WO2021134259A1

WO2021134259A1 - Method and apparatus for adjusting configuration of satellite navigation receiver, and storage medium

Info

Publication number: WO2021134259A1
Application number: PCT/CN2019/130035
Authority: WO
Inventors: 宋健宇; 胡一楠
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2021-07-08

Abstract

A method and apparatus for adjusting the configuration of a satellite navigation receiver, and a storage medium. The method comprises: acquiring satellite correction data from a correction source (S301), the satellite correction data comprising observation information of at least one satellite; determining a common-view satellite set according to the satellite correction data (S302), and determining a target satellite set according to the common-view satellite set (S303); and adjusting a satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver observes satellites in the target satellite set according to the adjusted satellite channel configuration (S304). Therefore, the maximization of the number of common-view satellites may be ensured, which is helpful in improving the positioning accuracy of the satellite navigation receiver and avoiding the waste of satellite channel resources.

Description

卫星导航接收机的配置调整方法、装置及存储介质Satellite navigation receiver configuration adjustment method, device and storage medium

技术领域Technical field

本申请涉及计算机技术领域，尤其涉及一种卫星导航接收机的配置调整方法、装置及存储介质。This application relates to the field of computer technology, and in particular to a method, device and storage medium for adjusting the configuration of a satellite navigation receiver.

背景技术Background technique

卫星导航接收机用于对全球导航卫星***(Global Navigation Satellite System，GNSS)中的卫星进行观测，得到卫星观测数据，并根据卫星观测数据进行定位。为提高定位精度，卫星导航接收机可以利用修正源提供的卫星修正数据对卫星观测数据进行修正。卫星修正数据包括基站(也即是另外一个卫星导航接收机)观测到的卫星导航接收机所观测的卫星的数据，基站与卫星导航接收机观测的相同的卫星称为“共视卫星”，并且卫星导航接收机与基站的共视卫星的数量越多，定位精度越高。Satellite navigation receivers are used to observe satellites in the Global Navigation Satellite System (GNSS), obtain satellite observation data, and perform positioning based on the satellite observation data. In order to improve the positioning accuracy, the satellite navigation receiver can use the satellite correction data provided by the correction source to correct the satellite observation data. The satellite correction data includes the data of the satellites observed by the satellite navigation receiver observed by the base station (that is, another satellite navigation receiver). The same satellites observed by the base station and the satellite navigation receiver are called "common-view satellites", and The greater the number of common-view satellites between the satellite navigation receiver and the base station, the higher the positioning accuracy.

目前，由于接收机卫星通道个数、基站搜星策略等方面的限制，卫星导航接收机在进行卫星通道进行配置时，选择性对可视卫星进行观测，导致卫星导航接收机与基站的共视卫星的数量通常较少，从而会浪费卫星导航接收机的卫星通道资源，以及会降低卫星导航接收机的定位精度。At present, due to restrictions on the number of satellite channels of the receiver and the base station search strategy, the satellite navigation receiver selectively observes the visible satellites when configuring the satellite channels, resulting in a common view between the satellite navigation receiver and the base station. The number of satellites is usually small, which wastes the satellite channel resources of the satellite navigation receiver and reduces the positioning accuracy of the satellite navigation receiver.

发明内容Summary of the invention

本申请实施例公开了一种卫星导航接收机的配置调整方法、装置及存储介质，可以保证共视卫星数量的最大化，有利于提高卫星导航接收机的定位精度，以及避免卫星通道资源的浪费。The embodiment of the application discloses a configuration adjustment method, device and storage medium of a satellite navigation receiver, which can ensure the maximization of the number of common-view satellites, help improve the positioning accuracy of the satellite navigation receiver, and avoid the waste of satellite channel resources .

本申请实施例第一方面公开了一种卫星导航接收机的配置调整方法，所述方法包括：The first aspect of the embodiments of the present application discloses a method for adjusting the configuration of a satellite navigation receiver, and the method includes:

获取来自修正源的卫星修正数据，所述卫星修正数据包括至少一个卫星的观测信息，其中，所述卫星修正数据用于所述卫星导航接收机结合所述卫星导航接收机获取的卫星观测数据进行定位；Obtain satellite correction data from a correction source, the satellite correction data including observation information of at least one satellite, wherein the satellite correction data is used by the satellite navigation receiver in combination with the satellite observation data obtained by the satellite navigation receiver. Positioning

根据所述卫星修正数据确定共视卫星集合，并根据所述共视卫星集合确定目标卫星集合；Determining a common-view satellite set according to the satellite correction data, and determining a target satellite set according to the common-view satellite set;

根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测。The satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver observes the satellites in the target satellite set according to the adjusted satellite channel configuration.

本申请实施例第二方面公开了一种卫星导航接收机的配置调整装置，包括：存储器、通信接口和处理器；所述存储器，用于存储程序指令；所述通信接口受所述处理器的控制用于收发信号；所述处理器，用于执行所述存储器存储的程序指令，当所述程序指令被执行时，所述处理器用于：The second aspect of the embodiments of the present application discloses a device for adjusting the configuration of a satellite navigation receiver, including: a memory, a communication interface, and a processor; the memory is used to store program instructions; the communication interface is controlled by the processor Control is used to send and receive signals; the processor is used to execute program instructions stored in the memory, and when the program instructions are executed, the processor is used to:

通过所述通信接口获取来自修正源的卫星修正数据，所述卫星修正数据包括至少一个卫星的观测信息，其中，所述卫星修正数据用于所述卫星导航接收机结合所述卫星导航接收机获取的卫星观测数据进行定位；Obtain satellite correction data from a correction source through the communication interface, the satellite correction data including observation information of at least one satellite, wherein the satellite correction data is used by the satellite navigation receiver in combination with the satellite navigation receiver to obtain Satellite observation data for positioning;

根据所述卫星修正数据确定共视卫星集合，并根据所述共视卫星集合确定目标卫星集合；Determine a common-view satellite set according to the satellite correction data, and determine a target satellite set according to the common-view satellite set;

本申请实施例第三方面公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述方法的步骤。The third aspect of the embodiments of the present application discloses a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented. .

本申请实施例通过根据来自修正源的卫星修正数据确定共视卫星集合，根据共视卫星集合确定待观测的目标卫星集合，并调整卫星导航接收机的卫星通道配置，以使卫星导航接收机对待观测的目标卫星集合中的卫星进行观测，从而可以保证共视卫星数量的最大化，有利于提高卫星导航接收机的定位精度，以及避免卫星通道资源的浪费。In the embodiment of the application, the common-view satellite set is determined based on the satellite correction data from the correction source, the target satellite set to be observed is determined based on the common-view satellite set, and the satellite channel configuration of the satellite navigation receiver is adjusted to make the satellite navigation receiver treat Observing the satellites in the set of target satellites to be observed can ensure the maximization of the number of common-view satellites, which is beneficial to improve the positioning accuracy of the satellite navigation receiver and avoid the waste of satellite channel resources.

附图说明Description of the drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative labor, other drawings can be obtained based on these drawings.

图1是本申请实施例公开的一种卫星导航接收机的配置调整方法的流程图；FIG. 1 is a flowchart of a method for adjusting the configuration of a satellite navigation receiver disclosed in an embodiment of the present application;

图2是本申请实施例公开的一种卫星集合关系的示意图；Fig. 2 is a schematic diagram of a satellite collection relationship disclosed in an embodiment of the present application;

图3是本申请实施例公开的另一种卫星导航接收机的配置调整方法的流程示意图；3 is a schematic flowchart of another method for adjusting the configuration of a satellite navigation receiver disclosed in an embodiment of the present application;

图4是本申请实施例公开的一种卫星集合关系以及通道集合关系的示意图；Fig. 4 is a schematic diagram of a satellite collection relationship and a channel collection relationship disclosed in an embodiment of the present application;

图5是本申请实施例公开的另一种卫星集合关系以及通道集合关系的示意图；FIG. 5 is a schematic diagram of another satellite collection relationship and channel collection relationship disclosed in an embodiment of the present application;

图6是本申请实施例公开的又一种卫星集合关系以及通道集合关系的示意图；FIG. 6 is a schematic diagram of another satellite collection relationship and channel collection relationship disclosed in an embodiment of the present application;

图7是本申请实施例公开的又一种卫星集合关系以及通道集合关系的示意图；FIG. 7 is a schematic diagram of another satellite collection relationship and channel collection relationship disclosed in an embodiment of the present application;

图8是本申请实施例公开的又一种卫星集合关系以及通道集合关系的示意图；FIG. 8 is a schematic diagram of another satellite collection relationship and channel collection relationship disclosed in an embodiment of the present application;

图9是本申请实施例公开的又一种卫星导航接收机的配置调整方法的流程示意图；9 is a schematic flowchart of another method for adjusting the configuration of a satellite navigation receiver disclosed in an embodiment of the present application;

图10是本申请实施例公开的一种卫星导航接收机的配置调整装置的结构示意图。FIG. 10 is a schematic structural diagram of a device for adjusting the configuration of a satellite navigation receiver disclosed in an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

在进行高精度定位的过程中，卫星导航接收机可以获取修正源提供的卫星修正数据，并利用卫星修正数据对自身观测到的卫星的数据进行修正，从而提高卫星导航接收机的定位精度。卫星修正数据包括至少一个卫星的观测信息，该至少一个卫星是基站(例如地基基站、星基基站等)所观测的卫星，该观测信息包括载波观测量、星历等信息。修正源可以是基站，也可以是提供卫星修正数据的网站(例如国际GNSS服务(International GNSS Service，IGS)等)。In the process of high-precision positioning, the satellite navigation receiver can obtain the satellite correction data provided by the correction source, and use the satellite correction data to correct the data of the satellite it observes, thereby improving the positioning accuracy of the satellite navigation receiver. The satellite correction data includes observation information of at least one satellite, the at least one satellite being a satellite observed by a base station (such as a ground-based base station, a satellite-based base station, etc.), and the observation information includes carrier observation, ephemeris, and other information. The correction source can be a base station or a website that provides satellite correction data (for example, International GNSS Service (IGS), etc.).

