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CN118826832B - A regional short message encoding method and a positioning method based on regional short message - Google Patents

A regional short message encoding method and a positioning method based on regional short message

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Publication number
CN118826832B
CN118826832B CN202410815285.8A CN202410815285A CN118826832B CN 118826832 B CN118826832 B CN 118826832B CN 202410815285 A CN202410815285 A CN 202410815285A CN 118826832 B CN118826832 B CN 118826832B
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China
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observation value
value deviation
pseudo
satellite
range
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CN118826832A (en
Inventor
耿涛
程凌岳
马壮
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Wuhan University WHU
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Wuhan University WHU
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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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance

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

Abstract

The embodiment of the application discloses a regional short message coding method and a positioning method based on the regional short message, which relate to the technical field of GNSS navigation positioning, and the coding method comprises the steps of calculating and obtaining a space signal ranging error correction of each satellite based on an initial position of a user side; the method comprises the steps of determining the change amount of the pseudo-range observation value deviation of each satellite, obtaining the phase observation value deviation of each satellite, determining broadcasting satellites, and encoding the space signal ranging error correction, the change amount of the pseudo-range observation value deviation and the phase observation value deviation based on the broadcasting satellites into an area short message. The application improves the satellite number broadcasted by the short message by more effectively utilizing the data length of the regional short message, reduces the precision loss caused by encoding and improves the positioning precision and the convergence speed. On the premise that satellite visibility, space signal ranging error, pseudo range and phase deviation are all in an effective range, a plurality of visible satellites are selected for coding broadcasting, and positioning accuracy is effectively improved.

Description

Regional short message coding method and positioning method based on regional short message
Technical Field
The application relates to the technical field of GNSS navigation positioning, in particular to a regional short message coding method and a positioning method based on regional short messages.
Background
With the widespread use of GNSS technology, users have a very urgent need for real-time high-precision positioning services. The IGS issues correction information such as high-precision real-time track, clock error, hardware delay and the like, and a user can realize real-time precise single-point positioning with the precision of decimeter level to centimeter level.
The precise single-point positioning service system needs to broadcast enhanced information such as satellite space signal ranging errors, pseudo-range phase deviations and the like, but the current transmission mode based on the Internet and mobile communication is limited by base station distribution, is not covered in place in areas such as deserts and oceans, is easy to interfere in a link based on satellite communication mode, and is low in safety, in contrast, beidou short message communication does not need to be supported by an external communication link, is completely autonomous and controllable, is high in safety and cost performance, and has all-weather and all-day service capability. However, each Beidou regional short message has data length limitation, for example, the data length of a Beidou regional short message secondary card is 1835bits, and precise positioning based on the regional short message cannot be realized by adopting a conventional coding scheme.
Based on this, a new coding scheme is needed to transmit satellite spatial signal ranging errors and pseudorange phase bias for real-time precise single point positioning.
Disclosure of Invention
The embodiment of the application provides a regional short message coding method and a positioning method based on regional short messages, which are used for overcoming the defects of the related art, and the technical scheme is as follows:
In a first aspect, an embodiment of the present application provides a method for encoding a short message in a region, which is applied to a server, where the method includes:
Determining an initial position of a user terminal based on an area short message sent by the user terminal, and calculating to obtain a space signal ranging error correction of each satellite according to the initial position;
Determining a pseudo-range observation value deviation initial value of each satellite, and differencing the pseudo-range observation value deviation of each satellite with the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite;
determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation;
encoding space signal ranging error correction, pseudo range observation value deviation variable quantity and phase observation value deviation based on the broadcasting satellite into a short message of a server-side area;
The data length of the short message in the server area is smaller than a preset short message data length threshold.
In a preferred solution of the first aspect, the service area short message includes a message header, satellite correction information and a CRC check code in sequence;
the message header sequentially comprises a synchronous code, a time identifier and a satellite identifier;
the satellite correction information sequentially comprises ephemeris age of each broadcasting satellite, space signal ranging error correction of each broadcasting satellite, pseudo-range observation value deviation variable quantity and phase observation value deviation.
In a preferred aspect of the first aspect, the satellite identifier includes an identifier bit of each satellite arranged according to a preset sequence, an identifier bit of the broadcasting satellite is 1, and an identifier bit of the non-broadcasting satellite is 0;
the generating a server-side area short message based on the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation of the broadcasting satellite comprises the following steps:
sequentially filling ephemeris age, space signal ranging error correction, pseudo-range observation value deviation variation and phase observation value deviation of the corresponding broadcasting satellites into the satellite correction information based on the sequence of the satellite identifications;
And generating the short message of the server area by combining the message header, the satellite correction information and the CRC code.
In a preferred aspect of the first aspect, the change in the pseudo-range observation value bias of the broadcasting satellite includes a change in the pseudo-range observation value bias of the first frequency point and a change in the pseudo-range observation value bias of the second frequency point, and the phase observation value bias of the broadcasting satellite includes a phase observation value bias of the first frequency point and a phase observation value bias of the second frequency point.
