and the fitted clock error parameter in step S520 to the terminal device, and the terminal device pre-stores the base function coefficient and the clock error parameter in the local memory.

In step S560, the GNSS chip of the terminal device periodically obtains the currently required base function coefficients and clock error parameters from the memory by means of a data request. That is, when the terminal device receives the base function coefficient and the clock error parameter, the parameters are stored in the memory, and when the GNSS chip calculates, the GNSS chip only needs to update the parameters once in 8-12 hours because each set of parameter has the validity period of 8-12 hours, while in the prior art, the interval of updating the parameters of the GNSS chip is less than 4 hours, and compared with the prior art, the application can realize lower parameter updating frequency of the GNSS chip. In step S570, during the process of positioning initiated by the terminal device, the GNSS chip of the terminal device calculates the position and velocity of the navigation satellite at time t1 when transmitting the signal based on the basis function coefficient and the basis function.

In step S580, the GNSS chip of the terminal device calculates the position and speed of the terminal device at time t2 according to the position and speed of the time t1 when the navigation satellite transmits the signal, the fitted clock error parameter, and the navigation satellite pseudo-range and carrier phase acquired by the terminal device.

In step S590, the terminal device displays its own position and speed through the display screen or reports its own position and speed through the voice broadcasting mode, so as to improve the user experience.

Taking the chebyshev polynomial of the first class as an example, the process of segment fitting of forecast track data by the PGNSS server in the step S540 through a polynomial model is further described in more detail.

The first chebyshev polynomial has the following basis functions:

T₀(x)＝1

T₁(x)＝x

T_n(x)＝2xT_n-1(x)-T_n-2(x)

The mother function can also be used to represent:

Where n represents the order of the basis function. The position of the navigation satellite over a period of time t can be expressed as:

Wherein x (t), y (t) and z (t) respectively represent three-dimensional positions of satellites, and a represents a basis function coefficient. The GNSS server segments the forecast track data according to a set fitting time length, wherein the fitting time length can be within 12 hours, the embodiment of the application can set the fitting time length to be 8-12 hours, for example, the corresponding time length of the forecast track data is 7 days, 24 hours a day, if the fitting time length is 8 hours, the forecast track data in a day can be divided into 3 sections, and the track data in 7 days can be divided into 21 sections. Further, the position and velocity of the navigation satellite may be acquired at equal intervals in each segment, e.g., once every 5 minutes, etc. When the proper order n is selected, fitting is carried out on each section of satellite orbit data, a group of basis function coefficients corresponding to the polynomial can be obtained after the satellite orbit is fitted, and as the basis functions of each section are the same and the basis function coefficients corresponding to each section of basis function are different, the fitted forecast orbit data can be represented by the basis function coefficients.

In an embodiment of the present application, to normalize the chebyshev polynomial-based satellite orbit fitting process, the time interval needs to be first converted into the [ -1,1] interval, and the conversion formula is:

Where t0 represents the starting instant and Δt represents the fitting time interval.

And respectively considering polynomials of different orders in the fitting process, and fitting the basis function coefficients by adopting a least square algorithm. Compared with the broadcast ephemeris parameter model, the model based on the chebyshev polynomial is a linear model, so the state transition matrix calculation method is relatively simple, namely:

Wherein n represents the Chebyshev polynomial order, and m represents the number of sampling points.

In addition, in the fitting process, only the three-dimensional position of the navigation satellite is fitted, and the three-dimensional speed of the navigation satellite can be obtained by deriving a position polynomial.

Step S570 is described below in connection with step S540.

In step S570, when the position of the navigation satellite at time t1 needs to be calculated, the GNSS chip of the terminal device obtains the basis function coefficient corresponding to the predicted orbit data at time t1 from the memory, and substitutes the basis function coefficient into the formula for calculating the three-dimensional position, so as to obtain the three-dimensional position of the navigation satellite. And deriving the polynomial corresponding to the time t1 to obtain the speed of the navigation satellite corresponding to the time t 1.

