CN114047527A - Pseudo-range signal transmission method, device, storage medium and electronic device - Google Patents
Pseudo-range signal transmission method, device, storage medium and electronic device Download PDFInfo
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- CN114047527A CN114047527A CN202111322923.5A CN202111322923A CN114047527A CN 114047527 A CN114047527 A CN 114047527A CN 202111322923 A CN202111322923 A CN 202111322923A CN 114047527 A CN114047527 A CN 114047527A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
- G01S19/115—Airborne or satellite based pseudolites or repeaters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
- G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
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Abstract
The embodiment of the invention provides a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device, which are applied to a pseudo-satellite, wherein the pseudo-range signal sending method comprises the following steps: determining a first time when the pseudolite receives a target signal sent by a target satellite and a second time when the target satellite sends the target signal; determining a target clock offset between the local time of the pseudolite and the local time of the target satellite; determining actual position information of the target satellite based on the first time, the second time and the target clock error; determining a pseudo range of the pseudolite from the receiver based on the actual position information; and transmitting pseudo-range signals generated based on the pseudo-range to the receiver. The invention solves the problems of poor pseudolite interference and poor effect of decoy receivers in the related technology and improves the pseudolite interference and the effect of decoy receivers.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device.
Background
In the related art, the pseudolite spoofing interference technology mostly directly adopts a radio frequency forwarding scheme, that is, a received signal is directly delayed through simulation and then amplified in power and forwarded. Or a digital regeneration mode is adopted to generate the suppressive interference. However, for a high-performance anti-spoofing navigation receiver, interference and spoofing effects cannot be generated by adopting the method.
Therefore, the problems of pseudo satellite interference and poor effect of decoy of the receiver exist in the related art.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device, and aims to at least solve the problems of pseudo-satellite interference and poor effect of a decoy receiver in the related technology.
According to an embodiment of the present invention, there is provided a pseudo-range signal transmission method applied to a pseudolite, including: determining a first time when the pseudolite receives a target signal transmitted by a target satellite and a second time when the target satellite transmits the target signal; determining a target clock difference between the local time of the pseudolite and the local time of the target satellite; determining actual position information of the target satellite based on the first time, the second time, and the target clock error; determining a pseudorange for the pseudolite from a receiver based on the actual position information; and sending pseudo-range signals generated based on the pseudo-range to the receiver.
According to another embodiment of the present invention, there is provided a pseudo-range signal transmission apparatus applied to a pseudolite, including: the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining a first time when the pseudolite receives a target signal sent by a target satellite and a second time when the target satellite sends the target signal; a second determining module for determining a target clock offset between the local time of the pseudolite and the local time of the target satellite; a third determining module for determining actual position information of the target satellite based on the first time, the second time and the target clock difference; a fourth determining module for determining a pseudorange of said pseudolite from a receiver based on said actual position information; a sending module, configured to send a pseudo-range signal generated based on the pseudo-range to the receiver.
According to yet another embodiment of the invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, the first time when the pseudolite receives the target signal sent by the target satellite and the second time when the target satellite sends the target signal are determined, the target clock difference between the local time of the pseudolite and the local time of the target satellite is determined, the actual position information of the target satellite is determined according to the first time, the second time and the target clock difference, the pseudo range of the pseudolite from the receiver is determined according to the actual position information, the pseudo range signal is generated through the pseudo range, and the pseudo range information is sent to the receiver. The actual position information of the target satellite can be accurately determined according to the first time, the second time and the target clock error, so that the pseudo range of the pseudo satellite from the receiver can be accurately determined according to the actual position information, and pseudo range signals containing the pseudo range are sent to the receiver, so that the effect of luring the receiver is achieved. Therefore, the problem of poor effects of pseudolite interference and decoy receivers in the related art can be solved, and the effects of the pseudolite interference and the decoy receivers are improved.