In a preferred implementation manner of the first aspect, the determining the broadcasting satellite based on the visibility of each satellite, the spatial signal ranging error correction, the pseudo-range observation deviation and the phase observation deviation includes:
And determining the visibility of each satellite based on the initial position, and selecting the satellite which meets the visibility requirement, has the corresponding space signal ranging error correction in the preset space signal ranging error correction range, has the corresponding pseudo-range observation value deviation in the preset pseudo-range observation value deviation range and has the corresponding phase observation value deviation in the preset phase observation value deviation range as the broadcasting satellite.
In a preferred implementation manner of the first aspect, the coding manner of the spatial signal ranging error correction, the pseudorange observation value deviation variation and the phase observation value deviation of the broadcast satellite in the service end area short message is determined by the following manner, including:
determining the space signal ranging error correction, the change of the pseudo-range observation value deviation and the coding scale ratio of the phase observation value deviation;
determining the coding scale of the space signal ranging error correction based on the space signal ranging error correction, the variation of the pseudo-range observed value deviation and the coding scale ratio of the phase observed value deviation;
And respectively calculating the change amount of the pseudo range observation value deviation and the coding scale of the phase observation value deviation based on the determined coding scale of the space signal ranging error correction and the ratio of the coding scale, and respectively determining the coding data lengths of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation based on the effective ranges of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation.
In a second aspect, an embodiment of the present application further provides a positioning method based on a regional short message, which is applied to a user terminal, and includes:
Acquiring an area short message which is sent by a server and is generated based on the area short message coding method provided by the first aspect;
Decoding the short message of the server area to obtain the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation of each broadcasting satellite;
Acquiring a preset pseudo-range observation value deviation initial value of each broadcasting satellite, and adding the change amount of the pseudo-range observation value deviation initial value to obtain the pseudo-range observation value deviation of each broadcasting satellite;
acquiring a pseudo-range observation value and a phase observation value of each broadcasting satellite, correcting the corresponding pseudo-range observation value through the pseudo-range observation value deviation, and correcting the corresponding phase observation value through the phase observation value deviation to obtain a corrected pseudo-range and a corrected phase of each broadcasting satellite;
based on the corrected pseudo range and phase, the MW combined observed value is used for calculating and fixing the widelane ambiguity, and based on a real-time precise single-point positioning algorithm, the narrow elane ambiguity is calculated and fixed;
and calculating to obtain the position coordinates of the user side.
In a third aspect, an embodiment of the present application further provides an apparatus for encoding a short packet, including:
The data module is used for determining the initial position of the user terminal based on the regional short message sent by the user terminal, and calculating the space signal ranging error correction of each satellite according to the initial position;
The data module is further used for determining a pseudo-range observation value deviation initial value of each satellite, and making a difference between the pseudo-range observation value deviation of each satellite and the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite;
the satellite selection module is used for determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation;
the regional short message coding module is used for generating a server regional short message based on the space signal ranging error correction of the broadcasting satellite, the deviation variation of the pseudo range observation value and the deviation of the phase observation value;
The data length of the short message in the server area is smaller than a preset short message data length threshold.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor implements the method provided by the first aspect or any implementation manner of the first aspect or the second aspect of the embodiment of the present application when the processor executes the program.
In a fifth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method provided by the first aspect or any implementation manner of the first aspect or the second aspect of the embodiments of the present application.
The technical scheme provided by the embodiments of the application has the beneficial effects that at least:
The method for encoding the regional short message and the positioning method based on the regional short message provided by the embodiment of the application greatly improves the satellite number broadcasted by a single short message by more effectively utilizing the data length of the regional short message, further reduces the precision loss caused by encoding and improves the positioning precision and convergence speed. On the premise of ensuring that satellite visibility, space signal ranging error, pseudo-range observation value deviation and phase observation value deviation are all in an effective range, a plurality of visible satellites can be selected for coding broadcasting, and the method can be suitable for precise single-point positioning of three systems of GPS, galileo and Beidou positioning navigation, and can effectively improve positioning precision.
Drawings
In order to more clearly illustrate the application or the technical solutions in the related art, the drawings used in the description of the embodiments or the related art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for encoding a short message in a region according to an embodiment of the present application;
FIG. 2 is a flow chart of a positioning method based on a regional short message according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of an area short message coding device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the term "first/second" related to the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, and it should be understood that "first/second" may interchange a specific order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate to enable embodiments of the application described herein to be implemented in sequences other than those described or illustrated herein.
It can be appreciated that the method for encoding the regional short message and the positioning method based on the regional short message provided by the embodiment of the application are applied to positioning navigation application scenes, and the accurate position coordinates of the user are determined through bidirectional data transmission between the user and the server.
Specifically, a server side for providing positioning service receives an area short message sent by a user side through a satellite, the user side comprises, but is not limited to, a mobile phone, a tablet, a navigator and other devices, and the server side can be used for executing the area short message coding method provided by the application to generate the area short message of the server side and returning the area short message of the server side to the user side through the satellite.