For example, in each positioning process, the GNSS chip of the terminal device may calculate the position of the GNSS satellite based on the above-mentioned base function and the corresponding base function coefficient, and calculate the velocity of the GNSS satellite by using the same base function coefficient and the same base function derivative, where the base function derivative is:

F₀(x)＝0

F₁(x)＝1

F_n(x)＝2T_n-1(x)+2xF_n-1(x)-F_n-2(x)

The process of calculating the GNSS satellite speed is as follows:

wherein v _x(t)、u_y(t)、v_z (t) represents the three-dimensional velocity of the navigation satellite at time t, respectively.

In the application, when the order n of the basis function is 18, the validity period of each section of forecast satellite orbit parameter can be up to 12 hours under the condition of ensuring the satellite orbit precision, and compared with the prior GPS system which adopts 4 hours for segment fitting, the validity period of the forecast satellite orbit parameter is longer, so that a GNSS chip realizes lower parameter updating frequency.

The following application uses a polynomial model to compare the fit residual for 12 hours with the prior art 4 hours fit residual using 18 parameter broadcast ephemeris. As shown in table 1 below:

TABLE 1

Data accuracy	R direction error/m	T direction error/m	N direction error/m
				Polynomial fitting error	0.039	0.036	0.045
Broadcast ephemeris fitting error	0.052	0.052	0.020

As can be seen from Table 1, the fitting error of the application for segment fitting of the predicted orbit parameters in 12 hours is equivalent to the fitting error of the prior art for segment fitting of the predicted orbit parameters in 4 hours, and the errors can meet the requirement of the fitting error. Thus, the application can extend the forecast track fitting time to 12 hours. And the fitting accuracy of the satellite orbit can be ensured.

Meanwhile, the application adopts a polynomial model fitting mode to rapidly calculate the position and the speed of the GNSS satellites, and adopts a 16-parameter or 18-parameter broadcast ephemeris model to carry out fitting algorithm on the position of each section of GNSS satellites in the prior art, and the process of calculating the position and the speed of the navigation satellites involves a plurality of complex floating point operations, which occupy more resources of a processor, are frequently fitted, have large operation amount and long time for completing the operation, thus having higher power consumption on the GNSS chip. Compared with the prior art, the method and the device have the advantages that the server-side forecast orbit parameter fitting process is greatly simplified, and the process of calculating the position and the speed of the navigation satellite by the GNSS chip of the client terminal equipment is simplified, so that the power consumption of the GNSS chip is effectively reduced, the fitting time length can be prolonged to 8-12 hours under the condition that the satellite orbit fitting error is ensured to be within the allowable range, and the GNSS chip can realize lower parameter updating frequency. In addition, the first positioning time of the terminal equipment is reduced, and the network request frequency and the dependence on the network quality are reduced under the condition of improving the user experience.

The application also provides a server which is applied to the positioning system shown in fig. 1, wherein in the server 104, the application adopts a polynomial model-based prediction orbit data fitting method which is different from the prior art, so that the server-side prediction orbit data fitting process is greatly simplified, and meanwhile, the process of calculating the position and the speed of a GNSS satellite by a GNSS chip is also greatly simplified.

According to an embodiment of the present application, the present application also discloses a method for determining a position and a velocity of a terminal device by using a navigation satellite, which is applied to the terminal device, and the method includes:

the terminal equipment acquires clock error parameters sent by a server, basic function coefficients of a polynomial model corresponding to forecast orbit data, and acquires a navigation satellite pseudo-range and a carrier phase;

The GNSS chip of the terminal equipment determines the position and the speed of the navigation satellite based on the basis function and the basis function coefficient of the polynomial model;

The GNSS chip of the terminal device determines its own position and velocity based on the position and velocity of the navigation satellites, the clock error parameters, and the pseudoranges and carrier phases of the navigation satellites.

In one embodiment of the application, the polynomial model is a chebyshev polynomial.

Since the method for determining the position and the speed of the terminal device by using the navigation satellite in the present application is described in detail in the above embodiments, the steps S560 to S580 in the above method can be specifically referred to, and will not be described in detail herein.