在定位作业中包括多种定位技术，例如实时动态载波差分定位(Real-time kinematic，RTK)技术，RTK是一种全球卫星导航***高精度定位技术，其定位精度可以达到厘米级。基于RTK的定位作业方案中需要两个站点：基站和卫星导航接收机，卫星导航接收机可以安装在不同载体，如无人机。基站通过数据链实时将其观测的卫星的载波观测量及基站坐标信息传输至卫星导航接收机。卫星导航接收机根据基站发送的卫星的载波观测量以及自身观测的卫星的载波观测量，获取卫星导航接收机和基站共同稳定跟踪的卫星(即共视卫星)所对应的相位差分观测值，并对相位差分观测值以及基站坐标信息进行实时处理，得到卫星导航接收机的定位结果。其中，卫星导航接收机和基站的共视卫星数量越多，卫星导航接收机的定位精度以及定位稳定性越好。A variety of positioning technologies are included in positioning operations, such as real-time dynamic carrier differential positioning (RTK) technology. RTK is a high-precision positioning technology for global satellite navigation systems, and its positioning accuracy can reach centimeter level. The RTK-based positioning operation program requires two sites: a base station and a satellite navigation receiver. The satellite navigation receiver can be installed on different carriers, such as unmanned aerial vehicles. The base station transmits the carrier observation and base station coordinate information of the satellite it observes to the satellite navigation receiver in real time through the data link. The satellite navigation receiver obtains the phase difference observations corresponding to the satellites (ie common-view satellites) that the satellite navigation receiver and the base station are tracking steadily according to the carrier observations of the satellites sent by the base station and the satellites that it observes, and The phase difference observation value and base station coordinate information are processed in real time to obtain the positioning result of the satellite navigation receiver. Among them, the greater the number of common-view satellites between the satellite navigation receiver and the base station, the better the positioning accuracy and positioning stability of the satellite navigation receiver.

为保证卫星导航接收机和基站的共视卫星数量的最大化，本申请实施例提供一种卫星导航接收机的配置调整方法，如图1所示，包括如下步骤：To ensure that the number of common-view satellites of the satellite navigation receiver and the base station is maximized, an embodiment of the present application provides a method for adjusting the configuration of a satellite navigation receiver. As shown in FIG. 1, the method includes the following steps:

卫星导航接收机获取来自修正源的卫星修正数据，该卫星修正数据包括基站所观测的各个卫星的载波观测量、星历等信息，以及获取卫星导航接收机自身的卫星观测数据，该卫星观测数据包括卫星导航接收机所观测的各个卫星的载波观测量、星历等信息。其中，卫星修正数据用于卫星导航接收机结合卫星导航接收机获取的卫星观测数据进行定位。终端根据上述卫星修正数据确定基站所观测的卫星组成的卫星集合A(即第一卫星集合)，根据上述卫星观测数据确定卫星导航接收机所观测的卫星组成的卫星集合B(即第二卫星集合)；获取卫星集合A和卫星集合B的交集，并将该交集确定为卫星导航接收机与基站的共视卫星集合C，也即是说共视卫星集合C＝A∩B。其中，卫星集合A、B、C的关系如图2所示。The satellite navigation receiver obtains the satellite correction data from the correction source. The satellite correction data includes the carrier observations, ephemeris and other information of each satellite observed by the base station, as well as the satellite observation data of the satellite navigation receiver itself. The satellite observation data Including the carrier observation, ephemeris and other information of each satellite observed by the satellite navigation receiver. Among them, the satellite correction data is used for positioning by the satellite navigation receiver combined with the satellite observation data obtained by the satellite navigation receiver. The terminal determines the satellite set A composed of the satellites observed by the base station according to the above-mentioned satellite correction data (ie the first satellite set), and determines the satellite set B composed of the satellites observed by the satellite navigation receiver according to the above-mentioned satellite observation data (ie the second satellite set) ); Obtain the intersection of the satellite set A and the satellite set B, and determine the intersection as the common-view satellite set C between the satellite navigation receiver and the base station, that is, the common-view satellite set C=A∩B. Among them, the relationship between satellite sets A, B, and C is shown in Figure 2.

进一步地，终端判断共视卫星集合C中的卫星数目是否小于卫星导航接收机的卫星通道集合D中的卫星通道的数目；若否，则表明卫星通道集合D中的有卫星通道均分配给了共视卫星集合C中的卫星，此时卫星导航接收机的卫星通道配置已经是最优状态，无需调整卫星导航接收机的卫星通道配置，并结束流程；反之，则根据卫星集合A和共视卫星集合C确定目标卫星集合H，目标卫星集合H中的卫星为基站当前所观测的，卫星导航接收机当前未观测，但能够被卫星导航接收机观测到，并且所对应的观测信息能够被卫星导航接收机处理的卫星。终端根据目标卫星集合H调整卫星导航接收机的卫星通道配置，以使卫星导航接收机根据调整后的卫星通道配置对目标卫星集合H中的卫星进行观测，也即是说，通过调整卫星导航接收机的卫星通道配置，将目标卫星集合H中的卫星添加到了共视卫星集合C中，从而可以增加卫星导航接收机和基站的共视卫星的数量，保证共视卫星数量的最大化。Further, the terminal judges whether the number of satellites in the common-view satellite set C is less than the number of satellite channels in the satellite channel set D of the satellite navigation receiver; if not, it means that all satellite channels in the satellite channel set D are allocated to For the satellites in the common-view satellite set C, the satellite channel configuration of the satellite navigation receiver is already in the optimal state. There is no need to adjust the satellite channel configuration of the satellite navigation receiver and end the process; otherwise, according to the satellite set A and common-view The satellite set C determines the target satellite set H. The satellites in the target satellite set H are currently observed by the base station. The satellite navigation receiver is not currently observing, but can be observed by the satellite navigation receiver, and the corresponding observation information can be observed by the satellite Satellites handled by navigation receivers. The terminal adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set H, so that the satellite navigation receiver observes the satellites in the target satellite set H according to the adjusted satellite channel configuration, that is, by adjusting the satellite navigation receiver The satellite channel configuration of the aircraft adds the satellites in the target satellite set H to the common-view satellite set C, which can increase the number of common-view satellites of the satellite navigation receiver and the base station, and ensure the maximum number of common-view satellites.

前文介绍了本申请实施例提供的卫星导航接收机的配置调整方法的主要步骤，下面对各个步骤进行详细说明。请参阅图3，本申请实施例提供的一种卫星导航接收机的配置调整方法，包括如下步骤：The foregoing introduces the main steps of the method for adjusting the configuration of the satellite navigation receiver provided by the embodiments of the present application, and each step is described in detail below. Referring to FIG. 3, a method for adjusting the configuration of a satellite navigation receiver provided by an embodiment of the present application includes the following steps:

S301、卫星导航接收机获取来自修正源的卫星修正数据。S301. The satellite navigation receiver obtains satellite correction data from the correction source.

本申请实施例中，卫星修正数据包括基站所观测的至少一个卫星的载波观测量、星历等信息，卫星修正数据用于卫星导航接收机结合卫星导航接收机获取的卫星观测数据进行定位，以提高定位的精度。卫星观测数据包括卫星导航接收机所观测的至少一个卫星的载波观测量、星历等信息。修正源可以是基站，也可以是提供卫星修正数据的网站。其中，该卫星修正数据可以由卫星导航接收机主动从修正源处获取；当修正源为基站时，也可以由修正源主动发送该卫星修正数据至卫星导航接收机。In the embodiment of the present application, the satellite correction data includes information such as carrier observations and ephemeris of at least one satellite observed by the base station. The satellite correction data is used for positioning by the satellite navigation receiver in combination with the satellite observation data obtained by the satellite navigation receiver. Improve the accuracy of positioning. Satellite observation data includes information such as carrier observation and ephemeris of at least one satellite observed by the satellite navigation receiver. The correction source can be a base station or a website that provides satellite correction data. Among them, the satellite correction data can be actively obtained by the satellite navigation receiver from the correction source; when the correction source is a base station, the correction source can also actively send the satellite correction data to the satellite navigation receiver.

在一实施方式中，当修正源为基站时，修正源具体可以为用于差分定位的定位基站，相应地，卫星导航接收机为用于差分定位的定位接收机。In an embodiment, when the correction source is a base station, the correction source may specifically be a positioning base station used for differential positioning, and accordingly, the satellite navigation receiver is a positioning receiver used for differential positioning.

S302、卫星导航接收机根据卫星修正数据确定共视卫星集合。S302. The satellite navigation receiver determines a set of common-view satellites according to the satellite correction data.

本申请实施例中，卫星导航接收机根据获取到的卫星修正数据确定基站所观测的卫星组成的第一卫星集合，根据自身获取到的卫星观测数据确定卫星导航接收机所观测的卫星组成的第二卫星集合；获取第一卫星集合和第二卫星集合的交集，并将该交集确定为卫星导航接收机与基站的共视卫星集合。例如：第一卫星集合A所包含的卫星有卫星a、卫星b、卫星c及卫星d，即第一卫星集合A＝{a，b，c，d}；卫星导航接收机检测到的第二卫星集合B所包含的卫星有卫星a、卫星c、卫星e及卫星f，即第二卫星集合B＝{a，c，e，f}，则共视卫星集合C＝A∩B所包含的卫星有卫星a及卫星c，即共视卫星集合C＝{a，c}。In the embodiment of the present application, the satellite navigation receiver determines the first satellite set composed of satellites observed by the base station according to the acquired satellite correction data, and determines the first satellite set composed of the satellites observed by the satellite navigation receiver according to the satellite observation data acquired by itself. Two sets of satellites; the intersection of the first set of satellites and the second set of satellites is obtained, and the intersection is determined as the common-view satellite set of the satellite navigation receiver and the base station. For example: the satellites included in the first satellite set A include satellite a, satellite b, satellite c, and satellite d, that is, the first satellite set A = {a, b, c, d}; the second satellite is detected by the satellite navigation receiver The satellites included in the satellite set B are satellite a, satellite c, satellite e, and satellite f, that is, the second satellite set B={a,c,e,f}, then the common-view satellite set C=A∩B includes Satellites include satellite a and satellite c, that is, the common-view satellite set C={a,c}.