Specifically, the user side can send the regional short message to the server side through the satellite, and receive the regional short message of the server side forwarded by the server side through the satellite, and the coordinate of the position of the user side is obtained based on the decoding result of the regional short message sent by the user side.
It can be understood that the four global satellite navigation systems GPS, BDS, galileo and GLONASS are commonly used in the world at present, the Beidou satellite navigation system in China is the only system capable of simultaneously realizing real-time positioning and short message communication, and can provide all-weather high-precision positioning, accurate time service, large-range and long-distance real-time short message communication and other services for users. The Beidou short message communication service is completely autonomous and controllable, does not depend on an external communication link, and supports bidirectional data transmission between users and between the users and a ground control center. The Beidou No. three system short message communication service comprises two types of global short messages and regional short messages, the service range of the regional short messages is China and the surrounding area, the data length of a single short message is limited, the communication capacity of a regional short message secondary card is 1835bits (about 131 Chinese characters), and the related technology is difficult to realize precise positioning by utilizing the regional short messages based on a conventional coding scheme.
The present application will be described in detail with reference to specific examples.
Next, referring to fig. 1, taking a method for executing a region short message coding by a server as an example, a method for coding a region short message provided by an embodiment of the present application is described, where the method for coding a region short message includes the following steps:
S101, determining the initial position of the user terminal based on the regional short message sent by the user terminal, and calculating to obtain the space signal ranging error correction of each satellite according to the initial position.
Specifically, the regional short message sent by the user terminal is forwarded to the server terminal by the satellite, and the regional short message is used for determining the initial position of the user terminal, and the accuracy of the initial position is lower.
Specifically, the spatial signal ranging error correction for each satellite may be calculated by:
Acquiring real-time satellite orbit and clock error and broadcast ephemeris, acquiring real-time satellite orbit and clock error correction at time t 0, then calculating satellite orbit correction delta x s under the geocentric earth fixed coordinate system ECEF,
δxs＝[er,ea,ec]·δO;
Wherein δo= [ δo r δOa δOa]T ] is a satellite orbit State space representation (State-Space Representation, SSR) of the current time t, r represents the satellite position in the ECEF coordinate system obtained from the satellite broadcast ephemeris,Representing satellite speeds under an ECEF coordinate system obtained by satellite broadcast ephemeris, and e r,ea,ec represents unit vectors of radial, tangential and normal triaxial of the orbit coordinate system in an inertial system respectively;
further calculating to obtain the space signal ranging error correction of the current time t Can be expressed as:
wherein e represents a unit vector from a satellite to a user, x r and x s represent a user initial position obtained by an area short message and a satellite position calculated by broadcast ephemeris, δC represents a satellite clock difference State space representation (State-Space Representation, SSR) of the current time t, and C represents the light speed.
It can be understood that the satellite broadcast ephemeris participating in the calculation should be consistent with the satellite broadcast ephemeris used for positioning at the user terminal, and the ephemeris age of the space signal ranging error correction obtained by calculation is the ephemeris age of the broadcast ephemeris participating in the calculation of the corresponding satellite.
S102, determining a pseudo-range observation value deviation initial value of each satellite, differencing the pseudo-range observation value deviation (Observable-SPECIFIC SIGNAL Bias, OSB) of each satellite with the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite, and acquiring a phase observation value deviation of each satellite.
Specifically, the initial value of the pseudo-range observation value deviation of each satellite can be selected according to the actual situation, for example, the first-day pseudo-range observation value deviation in an observation period is selected as the initial value of the pseudo-range observation value deviation.
And S103, determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation.
Specifically, the visibility of each satellite is determined based on the initial position of the user side, and satellites meeting the visibility requirement, having corresponding space signal ranging error corrections within a preset space signal ranging error correction range, having corresponding pseudo-range observation value deviations within a preset pseudo-range observation value deviation range, and having corresponding phase observation value deviations within a preset phase observation value deviation range are selected as broadcasting satellites.
Specifically, the broadcasting satellite may be selected from a GPS satellite and/or a Galileo satellite and/or a beidou satellite, which is not limited by the embodiment of the present application.
Specifically, when one of the spatial signal ranging error correction, the pseudo-range observation value deviation or the phase observation value deviation of a certain satellite exceeds the corresponding effective range, the corresponding satellite does not meet the requirement and is not used as a broadcasting satellite.
Specifically, the visibility is understood as that the corresponding satellite can be directly observed from the initial position of the user side, for example, the visibility condition can be set that the satellite height angle cut-off height angle is 10 degrees, the satellite larger than the cut-off height angle is a visible satellite, and otherwise, the satellite is not a visible satellite.
It will be appreciated that typically the number of satellites visible per epoch in a day does not exceed 30, and thus the total number of satellites broadcast per epoch is at most 30.