According to an embodiment of the present application, the present application also discloses a method for determining a position and a speed of a terminal device by using a navigation satellite, which is applied to a server, and includes:

the server fits the satellite orbit and the clock error parameters based on the EOP parameters and the precise ephemeris of the navigation satellite to obtain the fitted satellite orbit and the fitted clock error parameters;

the server determines the corresponding positions of the navigation satellites at all time points in a first period based on the fitted satellite orbit parameters so as to obtain forecast orbit data;

the server segments the forecast track data according to a second period of time to obtain a plurality of pieces of forecast track data, fits each piece of forecast track data in the plurality of pieces of forecast track data through a polynomial model, and determines a basis function coefficient of the polynomial model corresponding to each piece of forecast track data, wherein the second period of time is smaller than the first period of time;

The server outputs base function coefficients and clock skew parameters for use by a terminal device communicatively coupled to the server to determine a time-associated position and velocity of the terminal device.

In one embodiment of the application, the method further comprises: and the server acquires and calculates the EOP parameters and the precise ephemeris of the navigation satellite based on the broadcast ephemeris parameters, the pseudo-range of the navigation satellite and the carrier phase.

In one embodiment of the application, the server determines basis function coefficients of a polynomial model corresponding to each segment of forecast track data, comprising: the server acquires the positions of the navigation satellites in the forecast orbit data at equal intervals in each section of forecast orbit data by taking a third time period as an interval, wherein the third time period is smaller than the second time period;

setting the order of the basis function, and fitting the position of the navigation satellite in each piece of collected forecast orbit data based on the basis function to determine the basis function coefficient corresponding to each piece of forecast orbit data.

In one embodiment of the application, the second period is divided by the third period.

In one embodiment of the application, a least squares algorithm is used to fit the position of the navigation satellites in the predicted orbit data.

Since the method for determining the position and the speed of the terminal device by using the navigation satellite in the present application is described in detail in the above embodiment, the steps S520-S550 in the above method can be specifically referred to, and will not be described in detail herein.

The application also discloses an electronic device, fig. 7 shows a schematic structural diagram of the electronic device, and as shown in fig. 7, the electronic device comprises:

memory 701 for storing instructions to be executed by one or more processors of the device, and

A processor 702 for performing the method of steps S520-S580 described above.

The application also discloses an electronic device comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, and the electronic device is used for executing the method of the steps S560-S580.

In one embodiment of the application, the electronic device is a mobile phone, and the system in which the electronic device is located is the mobile phone; or the electronic device is a chip, and the system where the electronic device is located is a mobile terminal where the chip is located.

The application also discloses an electronic device comprising one or more memories, one or more processors coupled with the memories, and one or more programs, wherein the one or more programs are stored in the memories, and the electronic device is used for executing the method of steps S520-S550 in the above embodiment.

In one embodiment of the present application, the electronic device is a server, and the system in which the electronic device is located is the server; or the electronic device is a chip, and the system where the electronic device is located is a server where the chip is located.

The application also discloses a computer program product comprising instructions which, when run on an electronic device, cause a processor to perform the method of steps S520-S550 of the above embodiments.

The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the method of steps S520-S550 in the above embodiments.

Referring now to fig. 8, shown is a block diagram of a SoC (System on Chip) 1300 in accordance with an embodiment of the present application. In fig. 8, similar parts have the same reference numerals. In addition, the dashed box is an optional feature of a more advanced SoC. In fig. 8, soC1300 includes: an interconnect unit 1350 coupled to the application processor 1310; a system agent unit 1380; a bus controller unit 1390; an integrated memory controller unit 1340; a set or one or more coprocessors 1320 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (Static Random Access Memory, SRAM) unit 1330; a Direct Memory Access (DMA) unit 1360. In one embodiment, coprocessor 1320 includes a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU, a high-throughput MIC processor, embedded processor, or the like.

One or more computer-readable media for storing data and/or instructions may be included in Static Random Access Memory (SRAM) unit 1330. The computer-readable storage medium may have stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: the method for determining the position and speed of a terminal device using a navigation satellite according to the present application described in connection with fig. 5-6 is executed by at least one unit in the processor, and specifically, the method of the foregoing embodiment may be referred to, and will not be described herein.