在一实施方式中，卫星导航接收机根据共视卫星集合确定目标卫星集合之前，检测共视卫星集合中的卫星的数目是否小于卫星导航接收机的卫星通道的数目；若小于，则表明卫星导航接收机除去分配给共视卫星集合中的卫星的卫星通道之外，还有剩余的卫星通道可以进行分配，此时根据卫星修正数据确定共视卫星集合。若等于，则表明卫星导航接收机的所有卫星通道均分配给了共视卫星集合中的卫星，此时卫星导航接收机的卫星通道配置已经是最优状态，无需调整卫星导航接收机的卫星通道配置，并结束流程。In one embodiment, before the satellite navigation receiver determines the target satellite set according to the common-view satellite set, it detects whether the number of satellites in the common-view satellite set is less than the number of satellite channels of the satellite navigation receiver; if it is less, it indicates satellite navigation In addition to the satellite channels allocated to the satellites in the common-view satellite set, the receiver has remaining satellite channels that can be allocated. At this time, the common-view satellite set is determined according to the satellite correction data. If it is equal to, it means that all satellite channels of the satellite navigation receiver are allocated to the satellites in the common-view satellite set. At this time, the satellite channel configuration of the satellite navigation receiver is already in the optimal state, and there is no need to adjust the satellite channels of the satellite navigation receiver. Configure and end the process.

S303、卫星导航接收机根据共视卫星集合确定目标卫星集合。S303. The satellite navigation receiver determines the target satellite set according to the common-view satellite set.

本申请实施例中，在获取到卫星导航接收机与基站的共视卫星集合之后，卫星导航接收机将共视卫星集合中的卫星从第一卫星集合中去除，得到第三卫星集合；获取第三卫星集合中满足第一预设条件的卫星，并根据满足第一预设条件的卫星确定目标卫星集合，目标卫星集合可以包括满足第一预设条件的卫星中的全部或者部分卫星。其中，第一预设条件包括能够被卫星导航接收机观测到，并且对应的观测信息能够被卫星导航接收机处理，也即是说，满足第一预设条件的卫星为基站当前所观测的，卫星导航接收机当前未观测，但能够被卫星导航接收机观测到，并且所对应的观测信息能够被卫星导航接收机处理的卫星。需要说明的是，卫星能否被卫星导航接收机观测到与卫星与卫星导航接收机的位置关系有关，卫星处于卫星导航接收机的观测视角内，则能被卫星导航接收机观测到；卫星对应的观测信息能否被卫星导航接收机处理与卫星导航接收机的设计以及配置有关。如图2所示，第三卫星集合由卫星集合A中去除共视卫星集合C之后的卫星组成，第三卫星集合中满足第一预设条件的卫星组成有效卫星集合E，不满足第一预设条件的卫星组成无效卫星集合G。目标卫星集合由有效卫星集合E中的全部或部分卫星组成。In the embodiment of the present application, after acquiring the common-view satellite set of the satellite navigation receiver and the base station, the satellite navigation receiver removes the satellites in the common-view satellite set from the first satellite set to obtain the third satellite set; Among the three satellite sets, the satellites that meet the first preset condition are determined, and the target satellite set is determined according to the satellites that meet the first preset condition. The target satellite set may include all or part of the satellites that meet the first preset condition. Among them, the first preset condition includes that it can be observed by the satellite navigation receiver, and the corresponding observation information can be processed by the satellite navigation receiver, that is, the satellite that meets the first preset condition is currently observed by the base station, The satellite navigation receiver is not currently observing, but can be observed by the satellite navigation receiver, and the corresponding observation information can be processed by the satellite navigation receiver. It should be noted that whether a satellite can be observed by a satellite navigation receiver is related to the positional relationship between the satellite and the satellite navigation receiver. If the satellite is within the observation angle of the satellite navigation receiver, it can be observed by the satellite navigation receiver; Whether the observation information can be processed by the satellite navigation receiver is related to the design and configuration of the satellite navigation receiver. As shown in Figure 2, the third satellite set is composed of satellites in the satellite set A after the common-view satellite set C is removed. The satellites in the third satellite set that meet the first preset condition form the effective satellite set E, which does not meet the first pre-set Suppose the satellites of the conditions constitute the invalid satellite set G. The target satellite set consists of all or part of the satellites in the effective satellite set E.

在一实施方式中，卫星导航接收机根据满足第一预设条件的卫星确定目标卫星集合时，获取满足第一预设条件的卫星的数目与共视卫星集合中的卫星的数目的总数目，检测该总数目是否小于或等于卫星导航接收机的卫星通道的数目。若该总数目小于或等于卫星导航接收机的卫星通道的数目，则将第三卫星集合中满足第一预设条件的卫星全部作为目标卫星集合中的卫星，即目标卫星集合H由有效卫星集合E中的全部的卫星组成。In one embodiment, when the satellite navigation receiver determines the target satellite set according to the satellites that meet the first preset condition, it acquires the total number of the number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set, and detects Whether the total number is less than or equal to the number of satellite channels of the satellite navigation receiver. If the total number is less than or equal to the number of satellite channels of the satellite navigation receiver, all satellites in the third satellite set that meet the first preset condition are regarded as satellites in the target satellite set, that is, the target satellite set H is composed of the effective satellite set All satellites in E are composed.

举例来说，如图4所示，第一卫星集合A中卫星的数目为8；第二卫星集合B中卫星的数目为9，卫星导航接收机的卫星通道集合B ₁中的卫星通道数目为12；共视卫星集合C中卫星的数目为5。将共视卫星集合C中的卫星从第一卫星集合A中去除，得到第三卫星集合D，则第三卫星集合D中卫星的数目为3。第三卫星集合D中满足第一预设条件的有效卫星集合E中卫星的数目2，则满足第一预设条件的卫星的数目与共视卫星集合C中的卫星的数目的总数目为7，该总数目7小于卫星导航接收机的卫星通道的数目12，此时卫星通道集合B ₁中除去分配给共视卫星的卫星通道之外后，有足够的卫星通道分配给有效卫星集合E中的所有卫星，则可以将在有效卫星集合E中的2个有效卫星都作为目标卫星集合H中的卫星。 For example, as shown in Figure 4, the number of satellites in the first satellite set A is 8; the number of satellites in the second satellite set B is 9, and the number of satellite channels in the satellite channel set B ₁ of the satellite navigation receiver is 12; The number of satellites in the common view satellite set C is 5. The satellites in the common-view satellite set C are removed from the first satellite set A to obtain the third satellite set D, and the number of satellites in the third satellite set D is 3. The number of satellites in the effective satellite set E that meets the first preset condition in the third satellite set D is 2, then the total number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set C is 7, The total number 7 is less than the number of satellite channels 12 of the satellite navigation receiver. At this time, in the satellite channel set B ₁ excluding the satellite channels allocated to common-view satellites, there are enough satellite channels allocated to the effective satellite set E For all satellites, the two effective satellites in the effective satellite set E can be used as satellites in the target satellite set H.

采用上述方式，可以准确获取能够添加到卫星导航接收机所观测的卫星集合中的有效卫星，并将所有的有效卫星添加到卫星导航接收机与基站的共视卫星集合中，从而增加共视卫星的数量，保证了共视卫星数量的最大化。Using the above method, it is possible to accurately obtain the effective satellites that can be added to the set of satellites observed by the satellite navigation receiver, and add all effective satellites to the set of common-view satellites between the satellite navigation receiver and the base station, thereby increasing the common-view satellites The number of satellites ensures the maximum number of common-view satellites.

在另一实施方式中，卫星导航接收机根据满足第一预设条件的卫星确定目标卫星集合时，获取满足第一预设条件的卫星的数目与共视卫星集合中的卫星的数目的总数目，检测该总数目是否小于或等于卫星导航接收机的卫星通道的数目。若该总数目大于卫星导航接收机的卫星通道的数目，则从满足第一预设条件的卫星中获取第一数目的卫星，并根据该第一数目的卫星确定目标卫星集合。其中，第一数目为卫星导航接收机卫星通道的数目与共视卫星集合中的卫星的数目之间的差值。上述方式主要针对卫星导航接收机的卫星通道集合中除去分配给共视卫星的卫星通道之外后，没有足够的卫星通道分配给满足第一预设条件的所有卫星的情况，此时卫星导航接收机最多只能将卫星通道集合中除去分配给共视卫星的卫星通道之外的卫星通道，分配给满足第一预设条件的卫星中的部分卫星通道。In another embodiment, when the satellite navigation receiver determines the target satellite set according to the satellites that meet the first preset condition, it acquires the total number of the number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set. It is detected whether the total number is less than or equal to the number of satellite channels of the satellite navigation receiver. If the total number is greater than the number of satellite channels of the satellite navigation receiver, the first number of satellites are obtained from the satellites that meet the first preset condition, and the target satellite set is determined according to the first number of satellites. Wherein, the first number is the difference between the number of satellite channels of the satellite navigation receiver and the number of satellites in the common-view satellite set. The above method is mainly aimed at the situation that there are not enough satellite channels allocated to all satellites that meet the first preset condition in the satellite channel set of the satellite navigation receiver, except for the satellite channels allocated to the common-view satellites. At this time, the satellite navigation receiver The machine can only allocate satellite channels other than the satellite channels allocated to common-view satellites from the set of satellite channels to some satellite channels in the satellites that meet the first preset condition.