And S104, generating a server area short message based on the space signal ranging error correction of the broadcasting satellite, the deviation variation of the pseudo range observation value and the deviation of the phase observation value.
Specifically, the short message in the service area sequentially includes a message header, satellite correction information and a CRC check code, as shown in table 1:
table 1 coding format
In some embodiments, the message header may be set to 120bits, the satellite correction information is 1650bits, the crc check code is 24bits, the communication capacity of the beidou area short message secondary card is 1835bits, and the sum 1794bits of the above three is less than the communication capacity.
Specifically, the data length of each short message is 1835bits, and at most 30 satellites can be broadcast with correction information, and when the method is implemented, if the number of satellites meeting the requirements is lower than 30, only the corresponding information of the satellites meeting the requirements is broadcast.
The message header sequentially includes a synchronization code, a time identifier, and a satellite identifier, as shown in table 2:
table 2 short message header
Parameters (parameters) bits Dimension of Effective range Unit (B) Remarks
Synchronous code 8 1 Identifying the start of a data packet
Time stamp 12 1 0-4095 Second of Second within hour
Satellite identification 100 1
Totalizing 120
Specifically, the header file is composed of an 8-bit synchronization code, a 12-bit time identifier, and a 100-bit satellite identifier, where the synchronization code is used to identify the beginning of a packet.
In some embodiments, 1-35 bits in a 100bits satellite identifier represent GPS satellites, 36-65 bits represent Galileo satellites, 66-100 bits represent BDS satellites, 0 represents correction information that does not broadcast the satellite, and 1 represents correction information that broadcasts the satellite. The length of the synchronous code, the time mark and the satellite mark is 120bits in total. Correction information, namely the satellite space signal ranging error correction, the pseudorange observation bias variation and the phase observation bias.
It will be appreciated that the above satellite identification of 100bits is merely an example, and the number of each satellite may be adaptively adjusted according to the actual number of satellites, for example, there are 32 GPS currently, and new satellites may be transmitted in the future, so the satellite identification of 1-35 bits is used to indicate whether the corresponding GPS satellite is selected as the broadcasting satellite, and the identification bit is reserved.
It will be appreciated that no identification bit corresponding to an actual GPS satellite will take a 0.
In some embodiments, the satellite correction information includes an ephemeris age and correction information of each broadcasting satellite, and the correction information is that the spatial signal ranging error correction, the pseudorange observation value deviation variation and the phase observation value deviation of each broadcasting satellite are sequentially filled into the satellite correction information based on the sequence of the satellite identifications.
In some embodiments, the pseudorange observation bias variation for the broadcast satellite includes a pseudorange observation bias variation for the first frequency and a pseudorange observation bias variation for the second frequency, and the phase observation bias for the broadcast satellite includes a phase observation bias for the first frequency and a phase observation bias for the second frequency.
Illustratively, the encoding format of the regional short message of one satellite is shown in table 3:
TABLE 3 coding formats for regional short messages for a satellite
Parameters (parameters) bits Dimension (Unit: cm) Effective range (unit: rice)
Ephemeris age 8 1 0-255
Space signal ranging error correction 13 0.2 ±8.19
First frequency point pseudo range OSB variation 7 1.6/1.4/2.0 ±1.02/0.89/1.28
Second frequency point pseudo range OSB variation 7 1.6/1.4/2.0 ±1.02/0.89/1.28
First frequency point phase OSB 10 0.2 ±1.02
Second frequency point phase OSB 10 0.2 ±1.02
1 Satellite total 55
Illustratively, when 30 satellites are broadcast with correction information, the generated short message of the service end area includes a message header, correction information of the satellite 1, correction information of the satellite 2, correction information of the satellite n, correction information of the satellite 30, and a CRC check code in sequence. The order of satellites 1-30 is the same as the ordering in the satellite identification of the message header.
As shown in Table 3, the data length of one satellite is 55bits, and the total data length of 30 satellites is 1650bits.
In some embodiments, the coding scale of each correction information can be determined according to the influence of the coding error of the ranging error of the spatial signal, the variation of the ranging error of the pseudo-range observation value and the phase observation value on the fixation of the ambiguities of the wide lane and the narrow lane and the influence of the coding error of the ranging error of the phase observation value on the positioning precision, and the specific analysis is as follows:
The widelane ambiguity N MW can be expressed as:
Parameter λ MW＝c/(f1-f2), parameter λ NL＝c/(f1+f2), c is the light speed, P 1 is the first frequency point pseudo-range observation value, P 2 is the second frequency point pseudo-range observation value, L 1 is the first frequency point phase observation value, and L 2 is the second frequency point phase observation value.