Embodiments of the disclosed mechanisms may be implemented in hardware, software, firmware, or a combination of these implementations. Embodiments of the application may be implemented as a computer program or program code that is executed on a programmable system comprising at least one processor, a storage system (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device.

Program code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of the present application, a processing system includes any system having a Processor such as, for example, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), microcontroller, application SPECIFIC INTEGRATED Circuit (ASIC), or microprocessor.

The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. Program code may also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described in the present application are not limited in scope by any particular programming language. In either case, the language may be a compiled or interpreted language.

In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried by or stored on one or more transitory or non-transitory machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed over a network or through other computer readable media. Thus, a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including, but not limited to, floppy diskettes, optical disks, compact disk Read-Only memories (Compact Disc Read Only Memory, CD-ROMs), magneto-optical disks, read-Only memories (ROMs), random Access Memories (RAMs), erasable programmable Read-Only memories (Erasable Programmable Read Only Memory, EPROMs), electrically erasable programmable Read-Only memories (ELECTRICALLY ERASABLE PROGRAMMABLE READ ONLY MEMORY, EEPROMs), magnetic or optical cards, flash Memory, or tangible machine-readable Memory for transmitting information (e.g., carrier waves, infrared signal digital signals, etc.) in an electrical, optical, acoustical or other form of propagated signal using the internet. Thus, a machine-readable medium includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

In the drawings, some structural or methodological features may be shown in a particular arrangement and/or order. However, it should be understood that such a particular arrangement and/or ordering may not be required. Rather, in some embodiments, these features may be arranged in a different manner and/or order than shown in the drawings of the specification. Additionally, the inclusion of structural or methodological features in a particular figure is not meant to imply that such features are required in all embodiments, and in some embodiments, may not be included or may be combined with other features.

It should be noted that, in the embodiments of the present application, each unit/module mentioned in each device is a logic unit/module, and in physical terms, one logic unit/module may be one physical unit/module, or may be a part of one physical unit/module, or may be implemented by a combination of multiple physical units/modules, where the physical implementation manner of the logic unit/module itself is not the most important, and the combination of functions implemented by the logic unit/module is only a key for solving the technical problem posed by the present application. Furthermore, in order to highlight the innovative part of the present application, the above-described device embodiments of the present application do not introduce units/modules that are less closely related to solving the technical problems posed by the present application, which does not indicate that the above-described device embodiments do not have other units/modules.

It should be noted that in the examples and descriptions of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

While the application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the application.

Claims

1. A method for determining the position and speed of a terminal device using navigation satellites, applied to a server and a terminal device communicatively connected to the server, comprising:

the server fits the satellite orbit and the clock error parameters of the navigation satellite based on the EOP parameters and the precise ephemeris of the navigation satellite to obtain the fitted satellite orbit and the fitted clock error parameters;

the server determines the corresponding positions of the navigation satellites at each time point in a first period based on the fitted satellite orbit parameters so as to obtain forecast orbit data of the navigation satellites;

The server segments the forecast track data according to a second period of time to obtain multiple segments of forecast track data, fits each segment of the forecast track data in the multiple segments of forecast track data through a polynomial model, and determines a basis function coefficient of the polynomial model corresponding to each segment of forecast track data, wherein in the fitting process, the orders of the basis function are set, polynomials with different orders are considered respectively, so that the basis function coefficients are fitted, and the second period of time is smaller than the first period of time;

the server sends the basic function coefficient and the fitted clock error parameter to the terminal equipment;

The terminal equipment determines the position and the speed of the terminal equipment which are related to time based on the basic function coefficient, the fitted clock error parameter and the acquired navigation satellite pseudo-range and carrier phase thereof.

2. The method as recited in claim 1, further comprising:

And the server acquires and calculates the EOP parameters and the precise ephemeris of the navigation satellite based on the broadcast ephemeris parameters, the navigation satellite pseudo-range and the carrier phase.

3. The method according to claim 1, wherein the terminal device determines its own position and speed, specifically comprising:

The terminal equipment calculates the time-associated position and speed of the navigation satellite based on the basis function coefficients and the basis function;

The terminal equipment calculates the time-associated position and speed of the terminal equipment based on the position and speed of the navigation satellite, the fitted clock error parameter, and the pseudo range and carrier phase of the navigation satellite.