举例来说，如图5所示，第一卫星集合A中卫星的数目为20，第二卫星集合B中卫星的数目为9，卫星导航接收机的卫星通道集合B ₁中的卫星通道数目为12；共视卫星集合C中卫星的数目为5。将共视卫星集合C中的卫星从第一卫星集合A中去除，得到第三卫星集合D，则第三卫星集合D中卫星的数目为15。第三卫星集合D中满足第一预设条件的有效卫星集合E中卫星的数目10，则满足第一预设条件的卫星的数目与共视卫星集合C中的卫星的数目的总数目为15，该总数目15大于卫星导航接收机的卫星通道的数目12，此时卫星通道集合B ₁中除去分配给共视卫星的卫星通道之外后，没有足够的卫星通道分配给有效卫星集合E中的所有卫星，此时只能从有效卫星集合E中的10个有效卫星中选取7个有效卫星作为目标卫星集合中的卫星，即第一数目为7，该第一数目为卫星导航接收机的卫星通道的数目12与共视卫星集合中的卫星的数目5之间的差值。 For example, as shown in Figure 5, the number of satellites in the first satellite set A is 20, the number of satellites in the second satellite set B is 9, and the number of satellite channels in the satellite channel set B ₁ of the satellite navigation receiver is 12; The number of satellites in the common view satellite set C is 5. The satellites in the common-view satellite set C are removed from the first satellite set A to obtain the third satellite set D, and the number of satellites in the third satellite set D is 15. The number of satellites in the effective satellite set E that meets the first preset condition in the third satellite set D is 10, then the total number of the number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set C is 15, The total number of 15 is greater than the number of satellite channels of the satellite navigation receiver 12. At this time, in the satellite channel set B ₁ excluding the satellite channels allocated to common-view satellites, there are not enough satellite channels allocated to the effective satellite set E All satellites. At this time, only 7 effective satellites can be selected from the 10 effective satellites in the effective satellite set E as the satellites in the target satellite set, that is, the first number is 7, and the first number is the satellites of the satellite navigation receiver The difference between the number of channels 12 and the number of satellites in the common-view satellite set 5.

采用上述方式，可以根据卫星导航接收机的卫星通道集合中除去分配给共视卫星的卫星通道之外的剩余卫星通道的数目，从满足第一预设条件的卫星中尽可能多的选取卫星添加到卫星导航接收机与基站的共视卫星集合中，从而增加共视卫星的数量，保证了共视卫星数量的最大化。Using the above method, it is possible to select as many satellite channels as possible from the satellites that meet the first preset condition according to the number of remaining satellite channels in the satellite channel set of the satellite navigation receiver excluding the satellite channels allocated to the common-view satellites. In the set of common-view satellites between the satellite navigation receiver and the base station, the number of common-view satellites is increased and the number of common-view satellites is maximized.

在一实施方式中，卫星导航接收机可以从满足第一预设条件的卫星中随机获取第一数目的卫星，并将随机获取到的第一数目的卫星作为目标卫星集合中的卫星。在另一实施方式中，卫星导航接收机观测卫星时，有一定的视角范围，通常卫星距离该视角范围的边缘越近，卫星导航接收机捕捉到的卫星信号越弱，从而卫星导航接收机观测到的卫星观测信息的准确度越低。基于此，卫星导航接收机可以将满足第一预设条件的卫星中距离该视角范围的边缘最远的第一数目的卫星，作为目标卫星集合中的卫星，从而在一定程度上保证定位的精准度。In an embodiment, the satellite navigation receiver may randomly obtain the first number of satellites from the satellites that meet the first preset condition, and use the randomly obtained first number of satellites as the satellites in the target satellite set. In another embodiment, when the satellite navigation receiver observes the satellite, there is a certain viewing angle range. Generally, the closer the satellite is to the edge of the viewing angle range, the weaker the satellite signal captured by the satellite navigation receiver, so that the satellite navigation receiver observes The lower the accuracy of the obtained satellite observation information. Based on this, the satellite navigation receiver can take the first number of satellites that are the farthest from the edge of the viewing angle range among the satellites that meet the first preset condition as the satellites in the target satellite set, thereby ensuring the accuracy of positioning to a certain extent. degree.

S304、卫星导航接收机根据目标卫星集合调整卫星导航接收机的卫星通道配置，以使卫星导航接收机根据调整后的卫星通道配置对目标卫星集合中的卫星进行观测。S304. The satellite navigation receiver adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver observes the satellites in the target satellite set according to the adjusted satellite channel configuration.

本发明实施例中，卫星导航接收机释放卫星导航接收机的目标卫星通道集合中第二数目的卫星通道，目标卫星通道集合包括第二卫星集合对应的卫星通道集合中除共视卫星集合对应的卫星通道集合之外的卫星通道。第二数目是根据目标卫星集合中的卫星的数目、第二卫星集合中除共视卫星集合之外的卫星的数目确定的；第二数目为0或者正整数。在已释放目标卫星通道集合中第二数目的卫星通道的情况下，利用卫星导航接收机的空闲卫星通道对目标卫星集合中的卫星进行观测，以得到目标卫星集合对应的卫星观测数据。其中，空闲卫星通道包括释放的第二数目的卫星通道，以及卫星导航接收机的卫星通道集合中原本未被分配的卫星通道。In the embodiment of the present invention, the satellite navigation receiver releases the second number of satellite channels in the target satellite channel set of the satellite navigation receiver. The target satellite channel set includes the satellite channel set corresponding to the second satellite set except for the common view satellite set. Satellite channels outside the set of satellite channels. The second number is determined according to the number of satellites in the target satellite set and the number of satellites in the second satellite set except the common-view satellite set; the second number is 0 or a positive integer. When the second number of satellite channels in the target satellite channel set have been released, the idle satellite channels of the satellite navigation receiver are used to observe the satellites in the target satellite set to obtain satellite observation data corresponding to the target satellite set. Among them, the idle satellite channels include the released second number of satellite channels, and the satellite channels that were originally unallocated in the satellite channel set of the satellite navigation receiver.

在一实施方式中，第二数目的确定过程如下：In one embodiment, the process of determining the second number is as follows:

情况一，满足第一预设条件的卫星的数目与共视卫星集合中的卫星的数目的总数目小于或等于卫星导航接收机的卫星通道的数目，根据步骤S303中的相关描述可知目标卫星集合中的卫星包括第三卫星集合中满足第一预设条件的所有卫星。此时第二数目的确定方式可以包括但不限于以下几种方式。Case 1: The total number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set is less than or equal to the number of satellite channels of the satellite navigation receiver. According to the relevant description in step S303, it can be known that the target satellite set is in the target satellite set. The satellites include all satellites in the third satellite set that meet the first preset condition. At this time, the method for determining the second number may include, but is not limited to, the following methods.

方式a，目标卫星集合中的卫星所需要占用的卫星通道的数目，大于或等于卫星导航接收机的卫星通道集合中当前空闲的卫星通道的数目，即除去第二卫星集合所占用的卫星通道集合之外的卫星通道的数目。此时第二数目为目标卫星集合中的卫星的数目与当前空闲的卫星通道的数目的差值。Method a, the number of satellite channels required to be occupied by satellites in the target satellite set is greater than or equal to the number of currently idle satellite channels in the satellite channel set of the satellite navigation receiver, that is, the satellite channel set occupied by the second satellite set is excluded The number of satellite channels outside. At this time, the second number is the difference between the number of satellites in the target satellite set and the number of currently idle satellite channels.

举例来说，如图6所示，第一卫星集合A中卫星的数目为10，第二卫星集合B中卫星的数目为8，即卫星导航接收机的卫星通道集合B ₁中当前已分配的卫星通道的数目为8，已分配的8个卫星通道组成已分配卫星通道集合B ₂。卫星导航接收机的卫星通道集合B ₁中的卫星通道总数目为12，则卫星通道集合B ₁中当前空闲的卫星通道的数目为4。共视卫星集合C中卫星的数目为4，有效卫星集合E中的卫星的数目为5，则有效卫星集合E中的卫星的数目与共视卫星集合C中卫星的数目的总数目为9，该总数目9小于卫星通道总数目12，则确定目标卫星集合H中的卫星即为有效卫星集合E中的5个有效卫星。目标卫星集合中的卫星所需要占用的卫星通道的数目5大于当前空闲的卫星通道的数目4，并且两数目之间的差值，即第二数目为1；此时需要在已分配卫星通道集合B ₂中释放1个卫星通道，并利用该释放的1个卫星通道与上述4个空闲卫星通道对目标卫星集合中的5个卫星进行观测，得到该5个卫星所对应的卫星观测数据。 For example, as shown in Figure 6, the number of satellites in the first set A satellite 10, the number of satellites in the second satellite set B is 8, i.e. the satellite channel satellite navigation receiver set is currently _{assigned. 1} B The number of satellite channels is 8, and the 8 allocated satellite channels form the allocated satellite channel set B ₂ . The total number of satellite channels in the satellite channel set B ₁ of the satellite navigation receiver is 12, and the number of satellite channels that are currently idle in _{the satellite channel set B 1 is 4.} The number of satellites in the common-view satellite set C is 4 and the number of satellites in the effective satellite set E is 5. The total number of the number of satellites in the effective satellite set E and the number of satellites in the common-view satellite set C is 9. The total number of 9 is less than the total number of satellite channels of 12, it is determined that the satellites in the target satellite set H are the five effective satellites in the effective satellite set E. The number of satellite channels required by the satellites in the target satellite set 5 is greater than the number of currently idle satellite channels 4, and the difference between the two numbers, that is, the second number is 1. At this time, it needs to be in the allocated satellite channel set B ₂ released a satellite channel, the satellite and the target set of five satellites were observed by using the release of a satellite channel with the four free satellite channels to obtain the satellite data corresponding to the five satellites.

方式b，目标卫星集合中的卫星所需要占用的卫星通道的数目，小于卫星导航接收机的卫星通道集合中当前空闲的卫星通道的数目。此时无需释放卫星导航接收机的卫星通道集合中当前已被分配的卫星通道，即第二数目为0。Manner b, the number of satellite channels that the satellites in the target satellite set need to occupy is less than the number of satellite channels that are currently idle in the satellite channel set of the satellite navigation receiver. At this time, there is no need to release the currently allocated satellite channels in the satellite channel set of the satellite navigation receiver, that is, the second number is 0.