The pseudo-range and the phase OSB can be directly modified on the pseudo-range observation value and the phase observation value, so that the influence ratio of the coding errors (taking m as a unit) of the first frequency point pseudo-range observation value deviation variable quantity, the second frequency point pseudo-range observation value deviation variable quantity, the first frequency point phase observation value deviation and the second frequency point phase observation value deviation to the widelane ambiguity is as follows:
For example, the influence ratio is calculated for each satellite, for example, the influence ratio of the code error of the change amount of the pseudo-range observation value and the change amount of the phase observation value of the available GPS to the widelane ambiguity is approximately equal to 1:8, the influence ratio of the code error of the change amount of the pseudo-range observation value and the change amount of the phase observation value of galileo to the widelane ambiguity is approximately equal to 1:7, and the influence ratio of the code error of the change amount of the pseudo-range observation value and the change amount of the phase observation value of the beidou satellite to the widelane ambiguity is approximately equal to 1:10.
Narrow lane ambiguities can be expressed as:
after the wide-lane ambiguity is successfully fixed, the narrow-lane ambiguity error is only affected by the double-frequency ionosphere-free combined floating ambiguity error.
Moreover, both the phase observation value deviation and the space signal ranging error are directly modified on the observation equation of the corresponding frequency point, so that the influence of the coding error of the phase observation value deviation and the space signal ranging error correction on positioning is 1:1. Further, the weight of the pseudo-range and the phase observation is 1:100, and therefore the influence ratio of the encoding error of the pseudo-range observation deviation variation amount and the phase observation deviation to the positioning accuracy is 1:100.
It can be understood that, after integrating the factors such as satellite visibility, effective range of correction information, coding scale, coding loss, etc., the embodiment of the application determines the coding format of the space signal ranging error, the variation of the pseudo-range observation value deviation and the phase observation value deviation of the optimal single short message broadcast satellite, as shown in the above table 3.
Taking a GPS satellite as an example, the method can easily determine that the coding scale of the ranging error of the obtained space signal is 0.2cm, the ratio of the coding scales of the correction numbers determined according to the embodiment is 1:8:8:1:1, the variation of the first frequency point pseudo-range observation value deviation, the variation of the second frequency point pseudo-range observation value deviation, the variation of the first frequency point phase observation value deviation and the coding scale of the second frequency point phase observation value deviation are respectively 1.6cm, 0.2cm and 0.2cm, the effective range A of the correction information, the coding scale m and the coded data length n have a relation that A=m×2 (n-1), and the coded data length is 13bits according to the effective range of the ranging error correction information of the space signal + -8.19 m and the coding scale 0.2 cm.
In some embodiments, if the length of the message header and the satellite correction information is not an integer number of bytes, 0 is added before CRC check to make the total length of the short message after encoding be an integer number of bytes, and finally, a 24bits CRC check code is calculated and added to the end of the short message to form a complete short message.
Next, please refer to fig. 2, which is a flow chart of a positioning method based on a regional short message according to an embodiment of the present application. As shown in fig. 2, the method may include:
S201, obtaining the regional short message generated based on the regional short message coding method provided by the embodiment and sent by the server.
S202, decoding the short message of the server area to obtain the space signal ranging error correction, the pseudo-range observation value deviation variable quantity and the phase observation value deviation of each broadcasting satellite.
And S203, acquiring a preset pseudo-range observation value deviation initial value of each broadcasting satellite, and adding the pseudo-range observation value deviation variable quantity and the pseudo-range observation value deviation initial value to obtain the pseudo-range observation value deviation of each broadcasting satellite.
S204, acquiring a pseudo-range observation value and a phase observation value of each broadcasting satellite, correcting the corresponding pseudo-range observation value through the pseudo-range observation value deviation, and correcting the corresponding phase observation value through the phase observation value deviation to obtain corrected pseudo-range and corrected phase of each broadcasting satellite.
S205, based on the corrected pseudo-range and the corrected phase, the MW combined observed value is used for calculating and fixing the widelane ambiguity, and based on a real-time precise single-point positioning algorithm, the narrow elane ambiguity is calculated and fixed.
S206, calculating the position coordinates of the user terminal.
In some embodiments, the observation equation using the spatial signal range error and the pseudorange phase bias is:
where P IF and L IF represent pseudorange observations and carrier phase observations without ionosphere combinations, AndPseudo-range observation bias and phase observation bias, respectively, representing ionosphere-free combinations, ρ representing the geometric distance of the satellite from the user calculated from the broadcast ephemeris, Δρ representing the spatial signal ranging error correction, c representing the speed of light in vacuum, dt r and dt s representing the receiver and satellite broadcast clock differences, respectively, T representing troposphere delay, λ IF representing the wavelength of the combined observations, N IF representing ionosphere-free combination ambiguity,AndRepresenting residual errors.
The embodiment of the application supports real-time ambiguity fixation, can more effectively utilize the data length of the Beidou region short messages, greatly improves the number of satellites broadcast by a single short message, further reduces the precision loss caused by encoding, and improves the positioning precision and convergence speed. According to the principle of influence of the pseudo-range observation value deviation and the phase deviation precision on the ambiguity fixation, the influence of the coding loss on the ambiguity fixation and the positioning precision is minimized by adjusting the coding scale and the data length of the space signal ranging error, the pseudo-range observation value deviation variation and the phase observation value deviation, so that the positioning precision is improved.