4. A method according to any one of claims 1-3, wherein the polynomial model is chebyshev's polynomial.

5. A method according to any one of claims 1-3, wherein the server determining basis function coefficients of a polynomial model corresponding to each segment of forecast track data comprises:

The server acquires the positions of navigation satellites in the forecast orbit data at equal intervals by taking a third time period as an interval in each section of the forecast orbit data, wherein the third time period is smaller than the second time period;

And fitting the position of the navigation satellite in each piece of collected forecast orbit data based on the basis function so as to determine the basis function coefficient corresponding to each piece of forecast orbit data.

6. The method of claim 5, wherein the second period is divided by a third period.

7. The method of claim 5, wherein the fitting of the position of the navigation satellite in the predicted orbit data is performed using a least squares algorithm.

8. A method for determining a position and a speed of a terminal device using a navigation satellite, applied to the terminal device, comprising:

The terminal equipment obtains clock error parameters sent by a server and basic function coefficients of a polynomial model corresponding to forecast orbit data, wherein the clock error parameters are obtained by fitting satellite orbits and clock error parameters of the navigation satellite by the server based on EOP parameters and precise ephemeris of the navigation satellite, the fitted satellite orbits and the fitted clock error parameters are obtained, and the basic function coefficients are obtained by determining positions corresponding to all time points of the navigation satellite in a first period by the server based on the fitted satellite orbit parameters, so as to obtain forecast orbit data of the navigation satellite; the server segments the forecast track data according to a second period of time to obtain multiple segments of forecast track data, fits each segment of the forecast track data in the multiple segments of forecast track data through a polynomial model, and determines a basis function coefficient of the polynomial model corresponding to each segment of forecast track data, wherein in the fitting process, the orders of the basis function are set, polynomials with different orders are considered respectively, so that the basis function coefficients are fitted, and the second period of time is smaller than the first period of time;

the terminal equipment determines the position and the speed of the navigation satellite based on the basis functions of the polynomial model and the basis function coefficients;

the terminal equipment determines the position and the speed of the terminal equipment based on the position and the speed of the navigation satellite, the fitted clock error parameter and the acquired pseudo range and carrier phase of the navigation satellite.

9. The method of claim 8, wherein the polynomial model is chebyshev polynomials.

10. A method for forecasting the orbit of a navigation satellite, which is applied to a server, and is characterized by comprising the following steps:

The server determines the corresponding positions of the navigation satellites at each time point in a first period based on the fitted satellite orbit parameters so as to obtain forecast orbit data;

The server outputs the basic function coefficient and the fitted clock difference parameter, and the basic function coefficient and the fitted clock difference parameter are used for determining the position and the speed of the terminal equipment which are in communication connection with the server and are associated with time.

11. The method as recited in claim 10, further comprising:

12. The method according to claim 10 or 11, wherein the polynomial model is chebyshev polynomials.

13. The method of claim 10, wherein the server determining basis function coefficients of a polynomial model corresponding to each segment of forecast track data comprises:

14. The method of claim 13, wherein the second period is divided by a third period.

15. A method according to claim 13 or 14, wherein the locations of navigation satellites in the predicted orbit data are fitted using a least squares algorithm.

16. An electronic device comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, the electronic device being configured to perform the method of any of claims 8-9.

17. The electronic device of claim 16, wherein the electronic device is a mobile phone and the system in which the electronic device is located is the mobile phone; or the electronic device is a chip, and the system where the electronic device is located is a mobile terminal where the chip is located.

18. An electronic device comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, the electronic device being configured to perform the method of any of claims 10-15.

19. The electronic device of claim 18, wherein the electronic device is a server and the system in which the electronic device is located is the server; or the electronic device is a chip, and the system where the electronic device is located is a server where the chip is located.

20. A computer program product comprising instructions which, when run on an electronic device, cause a processor to perform the method of any of claims 8-15.

21. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to perform the method of any of claims 8-15.