举例来说，如图7所示，第一卫星集合A中卫星的数目为10，第二卫星集合B中卫星的数目为8，即卫星导航接收机的卫星通道集合B ₁中当前已分配的卫星通道的数目为8，已分配的8个卫星通道组成已分配卫星通道集合B ₂。卫星导航接收机的卫星通道集合B ₁中的卫星通道总数目为12，则卫星通道集合B ₁中当前空闲的卫星通道的数目为4。共视卫星集合C中卫星的数目为6，有效卫星集合E中的卫星的数目为2，则有效卫星集合E中的卫星的数目与共视卫星集合C中卫星的数目的总数目为8，该总数目8小于卫星通道总数目12，则确定目标卫星集合H中的卫星即为有效卫星集合E中的2个有效卫星。目标卫星集合H中的卫星所需要占用的卫星通道的数目2小于当前空闲的卫星通道的数目4；此时当前空闲的卫星通道足以分配给目标卫星集合H中的所有卫星，无需释放已分配卫星通道集合B ₂的卫星通道，即第二数目为0。 For example, as shown in FIG. 7, the number of satellites in the first satellite set A is 10, the number of satellites in the second satellite set B is 8, i.e. the satellite channel satellite navigation receiver set is currently _{assigned. 1} B The number of satellite channels is 8, and the 8 allocated satellite channels form the allocated satellite channel set B ₂ . The total number of satellite channels in the satellite channel set B ₁ of the satellite navigation receiver is 12, and the number of satellite channels that are currently idle in _{the satellite channel set B 1 is 4.} The number of satellites in the common-view satellite set C is 6, and the number of satellites in the effective satellite set E is 2. The total number of the number of satellites in the effective satellite set E and the number of satellites in the common-view satellite set C is 8. The total number of 8 is less than the total number of satellite channels of 12, it is determined that the satellites in the target satellite set H are the two effective satellites in the effective satellite set E. The number of satellite channels that the satellites in the target satellite set H need to occupy is less than the number of currently idle satellite channels 4; at this time, the currently idle satellite channels are enough to be allocated to all satellites in the target satellite set H, and there is no need to release the allocated satellites set B ₂ channel satellite channel, i.e., the second number is zero.

方式c，无论目标卫星集合中的卫星所需要占用的卫星通道的数目，与卫星导航接收机的卫星通道集合中当前空闲的卫星通道的数目的大小关系如何，均释放第二卫星集合对应的卫星通道集合中除共视卫星集合对应的卫星通道集合之外的全部卫星通道。此时第二数目为第二卫星集合对应的卫星通道集合中卫星通道的数目与共视卫星集合对应的卫星通道集合中卫星通道的数目的差值。Method c: Regardless of the number of satellite channels occupied by the satellites in the target satellite set, and the relationship between the number of free satellite channels in the satellite channel set of the satellite navigation receiver, the satellites corresponding to the second satellite set are released. All satellite channels in the channel set except for the satellite channel set corresponding to the common-view satellite set. At this time, the second number is the difference between the number of satellite channels in the satellite channel set corresponding to the second satellite set and the number of satellite channels in the satellite channel set corresponding to the common-view satellite set.

情况二，满足第一预设条件的卫星的数目与共视卫星集合中的卫星的数目的总数目大于卫星导航接收机的卫星通道的总数目，根据步骤S303中的相关描述可知目标卫星集合中的卫星的数目，为卫星通道的总数目与共视卫星集合中的卫星的数目之间的差值。此时第二数目为第二卫星集合对应的卫星通道集合中除共视卫星集合对应的卫星通道集合之外的卫星通道的数目。Case 2: The total number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set is greater than the total number of satellite channels of the satellite navigation receiver. According to the relevant description in step S303, it can be known that the number of satellites in the target satellite set is The number of satellites is the difference between the total number of satellite channels and the number of satellites in the common-view satellite set. At this time, the second number is the number of satellite channels in the satellite channel set corresponding to the second satellite set except for the satellite channel set corresponding to the common-view satellite set.

例如：请参见图8，可以参考步骤S303中图5的方法，由于满足第一预设条件的卫星的数目10与共视卫星集合C中的卫星的数目的总数目5，大于卫星导航接收机的卫星通道集合B ₁中的卫星通道总数目12，则从满足第一预设条件的10个有效卫星中选取7个有效卫星作为目标卫星集合中的卫星，即第一数目为7。此时需要释放第二卫星集合B对应的已分配卫星通道集合B ₂中，除共视卫星集合C对应的卫星通道之外的全部卫星通道，即需要释放可被替换卫星集合F所对应的全部卫星通道。可见，此时第二数目为可被替换卫星集合F所对应的全部卫星通道的数目4。 For example: referring to Figure 8, the method of Figure 5 in step S303 can be referred to. Since the total number of satellites satisfying the first preset condition of 10 and the number of satellites in the common-view satellite set C is 5, it is greater than that of the satellite navigation receiver. 10 a total number of valid satellites satellite channel satellite channel 12 of set B _1, satisfies a first predetermined condition from the selected 7 as the target satellite valid satellites in a satellite set, i.e., the first number is 7. _{At this time, it is necessary to release all the satellite channels in the allocated satellite channel set B 2} corresponding to the second satellite set B, except for the satellite channels corresponding to the common-view satellite set C, that is, all the satellite channels corresponding to the replaceable satellite set F need to be released Satellite channel. It can be seen that the second number at this time is the number 4 of all satellite channels corresponding to the set F of satellites that can be replaced.

本申请实施例通过根据来自修正源的卫星修正数据确定共视卫星集合，根据共视卫星集合确定待观测的目标卫星集合，并调整卫星导航接收机的卫星通道配置，以使卫星导航接收机对待观测的目标卫星集合中的卫星进行观测，可以实现动态调整卫星通道配置，以保证共视卫星数量的最大化，有利于提高卫星导航接收机的定位精度，以及避免卫星通道资源的浪费。In the embodiment of the application, the common-view satellite set is determined based on the satellite correction data from the correction source, the target satellite set to be observed is determined based on the common-view satellite set, and the satellite channel configuration of the satellite navigation receiver is adjusted to make the satellite navigation receiver treat Observing the satellites in the set of observing target satellites can dynamically adjust the satellite channel configuration to ensure the maximization of the number of common-view satellites, which is beneficial to improve the positioning accuracy of the satellite navigation receiver and avoid the waste of satellite channel resources.

上述卫星导航接收机的配置调整方法是一种实时动态调整的方案，能够应用于需要长时间定位作业的情形，灵活度较高。对于卫星导航接收机与基站距离较近(例如0～40Km)的情况，卫星导航接收机与基站的可视卫星基本相同，故针对短时间的定位作业情形，可以在卫星导航接收机初始化配置时，根据接收到的卫星修正数据，对卫星导航接收机的卫星通道进行配置，以在较短时间内，保证共视卫星数量的最大化。基于此，本申请实施例提供了另一种卫星导航接收机的配置调整方法，如图9所示，包括以下步骤：The above-mentioned method for adjusting the configuration of the satellite navigation receiver is a real-time dynamic adjustment solution, which can be applied to situations that require long-term positioning operations, and has a high degree of flexibility. For the case where the satellite navigation receiver is relatively close to the base station (for example, 0-40Km), the satellite navigation receiver and the base station’s visible satellites are basically the same, so for short-term positioning operations, you can initialize the satellite navigation receiver during the configuration , According to the received satellite correction data, the satellite channel of the satellite navigation receiver is configured to ensure the maximum number of common-view satellites in a relatively short period of time. Based on this, the embodiment of the present application provides another method for adjusting the configuration of a satellite navigation receiver, as shown in FIG. 9, including the following steps:

S901、卫星导航接收机接收定位基站发送的卫星修正数据。S901. The satellite navigation receiver receives satellite correction data sent by the positioning base station.

本发明实施例中，卫星修正数据是由定位基站利用获取到的至少一个卫星的观测信息生成的，观测信息包括载波观测量、星历等；定位基站与卫星导航接收机之间的距离小于或等于预设距离，该预设距离例如是40Km。In the embodiment of the present invention, the satellite correction data is generated by the positioning base station using the acquired observation information of at least one satellite. The observation information includes carrier observations, ephemeris, etc.; the distance between the positioning base station and the satellite navigation receiver is less than or It is equal to the preset distance, and the preset distance is, for example, 40Km.

在一实施方式中，定位基站可以为用于差分定位的基站，相应地，卫星导航接收机为用于差分定位的定位接收机。In an embodiment, the positioning base station may be a base station used for differential positioning, and correspondingly, the satellite navigation receiver is a positioning receiver used for differential positioning.

S902、卫星导航接收机根据卫星修正数据确定共视卫星集合。S902. The satellite navigation receiver determines a set of common-view satellites according to the satellite correction data.

本发明实施例中，卫星导航接收机根据获取到的卫星修正数据确定定位基站所观测的至少一个卫星组成的第一卫星集合。由于卫星导航接收机与定位基站的距离较近，两者所能观测到的可视卫星基本相同；故可以直接将该第一卫星集合确定为卫星导航接收机与定位基站的共视卫星集合。例如：第一卫星集合A所包含的卫星有卫星a、卫星b、卫星c及卫星d，即第一卫星集合A＝{a，b，c，d}，则确定共视卫星集合C＝A＝{a，b，c，d}。In the embodiment of the present invention, the satellite navigation receiver determines the first satellite set composed of at least one satellite observed by the positioning base station according to the acquired satellite correction data. Since the satellite navigation receiver is close to the positioning base station, the visible satellites that can be observed by the two are basically the same; therefore, the first set of satellites can be directly determined as the common-view satellite set of the satellite navigation receiver and the positioning base station. For example: the satellites included in the first satellite set A include satellite a, satellite b, satellite c, and satellite d, that is, the first satellite set A={a,b,c,d}, then the common-view satellite set C=A = {A, b, c, d}.

在一实施方式中，定位基站可以通过无线电台传输数据，卫星导航接收机通过无线电台的通讯接口接收无线电台传输的卫星修正数据；定位基站也可以通过网络传输，即通过无线网络(2G、3G或4G等)传输数据，卫星导航接收机通过无线网络基站接收卫星修正数据。In one embodiment, the positioning base station can transmit data through the radio station, and the satellite navigation receiver receives the satellite correction data transmitted by the radio station through the communication interface of the radio station; the positioning base station can also be transmitted through the network, that is, through the wireless network (2G, 3G). Or 4G, etc.) to transmit data, and satellite navigation receivers receive satellite correction data through wireless network base stations.