In some embodiments, the positioning accuracy of the IGS station GPS/Galileo/BDS three system in the E/N/U direction can reach 0.92/0.89/3.39cm respectively.
Wherein E represents EAST, N represents NORTH, NORTH, U represents UP, and vertical upward direction.
Referring next to fig. 3, a schematic structural diagram of an apparatus for encoding an area short message according to an exemplary embodiment of the present application is shown. The device may be implemented as a whole or part of the terminal by software, hardware or a combination of both, or may be integrated on the server as a separate module. The device for encoding regional short messages in the embodiment of the present application can be applied to a terminal or a cloud, and the device 30 includes a data module 310, a satellite selection module 320, and a regional short message encoding module 330, where:
The data module is used for determining the initial position of the user terminal based on the regional short message sent by the user terminal, and calculating the space signal ranging error correction of each satellite according to the initial position;
The data module is further used for determining a pseudo-range observation value deviation initial value of each satellite, and making a difference between the pseudo-range observation value deviation of each satellite and the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite;
the satellite selection module is used for determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation;
the regional short message coding module is used for generating a server regional short message based on the space signal ranging error correction of the broadcasting satellite, the deviation variation of the pseudo range observation value and the deviation of the phase observation value;
The data length of the short message in the server area is smaller than a preset short message data length threshold.
It should be noted that, when the apparatus 30 provided in the foregoing embodiment performs the method for encoding an area short message, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the apparatus provided in the above embodiment and the embodiment of the method for encoding a short message in a region belong to the same concept, and detailed implementation procedures of the apparatus and the embodiment of the method are described in the embodiments of the method, which are not repeated herein.
The embodiment of the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the method of any embodiment when executing the program.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 401 and a memory 402.
In the embodiment of the present application, the processor 401 is a control center of a computer system, and may be a processor of a physical machine or a processor of a virtual machine. Processor 401 may include one or more processing cores such as a 4-core processor, an 8-core processor, etc. The processor 401 may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processing), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ).
The processor 401 may also include a main processor, which is a processor for processing data in a wake-up state, also called a CPU (Central Processing Unit ), and a coprocessor, which is a low-power processor for processing data in a standby state.
Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments of the application, a non-transitory computer readable storage medium in memory 402 is used to store at least one instruction for execution by processor 401 to implement the method in embodiments of the application.
In some embodiments, the electronic device 400 further includes a peripheral interface 403 and at least one peripheral device. The processor 401, memory 402, and peripheral interface 403 may be connected by a bus or signal line. The individual peripheral devices may be connected to the peripheral device interface 403 via buses, signal lines or a circuit board. Specifically, peripheral interfaces 403 in display 404, camera 405, and audio circuitry 406 may be used to connect I/O (Input/Output) related at least one peripheral to processor 401 and memory 402.
In some embodiments of the application, the processor 401, memory 402, and peripheral interface 403 are integrated on the same chip or circuit board, and in some other embodiments of the application either or both of the processor 401, memory 402, and peripheral interface 403 may be implemented on separate chips or circuit boards. The embodiment of the present application is not particularly limited thereto.
The display 404 is used to display the UI. The UI may include graphics, text, icons, video, and any combination thereof. When display 404 is a touch display, display 404 also has the ability to collect touch signals at or above the surface of display 404. The touch signal may be input as a control signal to the processor 401 for processing. At this point, the display 404 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards.
In some embodiments of the application, the display 404 may be one and disposed on the front panel of the electronic device 400, in other embodiments of the application, the display 404 may be at least two and disposed on different surfaces of the electronic device 400 or in a folded design, respectively, and in still other embodiments of the application, the display 404 may be a flexible display disposed on a curved surface or a folded surface of the electronic device 400. Even more, the display 404 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 404 may be made of LCD (Liquid CRYSTAL DISPLAY), OLED (Organic Light-Emitting Diode) or other materials.
The camera 405 is used to capture images or video. Optionally, the camera 405 includes a front camera and a rear camera. In general, a front camera is disposed on a front panel of an electronic device, and a rear camera is disposed on a rear surface of the electronic device. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments of the application, camera 405 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.
Audio circuitry 406 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, and converting the sound waves into electric signals to be input to the processor 401 for processing. For purposes of stereo acquisition or descent, the microphone may be multiple, each disposed at a different location of the electronic device 400. The microphone may also be an array microphone or an omni-directional pickup microphone.
The power supply 407 is used to power the various components in the electronic device 400. The power supply 407 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 407 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
The block diagrams of the electronic device shown in the embodiments of the present application do not constitute a limitation of the electronic device 400, and the electronic device 400 may include more or less components than illustrated, or may combine some components, or may employ different arrangements of components.
The present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the previous embodiments. The computer-readable storage medium may include, among other things, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present application.