Drawings
Fig. 1 is a block diagram of a hardware configuration of a mobile terminal according to a method for transmitting a pseudo-range signal according to an embodiment of the present invention;
fig. 2 is a flowchart of a pseudo-range signal transmission method according to an embodiment of the present invention;
FIG. 3 is a target satellite transmission signal and receiver time differential diagram in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of satellite positioning according to an exemplary embodiment of the present invention;
FIG. 5 is a flowchart illustrating a process of determining pseudoranges in accordance with an exemplary embodiment of the present invention;
fig. 6 is a flowchart of a method for sending pseudorange signals according to an embodiment of the invention;
FIG. 7 is a schematic diagram of a clock error detection module according to an exemplary embodiment of the present invention;
fig. 8 is a block diagram of a pseudo-range signal transmission apparatus according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The pseudolite technology is widely applied to the fields of satellite navigation, time service and anti-induction. In order to facilitate accurate simulation of satellite signals, the device must be absolutely synchronized with satellite time, and compensate time deviation according to a time compensation algorithm, and the time deviation is compensated and converted into a corresponding satellite pseudo range through the obtained time difference compensation, so as to compensate the satellite pseudo range in the calculation. The following examples are proposed on this basis:
the method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the mobile terminal as an example, fig. 1 is a hardware block diagram of the mobile terminal according to the present invention, which is used for transmitting a pseudo-range signal. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of an application software and a module, such as a computer program corresponding to the pseudo-range signal transmission method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In this embodiment, a pseudo-range signal transmission method is provided, and is applied to a pseudolite, fig. 2 is a flowchart of a pseudo-range signal transmission method according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, determining a first time when the pseudolite receives a target signal sent by a target satellite and a second time when the target satellite sends the target signal;
step S204, determining a target clock error between the local time of the pseudolite and the local time of the target satellite;
step S206, determining the actual position information of the target satellite based on the first time, the second time and the target clock error;
step S208, determining the pseudo range of the pseudo satellite from the receiver based on the actual position information;
step S210, transmitting a pseudo-range signal generated based on the pseudo-range to the receiver.
In the above embodiment, the pseudolite may determine a first time at which the pseudolite receives the target signal transmitted by the target satellite and a second time at which the target satellite transmits the target signal. The pseudolite may also determine a target clock difference between the local time of the pseudolite and the local time of the target satellite. And the navigation time of the target satellite is the local time of the target satellite. In the pseudolite system, a detection device for local time and navigation absolute time can be configured, and time deviation, namely target clock difference, can be calculated in real time. The target satellite can be a real satellite, such as a Beidou navigation satellite. The target clock offset may include satellite clock offset, relativistic satellite clock offset, ionospheric delay, and stratospheric delay, and may be expressed as Δ tsc + Δ tre- Δ tion- Δ ttrop, where Δ tsc is satellite clock offset; Δ tre is the satellite clock error of relativistic effect; delta. ion is ionospheric delay; Δ ttrop is tropospheric delay.
In the above embodiment, the actual position information of the target satellite may be determined based on the first time, the second time, and the target clock offset, the pseudo-range of the pseudolite from the receiver may be determined based on the actual position information, and a pseudo-range signal including the pseudo-range may be generated based on the pseudo-range. The pseudorange signals are transmitted to the receiver such that the receiver, upon receiving the pseudorange signals, recognizes as signals transmitted by the target satellite. The pseudo-range signal may include pseudo-range and other communication signals.
In the above embodiment, in a real satellite positioning system, the atomic clock accuracy on each satellite is quite high, and the clocks are consistent between satellites. When satellite simulation is carried out, the actually simulated satellite clock adopts local time on local equipment, the local time has a larger difference with an atomic clock on a real satellite, and compensation is needed, otherwise, the deviation between the simulated satellite positioning system and the real satellite positioning system is overlarge, and the difference can be easily identified after a user receiver receives a signal of the simulated satellite positioning system. The method can introduce a navigation time when the system is realized, the navigation time is an accurate time reference obtained by demodulating a Beidou satellite positioning system through a Beidou receiver, then a target clock error is obtained, the target clock error is compensated to the deviation delta t between a clock on an actual satellite and a clock on a user receiver, namely the target clock error can be compensated to the actual position information of a simulation satellite, and therefore the calculation of the actual position information in the accurate simulation satellite positioning system is realized.