S903、卫星导航接收机获取共视卫星集合中满足第二预设条件的卫星，并根据满足第二预设条件的卫星确定目标卫星集合。S903. The satellite navigation receiver obtains satellites that meet the second preset condition in the common-view satellite set, and determines the target satellite set according to the satellites that meet the second preset condition.

本发明实施例中，第二预设条件包括对应的观测信息能够被卫星导航接收机处理。例如：共视卫星集合C＝{a，b，c，d}，共视卫星集合C中能够被卫星导航接收机处理的卫星有卫星a、卫星c，则确定该目标卫星集合为{a，c}。In the embodiment of the present invention, the second preset condition includes that the corresponding observation information can be processed by the satellite navigation receiver. For example: common-view satellite set C={a,b,c,d}, the satellites in common-view satellite set C that can be processed by satellite navigation receivers include satellite a and satellite c, then the target satellite set is determined to be {a, c}.

S904、卫星导航接收机在对卫星导航接收机进行初始化配置的过程中，利用卫星导航接收机的空闲卫星通道对目标卫星集合中的卫星进行观测，以得到目标卫星集合对应的卫星观测数据。S904. During the initial configuration of the satellite navigation receiver, the satellite navigation receiver uses the idle satellite channel of the satellite navigation receiver to observe satellites in the target satellite set to obtain satellite observation data corresponding to the target satellite set.

本发明实施例中，在对卫星导航接收机进行初始化配置的过程中，卫星导航接收机调整其自身的卫星通道配置，以利用卫星导航接收机的空闲卫星通道对目标卫星集合中的卫星进行观测，得到目标卫星集合对应的卫星观测数据。其中，分配给目标卫星集合中的卫星的卫星通道可以为卫星导航接收机的全部或者部分空闲卫星通道。In the embodiment of the present invention, in the process of initializing the configuration of the satellite navigation receiver, the satellite navigation receiver adjusts its own satellite channel configuration to use the free satellite channel of the satellite navigation receiver to observe the satellites in the target satellite set. , Obtain the satellite observation data corresponding to the target satellite set. Among them, the satellite channels allocated to the satellites in the target satellite set may be all or part of the idle satellite channels of the satellite navigation receiver.

上述方式主要针对定位基站与卫星导航接收机距离较近，共视卫星基本相同的情况，此时直接将定位基站所观测的至少一个卫星中能够被卫星导航接收机处理的卫星，作为卫星导航接收与定位基站的共视卫星，并调整卫星导航接收机的卫星通道配置对共视卫星进行观测，从而增加共视卫星的数量，保证共视卫星数量的最大化，有利于提高卫星导航接收机的定位精度，以及避免卫星通道资源的浪费。The above method is mainly for the situation that the positioning base station and the satellite navigation receiver are relatively close, and the common-view satellites are basically the same. In this case, the satellites that can be processed by the satellite navigation receiver among the satellites observed by the positioning base station are directly used as the satellite navigation receiver The common-view satellite with the positioning base station, and adjust the satellite channel configuration of the satellite navigation receiver to observe the common-view satellites, thereby increasing the number of common-view satellites, ensuring the maximum number of common-view satellites, and improving the performance of the satellite navigation receiver. Positioning accuracy, and avoid the waste of satellite channel resources.

请参阅图10，图10为本申请实施例提供的一种卫星导航接收机的配置调整装置的结构示意图。本申请实施例中所描述的卫星导航接收机的配置调整装置包括：处理器1001、通信接口1002、存储器1003。其中，处理器1001、通信接口1002、存储器1003可通过总线或其他方式连接，本申请实施例以通过总线连接为例。Please refer to FIG. 10, which is a schematic structural diagram of an apparatus for adjusting the configuration of a satellite navigation receiver according to an embodiment of the application. The device for adjusting the configuration of a satellite navigation receiver described in the embodiment of the present application includes a processor 1001, a communication interface 1002, and a memory 1003. Among them, the processor 1001, the communication interface 1002, and the memory 1003 may be connected through a bus or in other ways. The embodiment of the present application takes the connection through a bus as an example.

处理器1001可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)，或者CPU和NP的组合。处理器701也可以是多核CPU、或多核NP中用于实现通信标识绑定的核。所述处理器1001可以是硬件芯片。所述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。所述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。The processor 1001 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 701 may also be a multi-core CPU or a core used to implement communication identification binding in a multi-core NP. The processor 1001 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

所述通信接口1002可受所述处理器1001的控制用于收发信息或信令的交互，以及信号的接收和传递。所述存储器1003可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等)；存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等，并可以包括应用存储程序等。此外，存储器1003可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The communication interface 1002 can be controlled by the processor 1001 to exchange information or signaling, and to receive and transmit signals. The memory 1003 may mainly include a storage program area and a storage data area. The storage program area can store an operating system and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area can store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc. In addition, the memory 1003 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

所述存储器1003还用于存储程序指令。所述处理器1001，用于执行所述存储器1003存储的程序指令，当所述程序指令被执行时，所述处理器1001用于：通过所述通信接口1002获取来自修正源的卫星修正数据，所述卫星修正数据包括至少一个卫星的观测信息，其中，所述卫星修正数据用于所述卫星导航接收机结合所述卫星导航接收机获取的卫星观测数据进行定位；根据所述卫星修正数据确定共视卫星集合，并根据所述共视卫星集合确定目标卫星集合；根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测。The memory 1003 is also used to store program instructions. The processor 1001 is configured to execute program instructions stored in the memory 1003. When the program instructions are executed, the processor 1001 is configured to: obtain satellite correction data from a correction source through the communication interface 1002, The satellite correction data includes observation information of at least one satellite, wherein the satellite correction data is used by the satellite navigation receiver to perform positioning based on the satellite observation data obtained by the satellite navigation receiver; The common-view satellite set, and the target satellite set is determined according to the common-view satellite set; the satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver is based on the adjusted satellite channel Configure to observe the satellites in the target satellite set.

本申请实施例中处理器执行的方法均从处理器的角度来描述，可以理解的是，本申请实施例中处理器要执行上述方法需要其他硬件结构的配合。本申请实施例对具体的实现过程不作详细描述和限制。The methods executed by the processor in the embodiments of the present application are all described from the perspective of the processor. It can be understood that the processor in the embodiments of the present application requires the cooperation of other hardware structures to execute the foregoing methods. The embodiments of the present application do not describe and limit the specific implementation process in detail.

在一实施方式中，所述处理器1001根据所述共视卫星集合确定目标卫星集合之前，所述处理器1001还用于：检测所述共视卫星集合中的卫星的数目是否小于所述卫星导航接收机的卫星通道的数目；若是，则根据所述共视卫星集合确定目标卫星集合。In an embodiment, before the processor 1001 determines the target satellite set according to the common-view satellite set, the processor 1001 is further configured to: detect whether the number of satellites in the common-view satellite set is smaller than the number of satellites. The number of satellite channels of the navigation receiver; if so, the target satellite set is determined according to the common-view satellite set.

在一实施方式中，所述处理器1001根据所述卫星修正数据确定共视卫星集合时，具体用于：获取所述卫星修正数据对应的第一卫星集合；获取所述卫星观测数据对应的第二卫星集合；获取所述第一卫星集合和所述第二卫星集合的交集，并将所述交集确定为共视卫星集合。In one embodiment, when the processor 1001 determines the common-view satellite set according to the satellite correction data, it is specifically configured to: obtain the first satellite set corresponding to the satellite correction data; and obtain the first satellite set corresponding to the satellite observation data. Two sets of satellites; acquiring an intersection of the first set of satellites and the second set of satellites, and determining the intersection as a common-view satellite set.

在一实施方式中，所述处理器1001根据所述共视卫星集合确定目标卫星集合时，具体用于：将所述共视卫星集合中的卫星从所述第一卫星集合中去除，得到第三卫星集合；获取所述第三卫星集合中满足第一预设条件的卫星，并根据所述满足第一预设条件的卫星确定目标卫星集合；其中，所述第一预设条件包括能够被所述卫星导航接收机观测到，并且对应的观测信息能够被所述卫星导航接收机处理。In an embodiment, when the processor 1001 determines the target satellite set according to the common-view satellite set, it is specifically configured to: remove the satellites in the common-view satellite set from the first satellite set to obtain the first satellite set. Three sets of satellites; acquiring satellites that meet the first preset condition in the third set of satellites, and determining the target satellite set according to the satellites that meet the first preset condition; wherein, the first preset condition includes being able to be The satellite navigation receiver observes, and the corresponding observation information can be processed by the satellite navigation receiver.

在一实施方式中，所述处理器1001根据所述满足第一预设条件的卫星确定目标卫星集合时，具体用于：获取所述满足第一预设条件的卫星的数目与所述共视卫星集合中的卫星的数目的总数目；检测所述总数目是否小于或等于所述卫星导航接收机的卫星通道的数目；若否，则从所述满足第一预设条件的卫星中获取第一数目的卫星，并根据所述第一数目的卫星确定目标卫星集合，其中，所述第一数目为所述卫星通道的数目与所述共视卫星集合中的卫星的数目之间的差值。In an implementation manner, when the processor 1001 determines the target satellite set according to the satellites that meet the first preset condition, it is specifically configured to: obtain the number of satellites that meet the first preset condition and the common view The total number of satellites in the satellite set; detecting whether the total number is less than or equal to the number of satellite channels of the satellite navigation receiver; if not, obtaining the first satellite from the satellites that meet the first preset condition A number of satellites, and a target satellite set is determined according to the first number of satellites, where the first number is the difference between the number of satellite channels and the number of satellites in the common-view satellite set .