Claims (5)

1. The method for encoding the regional short message is characterized by being applied to a server, and comprises the following steps:
determining an initial position of a user terminal through an area short message sent by the user terminal, and calculating to obtain a space signal ranging error correction of each satellite according to the initial position;
Determining a pseudo-range observation value deviation initial value of each satellite, and differencing the pseudo-range observation value deviation of each satellite with the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite;
determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation;
encoding space signal ranging error correction, pseudo range observation value deviation variable quantity and phase observation value deviation based on the broadcasting satellite into a short message of a server-side area;
The data length of the short message in the server area is smaller than a preset short message data length threshold;
The short message of the service end area sequentially comprises a message header, satellite correction information and a CRC (cyclic redundancy check) code;
the message header sequentially comprises a synchronous code, a time identifier and a satellite identifier;
The satellite correction information sequentially comprises ephemeris age of each broadcasting satellite, space signal ranging error correction of each broadcasting satellite, pseudo-range observation value deviation variable quantity and phase observation value deviation, wherein the total data length of the satellite correction information is 1650bits, and the data length of each satellite is 55bits;
the satellite identification comprises identification bits of each satellite arranged according to a preset sequence, wherein the identification bit of the broadcasting satellite is 1, and the identification bit of the non-broadcasting satellite is 0;
the generating a server-side area short message based on the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation of the broadcasting satellite comprises the following steps:
sequentially filling ephemeris age, space signal ranging error correction, pseudo-range observation value deviation variation and phase observation value deviation of the corresponding broadcasting satellites into the satellite correction information based on the sequence of the satellite identifications;
Generating the short message of the server area by combining the message header, the satellite correction information and the CRC code;
The change amount of the pseudo-range observation value deviation of the broadcasting satellite comprises the change amount of the pseudo-range observation value deviation of the first frequency point and the change amount of the pseudo-range observation value deviation of the second frequency point, and the change amount of the phase observation value deviation of the broadcasting satellite comprises the change amount of the phase observation value deviation of the first frequency point and the change amount of the phase observation value deviation of the second frequency point;
the determining the broadcasting satellite based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation comprises the following steps:
Determining the visibility of each satellite based on the initial position, and selecting a satellite which meets the visibility requirement, has the corresponding space signal ranging error correction in a preset space signal ranging error correction range, has the corresponding pseudo-range observation value deviation in a preset pseudo-range observation value deviation range and has the corresponding phase observation value deviation in a preset phase observation value deviation range as the broadcasting satellite;
the coding modes of the space signal ranging error correction, the pseudo-range observation value deviation variable quantity and the phase observation value deviation of the broadcasting satellite in the short message of the service end area are determined by the following modes, and the method comprises the following steps:
determining the coding scale ratio of the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation, wherein the method specifically comprises the following steps of determining the coding scale of each correction information according to the influence of the space signal ranging error, the pseudo-range observation value deviation variation and the coding error of the phase observation value deviation on the fixation of wide lane and narrow lane ambiguity and the influence on the positioning precision;
the widelane ambiguity N MW is expressed as:
;
Parameter λ MW＝c/(f1-f2), parameter λ NL＝c/(f1+f2), c is the light speed, P 1 is the first frequency point pseudo-range observation value, P 2 is the second frequency point pseudo-range observation value, L 1 is the first frequency point phase observation value, and L 2 is the second frequency point phase observation value;
The pseudo-range and the phase OSB are directly modified on the pseudo-range observation value and the phase observation value, and the influence ratio of the coding errors of the first frequency point pseudo-range observation value deviation variable quantity, the second frequency point pseudo-range observation value deviation variable quantity, the first frequency point phase observation value deviation and the second frequency point phase observation value deviation to the widelane ambiguity is as follows:
;
Narrow lane ambiguity is expressed as:
;
determining the coding scale of the space signal ranging error correction based on the space signal ranging error correction, the variation of the pseudo-range observed value deviation and the coding scale ratio of the phase observed value deviation;
And respectively calculating the change amount of the pseudo range observation value deviation and the coding scale of the phase observation value deviation based on the determined coding scale of the space signal ranging error correction and the ratio of the coding scale, and respectively determining the coding data lengths of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation based on the effective ranges of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation.
2. The positioning method based on the regional short message is characterized by being applied to a user side and comprising the following steps:
Acquiring an area short message generated based on the area short message coding method of claim 1 and sent by a server;
Decoding the regional short message to obtain the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation of each broadcasting satellite;
Acquiring a preset pseudo-range observation value deviation initial value of each broadcasting satellite, and adding the change amount of the pseudo-range observation value deviation initial value to obtain the pseudo-range observation value deviation of each broadcasting satellite;
acquiring a pseudo-range observation value and a phase observation value of each broadcasting satellite, correcting the corresponding pseudo-range observation value through the pseudo-range observation value deviation, and correcting the corresponding phase observation value through the phase observation value deviation to obtain a corrected pseudo-range and a corrected phase of each broadcasting satellite;
based on the corrected pseudo range and phase, the MW combined observed value is used for calculating and fixing the widelane ambiguity, and based on a real-time precise single-point positioning algorithm, the narrow elane ambiguity is calculated and fixed;
and calculating to obtain the position coordinates of the user side.