Optionally, the executing subject of the above steps may be a pseudolite, a background processor, or other devices with similar processing capabilities, and may also be a machine integrated with at least a data processing device, where the data processing device may include a terminal such as a computer, a mobile phone, and the like, but is not limited thereto.
According to the invention, the first time when the pseudolite receives the target signal sent by the target satellite and the second time when the target satellite sends the target signal are determined, the target clock difference between the local time of the pseudolite and the local time of the target satellite is determined, the actual position information of the target satellite is determined according to the first time, the second time and the target clock difference, the pseudo range of the pseudolite from the receiver is determined according to the actual position information, the pseudo range signal is generated through the pseudo range, and the pseudo range information is sent to the receiver. The actual position information of the target satellite can be accurately determined according to the first time, the second time and the target clock error, so that the pseudo range of the pseudo satellite from the receiver can be accurately determined according to the actual position information, and pseudo range signals containing the pseudo range are sent to the receiver, so that the effect of luring the receiver is achieved. Therefore, the problem of poor effects of pseudolite interference and decoy receivers in the related art can be solved, and the effects of the pseudolite interference and the decoy receivers are improved.
In one exemplary embodiment, determining the actual position information of the target satellite based on the first time, the second time, and the target clock offset comprises: determining a time difference between the first time and the second time; determining the actual position information of the target satellite based on the time difference and the target clock difference. In this embodiment, the time difference between the first time and the second time may be determined, and the actual position information of the target satellite may be determined according to the time difference and the target clock difference. As a certain time delay exists after the target satellite transmits the signal, the signal is received by the receiver, the difference between the target satellite transmission signal and the receiver time is shown in fig. 3, and similarly, the time delay also exists between the target satellite transmitting the target signal and the pseudolite receiving the target signal, i.e. the time difference between the first time and the second time. And a certain time deviation, namely a target clock error, exists between the local time of the pseudolite and the local time of the target satellite. After the time difference and the target clock difference are determined, the actual position information of the target satellite can be determined according to the time difference and the target clock difference.
In one exemplary embodiment, determining the actual position information of the target satellite based on the time difference and the target clock difference comprises: determining a first product of the time difference and the speed of light; determining a position compensation value for the target satellite based on the target clock offset; determining the actual position information based on the first product, the position compensation value, and ephemeris of the target satellite. In this embodiment, since there is a target clock difference between the local time of the target satellite and the local time of the pseudolite, the distance determined from the product of the time difference and the speed of signal transmission is not the actual position of the satellite. A position compensation value of the target satellite may be determined based on the target clock offset, and actual position information of the target satellite may be determined based on the position compensation value and the first product.
In one exemplary embodiment, determining the position compensation value for the target satellite based on the target clock offset comprises: determining a second product of the target clock difference and the speed of light; determining the second product as the position compensation value. In the present embodiment, a second product of the target clock difference and the speed of light may be determined, and the second product may be determined as the position compensation value. That is, in determining the actual position information of the target satellite, the altitude information included in the actual position information of the satellite may be determined by multiplying the speed of light by the difference between the time difference and the target clock difference.
In one exemplary embodiment, determining the actual position information based on the first product, the position compensation value, and ephemeris of the target satellite comprises: determining a difference between the first product and the position compensation value; determining the difference value as a height value included in the actual position information; determining a longitude and latitude value included in the actual position information based on ephemeris of the target satellite and pseudolite position information of the pseudolite; and determining the height value and the real-time longitude and latitude value as the actual position information. In this embodiment, the difference between the first product and the position compensation value may be determined as an altitude value included in the actual position information, a longitude and latitude value included in the actual position information may be determined according to the ephemeris of the target satellite and the position information of the pseudolite, and the altitude value and the longitude and latitude value may be determined as the actual position information.