3. An apparatus for encoding a short message in a region, comprising:
The data module is used for determining the initial position of the user terminal based on the regional short message sent by the user terminal, and calculating the space signal ranging error correction of each satellite according to the initial position;
The data module is further used for determining a pseudo-range observation value deviation initial value of each satellite, and making a difference between the pseudo-range observation value deviation of each satellite and the corresponding pseudo-range observation value deviation initial value to obtain a pseudo-range observation value deviation variable quantity of each satellite;
the satellite selection module is used for determining broadcasting satellites based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation;
the regional short message coding module is used for generating a server regional short message based on the space signal ranging error correction of the broadcasting satellite, the deviation variation of the pseudo range observation value and the deviation of the phase observation value;
The data length of the short message in the server area is smaller than a preset short message data length threshold;
The short message of the service end area sequentially comprises a message header, satellite correction information and a CRC (cyclic redundancy check) code;
the message header sequentially comprises a synchronous code, a time identifier and a satellite identifier;
The satellite correction information sequentially comprises ephemeris age of each broadcasting satellite, space signal ranging error correction of each broadcasting satellite, pseudo-range observation value deviation variable quantity and phase observation value deviation, wherein the total data length of the satellite correction information is 1650bits, and the data length of each satellite is 55bits;
the satellite identification comprises identification bits of each satellite arranged according to a preset sequence, wherein the identification bit of the broadcasting satellite is 1, and the identification bit of the non-broadcasting satellite is 0;
the generating a server-side area short message based on the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation of the broadcasting satellite comprises the following steps:
sequentially filling ephemeris age, space signal ranging error correction, pseudo-range observation value deviation variation and phase observation value deviation of the corresponding broadcasting satellites into the satellite correction information based on the sequence of the satellite identifications;
Generating the short message of the server area by combining the message header, the satellite correction information and the CRC code;
The change amount of the pseudo-range observation value deviation of the broadcasting satellite comprises the change amount of the pseudo-range observation value deviation of the first frequency point and the change amount of the pseudo-range observation value deviation of the second frequency point, and the change amount of the phase observation value deviation of the broadcasting satellite comprises the change amount of the phase observation value deviation of the first frequency point and the change amount of the phase observation value deviation of the second frequency point;
the determining the broadcasting satellite based on the visibility of each satellite, the space signal ranging error correction, the pseudo-range observation value deviation and the phase observation value deviation comprises the following steps:
Determining the visibility of each satellite based on the initial position, and selecting a satellite which meets the visibility requirement, has the corresponding space signal ranging error correction in a preset space signal ranging error correction range, has the corresponding pseudo-range observation value deviation in a preset pseudo-range observation value deviation range and has the corresponding phase observation value deviation in a preset phase observation value deviation range as the broadcasting satellite;
the coding modes of the space signal ranging error correction, the pseudo-range observation value deviation variable quantity and the phase observation value deviation of the broadcasting satellite in the short message of the service end area are determined by the following modes, and the method comprises the following steps:
determining the coding scale ratio of the space signal ranging error correction, the pseudo-range observation value deviation variation and the phase observation value deviation, wherein the method specifically comprises the following steps of determining the coding scale of each correction information according to the influence of the space signal ranging error, the pseudo-range observation value deviation variation and the coding error of the phase observation value deviation on the fixation of wide lane and narrow lane ambiguity and the influence on the positioning precision;
the widelane ambiguity N MW is expressed as:
;
Parameter λ MW＝c/(f1-f2), parameter λ NL＝c/(f1+f2), c is the light speed, P 1 is the first frequency point pseudo-range observation value, P 2 is the second frequency point pseudo-range observation value, L 1 is the first frequency point phase observation value, and L 2 is the second frequency point phase observation value;
The pseudo-range and the phase OSB are directly modified on the pseudo-range observation value and the phase observation value, and the influence ratio of the coding errors of the first frequency point pseudo-range observation value deviation variable quantity, the second frequency point pseudo-range observation value deviation variable quantity, the first frequency point phase observation value deviation and the second frequency point phase observation value deviation to the widelane ambiguity is as follows:
;
Narrow lane ambiguity is expressed as:
;
determining the coding scale of the space signal ranging error correction based on the space signal ranging error correction, the variation of the pseudo-range observed value deviation and the coding scale ratio of the phase observed value deviation;
And respectively calculating the change amount of the pseudo range observation value deviation and the coding scale of the phase observation value deviation based on the determined coding scale of the space signal ranging error correction and the ratio of the coding scale, and respectively determining the coding data lengths of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation based on the effective ranges of the space signal ranging error correction, the pseudo range observation value deviation change amount and the phase observation value deviation.
4. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of claim 1 or the steps of the method of claim 2 when the program is executed.
5. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 1 or the method of claim 2.
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