In the above embodiment, the schematic diagram of satellite positioning can be seen in fig. 4, as shown in fig. 4, the user is at (x, y, z) point, and the positions of 4 satellites in the sky are (x) respectivelyi，yi，zi) (i is 1,2,3,4), then
By the above formula can be solvedOut of the actual location of the user. Where c is the speed of light, Δ t is the deviation of the clock on the actual satellite from the clock on the user receiver, τiAnd (i ═ 1,2,3 and 4) is the actual transmission time of the wireless signal between the user and each satellite. In determining the position of the target satellite, position information for the target satellite may be derived back based on the ephemeris of the target satellite and the position information for the pseudolite.
In the above embodiment, the first product may be represented as c (t1-t0), where t1 is the pseudolite reception target signal reception time, i.e., the first time; t0 is the transmission time of the target signal, the second time. The first product may be the free ideal spatial distance of the user position from the satellite position at time t0, which may be denoted by R. The position compensation value can be expressed as (Δ tsc +. DELTA tre- Δ tion- Δ ttrop) c, which is the second product of the target clock difference and the speed of light. Wherein, Δ tsc is the satellite clock error; Δ tre is the satellite clock error of relativistic effect; delta. ion is ionospheric delay; Δ ttrop is tropospheric delay and c is standard speed of light. And correcting the satellite position through the time deviation compensation value, calculating a pseudo range based on the satellite position and the ground point to be simulated, and using the generated pseudo range as the input of a radio frequency channel so as to finish the pseudo satellite signal compensation time deviation. That is, the obtained pseudorange can be expressed as pr1 ═ R- (. DELTA.tsc +. DELTA.tre-. DELTA.tion-. DELTA.ttrop) c.
In one exemplary embodiment, determining pseudoranges for said pseudolite range receiver based on said actual position information comprises: determining receiver location information for the receiver; determining a distance of the target satellite from the receiver based on the actual location information and the receiver location information; determining a range of the target satellite from the receiver as the pseudorange. In this embodiment, the range of the target satellite from the receiver may be determined as the pseudo-range of the pseudolite to the receiver. Wherein, the receiver position information of the receiver can be the position information of the point to be simulated on the ground, namely the receiver position information is known and is set as (x)1，y1，z1) Let the coordinates of the actual position information be (x)2，y2，z2) The distance of the target satellite from the receiver can be expressed as
The pseudoranges from the pseudolites to the receiver may also be denoted as
Fig. 5 is a schematic diagram of a process for determining pseudoranges, as shown in fig. 5, the process includes:
in step S502, a target clock difference is determined.
In step S504, a compensated pseudorange (corresponding to the position compensation value) is determined from the target clock difference.
In step S506, a pseudo range (corresponding to the actual position information) of the target satellite from the pseudolite is determined.
In step S508, a compensated pseudorange (corresponding to the above-mentioned pseudolite range receiver) is determined from the compensated pseudorange and the pseudorange.
In one exemplary embodiment, transmitting pseudo-range signals generated based on the pseudo-range to the receiver comprises: sending the pseudo-range signal to a radio frequency channel; and transmitting the pseudo-range signal to the receiver by using the radio frequency channel. In this embodiment, after the pseudo-range signal is generated, the pseudo-range signal may be transmitted to a radio frequency channel, and pseudo-range information may be transmitted to the receiver using the radio frequency channel.
The pseudo-range signal transmission method is described below with reference to the specific embodiment:
fig. 6 is a flowchart of a method for sending a pseudorange signal according to an embodiment of the present invention, where as shown in fig. 6, a system calculates a clock bias through a built-in local clock by receiving a navigation time, calculates a compensated pseudorange according to the clock bias, outputs the compensated pseudorange, and finally inputs the pseudorange to a radio frequency signal.
The system includes a clock difference detection module, the schematic diagram of the clock difference detection module can refer to fig. 7, as shown in fig. 7, the clock difference detection module includes a local clock and a clock difference module, wherein the local clock is divided into an internal clock unit and a standby clock unit, and the clock difference module outputs clock difference information according to navigation time (corresponding to the local time of the target satellite) and local clock input information.
The pseudo-range observed quantity is the difference between the time of transmitting a signal by a satellite and the time of arrival of the signal at a receiver, and because both time scales are errors, the pseudo-range observed quantity can be corrected as an ideal time scale when a GPS is introduced; and compensating the actual satellite position according to the satellite orbit signal of the navigation signal based on the time error, solving the difference between the compensated satellite position and the ground position, calculating a pseudo range, and finally sending a pseudo range signal into a radio frequency channel.
The pseudolite system may include a time receiving means, a local timer and a time detecting means by which a navigation time and a local time offset, i.e., a target clock offset, are calculated. And then, calculating a pseudo-range compensation value by an algorithm according to the input clock difference by taking the target clock difference as an input variable. Each pseudo-range generation module firstly generates a satellite position, compensates the satellite position through the event deviation, calculates a pseudo-range based on the satellite position and the ground point to be simulated, and sends the generated pseudo-range to a radio frequency channel.
In the foregoing embodiment, high-performance system time error compensation is implemented in real time by using the local time and absolute time error recognized by the system as dynamic input variables, recalculating the satellite position by calculating the position deviation from the time deviation in real time, and then controlling pseudo-range information generated from pseudo-satellite signals. By the real-time dynamic reverse compensation realized by the invention, the pseudolite can highly restore the real satellite signal after being tested, the pseudolite information and the satellite achieve the effect of high consistency, long-time high-resolution coverage is provided, and the difference between the pseudolite signal and the real satellite cannot be distinguished by common commercial receiver equipment, so that better simulation, interference and decoy effects can be provided.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a pseudo-range signal sending apparatus is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 8 is a block diagram of a pseudo-range signal transmission apparatus according to an embodiment of the present invention, as shown in fig. 8, the apparatus including:
a first determining module 802, configured to determine a first time when the pseudolite receives a target signal sent by a target satellite and a second time when the target satellite sends the target signal;
a second determining module 804 for determining a target clock offset between the local time of the pseudolite and the local time of the target satellite;
a third determining module 806 for determining actual position information of the target satellite based on the first time, the second time and the target clock difference;
a fourth determining module 808 for determining pseudoranges to said pseudolite range receiver based on said actual position information;
a transmitting module 810, configured to transmit a pseudo-range signal generated based on the pseudo-range to the receiver.
In an exemplary embodiment, the third determining module 806 may determine the actual position information of the target satellite based on the first time, the second time, and the target clock offset by: determining a time difference between the first time and the second time; determining the actual position information of the target satellite based on the time difference and the target clock difference.
In an exemplary embodiment, the third determining module 806 may determine the actual position information of the target satellite based on the time difference and the target clock difference by: determining a first product of the time difference and the speed of light; determining a position compensation value for the target satellite based on the target clock offset; determining the actual position information based on the first product, the position compensation value, and ephemeris of the target satellite.
In an exemplary embodiment, the third determining module 806 can determine the position compensation value of the target satellite based on the target clock offset by: determining a second product of the target clock difference and the speed of light; determining the second product as the position compensation value.
In an exemplary embodiment, the third determination module 806 may determine the actual position information based on the first product, the position compensation value, and the ephemeris of the target satellite by: determining a difference between the first product and the position compensation value; determining the difference value as a height value included in the actual position information; determining a longitude and latitude value included in the actual position information based on ephemeris of the target satellite and pseudolite position information of the pseudolite; and determining the height value and the real-time longitude and latitude value as the actual position information.
In an exemplary embodiment, the fourth determination module 808 may determine pseudoranges for the pseudolite to a receiver based on the actual position information by: determining receiver location information for the receiver; determining a distance of the target satellite from the receiver based on the actual location information and the receiver location information; determining a range of the target satellite from the receiver as the pseudorange.
In an exemplary embodiment, the transmitting module 810 may implement transmitting pseudo-range signals generated based on the pseudo-range to the receiver by: sending the pseudo-range signal to a radio frequency channel; and transmitting the pseudo-range signal to the receiver by using the radio frequency channel.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116520367B (en) * | 2023-07-04 | 2023-09-08 | 深圳市天龙世纪科技发展有限公司 | Satellite positioning security method and device based on Internet of things, electronic equipment and medium |
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