在一实施方式中，所述处理器1001根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测时，具体用于：释放所述卫星导航接收机的目标卫星通道集合中第二数目的卫星通道，所述目标卫星通道集合包括所述第二卫星集合对应的卫星通道集合中除所述共视卫星集合对应的卫星通道集合之外的卫星通道；利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据；其中，所述空闲卫星通道包括释放的第二数目的卫星通道，所述第二数目是根据所述目标卫星集合中的卫星的数目以及所述第二卫星集合中除所述共视卫星集合之外的卫星的数目确定的。In an implementation manner, the processor 1001 adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver performs an adjustment to the target satellite set according to the adjusted satellite channel configuration. When the satellite in the satellite is observed, it is specifically used to: release the second number of satellite channels in the target satellite channel set of the satellite navigation receiver, and the target satellite channel set includes the satellite channel set corresponding to the second satellite set Satellite channels other than the satellite channel set corresponding to the common-view satellite set; use the idle satellite channels of the satellite navigation receiver to observe the satellites in the target satellite set to obtain the satellite channel set corresponding to the target satellite set Satellite observation data; wherein the free satellite channels include a second number of satellite channels released, and the second number is based on the number of satellites in the target satellite set and the second satellite set divided by the total It depends on the number of satellites outside the satellite set.

在一实施方式中，所述处理器1001根据所述卫星修正数据确定共视卫星集合时，具体用于：获取所述卫星修正数据对应的第一卫星集合；将所述第一卫星集合确定为共视卫星集合。In an embodiment, when the processor 1001 determines the common-view satellite set according to the satellite correction data, it is specifically configured to: obtain the first satellite set corresponding to the satellite correction data; and determine the first satellite set as Common view satellite collection.

在一实施方式中，所述处理器1001根据所述共视卫星集合确定目标卫星集合时，具体用于：获取所述共视卫星集合中满足第二预设条件的卫星，并根据所述满足第二预设条件的卫星确定目标卫星集合；其中，所述第二预设条件包括对应的观测信息能够被所述卫星导航接收机处理。In an embodiment, when the processor 1001 determines a target satellite set according to the common-view satellite set, it is specifically configured to: acquire satellites in the common-view satellite set that meet the second preset condition, and according to the satisfaction The satellites under the second preset condition determine the target satellite set; wherein the second preset condition includes that the corresponding observation information can be processed by the satellite navigation receiver.

在一实施方式中，所述处理器1001根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测时，具体用于：在对所述卫星导航接收机进行初始化配置的过程中，利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据。In an implementation manner, the processor 1001 adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver performs an adjustment to the target satellite set according to the adjusted satellite channel configuration. When the satellite in the satellite is observed, it is specifically used to: in the process of initializing the satellite navigation receiver, use the idle satellite channel of the satellite navigation receiver to observe the satellites in the target satellite set to Obtain satellite observation data corresponding to the target satellite set.

在一实施方式中，所述修正源包括定位基站，所述处理器1001获取来自修正源的卫星修正数据时，具体用于：通过所述通信接口1002接收所述定位基站发送的卫星修正数据；其中，所述卫星修正数据是由所述定位基站利用获取到的至少一个卫星的观测信息生成的，所述定位基站与所述卫星导航接收机之间的距离小于或等于预设距离。In one embodiment, the correction source includes a positioning base station, and when the processor 1001 obtains satellite correction data from the correction source, it is specifically configured to: receive the satellite correction data sent by the positioning base station through the communication interface 1002; The satellite correction data is generated by the positioning base station using the acquired observation information of at least one satellite, and the distance between the positioning base station and the satellite navigation receiver is less than or equal to a preset distance.

在一实施方式中，所述卫星导航接收机为用于差分定位的定位接收机，所述修正源为用于差分定位的定位基站。In one embodiment, the satellite navigation receiver is a positioning receiver for differential positioning, and the correction source is a positioning base station for differential positioning.

具体实现中，本申请实施例中所描述的处理器1001、通信接口1002、存储器1003可执行本申请实施例提供的一种卫星导航接收机的配置调整方法中所描述的实现方式，在此不再赘述。In specific implementation, the processor 1001, the communication interface 1002, and the memory 1003 described in the embodiment of the present application can execute the implementation described in the method for adjusting the configuration of a satellite navigation receiver provided in the embodiment of the present application. Go into details again.

本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现上述方法实施例所述的卫星导航接收机的配置调整方法。本申请实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的卫星导航接收机的配置调整方法。The embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the configuration of the satellite navigation receiver described in the foregoing method embodiment is implemented Adjustment method. The embodiment of the present application also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the method for adjusting the configuration of the satellite navigation receiver described in the foregoing method embodiment.

需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the described sequence of actions. Because according to this application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

以上对本申请实施例所提供的卫星导航接收机的配置调整方法及装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The configuration adjustment method and device of the satellite navigation receiver provided by the embodiments of the application are described in detail above. Specific examples are used in this article to explain the principles and implementation of the application. The description of the above embodiments is only for help Understand the methods and core ideas of this application; at the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification is not It should be understood as a limitation of this application.

Claims

一种卫星导航接收机的配置调整方法，其特征在于，所述方法包括：A method for adjusting the configuration of a satellite navigation receiver, characterized in that the method includes:

获取来自修正源的卫星修正数据，所述卫星修正数据包括至少一个卫星的观测信息，其中，所述卫星修正数据用于所述卫星导航接收机结合所述卫星导航接收机获取的卫星观测数据进行定位；Obtain satellite correction data from a correction source, the satellite correction data including observation information of at least one satellite, wherein the satellite correction data is used by the satellite navigation receiver in combination with the satellite observation data obtained by the satellite navigation receiver. Positioning

根据所述卫星修正数据确定共视卫星集合，并根据所述共视卫星集合确定目标卫星集合；Determine a common-view satellite set according to the satellite correction data, and determine a target satellite set according to the common-view satellite set;

根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测。The satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver observes the satellites in the target satellite set according to the adjusted satellite channel configuration.
根据权利要求1所述的方法，其特征在于，所述根据所述共视卫星集合确定目标卫星集合之前，所述方法还包括：The method according to claim 1, characterized in that, before the determining the target satellite set according to the common-view satellite set, the method further comprises:

检测所述共视卫星集合中的卫星的数目是否小于所述卫星导航接收机的卫星通道的数目；Detecting whether the number of satellites in the common-view satellite set is less than the number of satellite channels of the satellite navigation receiver;

若是，则触发执行所述根据所述共视卫星集合确定目标卫星集合的步骤。If yes, trigger execution of the step of determining the target satellite set according to the common-view satellite set.
根据权利要求1或2所述的方法，其特征在于，所述根据所述卫星修正数据确定共视卫星集合，包括：The method according to claim 1 or 2, wherein the determining a set of common-view satellites according to the satellite correction data comprises:

获取所述卫星修正数据对应的第一卫星集合；Acquiring the first satellite set corresponding to the satellite correction data;

获取所述卫星观测数据对应的第二卫星集合；Acquiring a second set of satellites corresponding to the satellite observation data;

获取所述第一卫星集合和所述第二卫星集合的交集，并将所述交集确定为共视卫星集合。Obtain an intersection of the first satellite set and the second satellite set, and determine the intersection as a common-view satellite set.
根据权利要求3所述的方法，其特征在于，所述根据所述共视卫星集合确定目标卫星集合，包括：The method according to claim 3, wherein the determining a target satellite set according to the common-view satellite set comprises:

将所述共视卫星集合中的卫星从所述第一卫星集合中去除，得到第三卫星集合；Removing satellites in the common-view satellite set from the first satellite set to obtain a third satellite set;

获取所述第三卫星集合中满足第一预设条件的卫星，并根据所述满足第一预设条件的卫星确定目标卫星集合；Acquiring satellites that meet the first preset condition in the third satellite set, and determine the target satellite set according to the satellites that meet the first preset condition;

其中，所述第一预设条件包括能够被所述卫星导航接收机观测到，并且对应的观测信息能够被所述卫星导航接收机处理。Wherein, the first preset condition includes that it can be observed by the satellite navigation receiver, and the corresponding observation information can be processed by the satellite navigation receiver.
根据权利要求4所述的方法，其特征在于，所述根据所述满足第一预设条件的卫星确定目标卫星集合，包括：The method according to claim 4, wherein the determining a target satellite set according to the satellites that meet the first preset condition comprises:

获取所述满足第一预设条件的卫星的数目与所述共视卫星集合中的卫星的数目的总数目；Acquiring the total number of the number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set;

检测所述总数目是否小于或等于所述卫星导航接收机的卫星通道的数目；Detecting whether the total number is less than or equal to the number of satellite channels of the satellite navigation receiver;

若否，则从所述满足第一预设条件的卫星中获取第一数目的卫星，并根据所述第一数目的卫星确定目标卫星集合，其中，所述第一数目为所述卫星通道的数目与所述共视卫星集合中的卫星的数目之间的差值。If not, obtain a first number of satellites from the satellites that meet the first preset condition, and determine a target satellite set according to the first number of satellites, where the first number is the number of satellite channels The difference between the number and the number of satellites in the common-view satellite set.
根据权利要求3至5任一项所述的方法，其特征在于，所述根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测，包括：The method according to any one of claims 3 to 5, wherein the satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver is adjusted according to the adjusted satellite channel configuration. Satellite channel configuration to observe the satellites in the target satellite set includes:

释放所述卫星导航接收机的目标卫星通道集合中第二数目的卫星通道，所述目标卫星通道集合包括所述第二卫星集合对应的卫星通道集合中除所述共视卫星集合对应的卫星通道集合之外的卫星通道；Release the second number of satellite channels in the target satellite channel set of the satellite navigation receiver, where the target satellite channel set includes the satellite channel set corresponding to the second satellite set except for the satellite channel corresponding to the common-view satellite set Satellite channels outside the assembly;

利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据；Observe satellites in the target satellite set by using the idle satellite channel of the satellite navigation receiver to obtain satellite observation data corresponding to the target satellite set;

其中，所述空闲卫星通道包括释放的第二数目的卫星通道，所述第二数目是根据所述目标卫星集合中的卫星的数目以及所述第二卫星集合中除所述共视卫星集合之外的卫星的数目确定的。Wherein, the free satellite channels include a second number of released satellite channels, and the second number is based on the number of satellites in the target satellite set and the number of satellites in the second satellite set divided by the common-view satellite set. The number of satellites outside is determined.
根据权利要求1所述的方法，其特征在于，所述根据所述卫星修正数据确定共视卫星集合，包括：The method according to claim 1, wherein the determining a set of common-view satellites according to the satellite correction data comprises:

获取所述卫星修正数据对应的第一卫星集合；Acquiring the first satellite set corresponding to the satellite correction data;

将所述第一卫星集合确定为共视卫星集合。The first set of satellites is determined to be a set of common-view satellites.
根据权利要求7所述的方法，其特征在于，所述根据所述共视卫星集合确定目标卫星集合，包括：The method according to claim 7, wherein the determining a target satellite set according to the common-view satellite set comprises:

获取所述共视卫星集合中满足第二预设条件的卫星，并根据所述满足第二预设条件的卫星确定目标卫星集合；Acquiring satellites that meet a second preset condition in the common-view satellite set, and determine a target satellite set according to the satellites that meet the second preset condition;

其中，所述第二预设条件包括对应的观测信息能够被所述卫星导航接收机处理。Wherein, the second preset condition includes that the corresponding observation information can be processed by the satellite navigation receiver.
根据权利要求7或8所述的方法，其特征在于，所述根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测，包括：The method according to claim 7 or 8, wherein the satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver is configured according to the adjusted satellite channel configuration Observing the satellites in the target satellite set includes:

在对所述卫星导航接收机进行初始化配置的过程中，利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据。In the process of initial configuration of the satellite navigation receiver, the idle satellite channels of the satellite navigation receiver are used to observe the satellites in the target satellite set to obtain satellite observation data corresponding to the target satellite set .
根据权利要求7-9任一项所述的方法，其特征在于，所述修正源包括定位基站，所述获取来自修正源的卫星修正数据，包括：The method according to any one of claims 7-9, wherein the correction source comprises a positioning base station, and the acquiring satellite correction data from the correction source comprises:

接收所述定位基站发送的卫星修正数据；Receiving satellite correction data sent by the positioning base station;

其中，所述卫星修正数据是由所述定位基站利用获取到的至少一个卫星的观测信息生成的，所述定位基站与所述卫星导航接收机之间的距离小于或等于预设距离。Wherein, the satellite correction data is generated by the positioning base station using the acquired observation information of at least one satellite, and the distance between the positioning base station and the satellite navigation receiver is less than or equal to a preset distance.
根据权利要求1所述的方法，其特征在于，所述卫星导航接收机为用于差分定位的定位接收机，所述修正源为用于差分定位的定位基站。The method according to claim 1, wherein the satellite navigation receiver is a positioning receiver for differential positioning, and the correction source is a positioning base station for differential positioning.
一种卫星导航接收机的配置调整装置，其特征在于，包括：存储器、通信接口和处理器；所述存储器，用于存储程序指令；所述通信接口受所述处理器的控制用于收发信号；所述处理器，用于执行所述存储器存储的程序指令，当所述程序指令被执行时，所述处理器用于：A device for adjusting the configuration of a satellite navigation receiver, comprising: a memory, a communication interface, and a processor; the memory is used for storing program instructions; the communication interface is controlled by the processor for sending and receiving signals The processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

通过所述通信接口获取来自修正源的卫星修正数据，所述卫星修正数据包括至少一个卫星的观测信息，其中，所述卫星修正数据用于所述卫星导航接收机结合所述卫星导航接收机获取的卫星观测数据进行定位；Obtain satellite correction data from a correction source through the communication interface, the satellite correction data including observation information of at least one satellite, wherein the satellite correction data is used by the satellite navigation receiver in combination with the satellite navigation receiver to obtain Satellite observation data for positioning;

根据所述卫星修正数据确定共视卫星集合，并根据所述共视卫星集合确定目标卫星集合；Determine a common-view satellite set according to the satellite correction data, and determine a target satellite set according to the common-view satellite set;

根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测。The satellite channel configuration of the satellite navigation receiver is adjusted according to the target satellite set, so that the satellite navigation receiver observes the satellites in the target satellite set according to the adjusted satellite channel configuration.
根据权利要求12所述的装置，其特征在于，所述处理器根据所述共视卫星集合确定目标卫星集合之前，还用于：The apparatus according to claim 12, wherein the processor is further configured to: before determining a target satellite set according to the common-view satellite set:

检测所述共视卫星集合中的卫星的数目是否小于所述卫星导航接收机的卫星通道的数目；Detecting whether the number of satellites in the common-view satellite set is less than the number of satellite channels of the satellite navigation receiver;

若是，则根据所述共视卫星集合确定目标卫星集合。If yes, the target satellite set is determined according to the common-view satellite set.
根据权利要求12或13所述的装置，其特征在于，所述处理器根据所述卫星修正数据确定共视卫星集合时，具体用于：The device according to claim 12 or 13, wherein when the processor determines a common-view satellite set according to the satellite correction data, it is specifically configured to:

获取所述卫星修正数据对应的第一卫星集合；Acquiring the first satellite set corresponding to the satellite correction data;

获取所述卫星观测数据对应的第二卫星集合；Acquiring a second set of satellites corresponding to the satellite observation data;

获取所述第一卫星集合和所述第二卫星集合的交集，并将所述交集确定为共视卫星集合。Obtain an intersection of the first satellite set and the second satellite set, and determine the intersection as a common-view satellite set.
根据权利要求14所述的装置，其特征在于，所述处理器根据所述共视卫星集合确定目标卫星集合时，具体用于：The device according to claim 14, wherein when the processor determines the target satellite set according to the common-view satellite set, it is specifically configured to:

将所述共视卫星集合中的卫星从所述第一卫星集合中去除，得到第三卫星集合；Removing satellites in the common-view satellite set from the first satellite set to obtain a third satellite set;

获取所述第三卫星集合中满足第一预设条件的卫星，并根据所述满足第一预设条件的卫星确定目标卫星集合；Acquiring satellites that meet a first preset condition in the third satellite set, and determine a target satellite set according to the satellites that meet the first preset condition;

其中，所述第一预设条件包括能够被所述卫星导航接收机观测到，并且对应的观测信息能够被所述卫星导航接收机处理。Wherein, the first preset condition includes that it can be observed by the satellite navigation receiver, and the corresponding observation information can be processed by the satellite navigation receiver.
根据权利要求15所述的装置，其特征在于，所述处理器根据所述满足第一预设条件的卫星确定目标卫星集合时，具体用于：The apparatus according to claim 15, wherein when the processor determines the target satellite set according to the satellites that meet the first preset condition, it is specifically configured to:

获取所述满足第一预设条件的卫星的数目与所述共视卫星集合中的卫星的数目的总数目；Acquiring the total number of the number of satellites that meet the first preset condition and the number of satellites in the common-view satellite set;

检测所述总数目是否小于或等于所述卫星导航接收机的卫星通道的数目；Detecting whether the total number is less than or equal to the number of satellite channels of the satellite navigation receiver;

若否，则从所述满足第一预设条件的卫星中获取第一数目的卫星，并根据所述第一数目的卫星确定目标卫星集合，其中，所述第一数目为所述卫星通道的数目与所述共视卫星集合中的卫星的数目之间的差值。If not, obtain a first number of satellites from the satellites that meet the first preset condition, and determine a target satellite set according to the first number of satellites, where the first number is the number of satellite channels The difference between the number and the number of satellites in the common-view satellite set.
根据权利要求14至16任一项所述的装置，其特征在于，所述处理器根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测时，具体用于：The apparatus according to any one of claims 14 to 16, wherein the processor adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver is adjusted according to the The latter satellite channel configuration is specifically used for observing the satellites in the target satellite set:

释放所述卫星导航接收机的目标卫星通道集合中第二数目的卫星通道，所述目标卫星通道集合包括所述第二卫星集合对应的卫星通道集合中除所述共视卫星集合对应的卫星通道集合之外的卫星通道；Release the second number of satellite channels in the target satellite channel set of the satellite navigation receiver, where the target satellite channel set includes the satellite channel set corresponding to the second satellite set except for the satellite channel corresponding to the common-view satellite set Satellite channels outside the assembly;

利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据；Observe satellites in the target satellite set by using the idle satellite channel of the satellite navigation receiver to obtain satellite observation data corresponding to the target satellite set;

其中，所述空闲卫星通道包括释放的第二数目的卫星通道，所述第二数目是根据所述目标卫星集合中的卫星的数目以及所述第二卫星集合中除所述共视卫星集合之外的卫星的数目确定的。Wherein, the free satellite channels include a second number of released satellite channels, and the second number is based on the number of satellites in the target satellite set and the number of satellites in the second satellite set divided by the common-view satellite set. The number of satellites outside is determined.
根据权利要求12所述的装置，其特征在于，所述处理器根据所述卫星修正数据确定共视卫星集合时，具体用于：The device according to claim 12, wherein when the processor determines the common-view satellite set according to the satellite correction data, it is specifically configured to:

获取所述卫星修正数据对应的第一卫星集合；Acquiring the first satellite set corresponding to the satellite correction data;

将所述第一卫星集合确定为共视卫星集合。The first set of satellites is determined to be a set of common-view satellites.
根据权利要求18所述的装置，其特征在于，所述处理器根据所述共视卫星集合确定目标卫星集合时，具体用于：The device according to claim 18, wherein when the processor determines the target satellite set according to the common-view satellite set, it is specifically configured to:

获取所述共视卫星集合中满足第二预设条件的卫星，并根据所述满足第二预设条件的卫星确定目标卫星集合；Acquiring satellites that meet a second preset condition in the common-view satellite set, and determine a target satellite set according to the satellites that meet the second preset condition;

其中，所述第二预设条件包括对应的观测信息能够被所述卫星导航接收机处理。Wherein, the second preset condition includes that the corresponding observation information can be processed by the satellite navigation receiver.
根据权利要求18或19所述的装置，其特征在于，所述处理器根据所述目标卫星集合调整所述卫星导航接收机的卫星通道配置，以使所述卫星导航接收机根据调整后的卫星通道配置对所述目标卫星集合中的卫星进行观测时，具体用于：The device according to claim 18 or 19, wherein the processor adjusts the satellite channel configuration of the satellite navigation receiver according to the target satellite set, so that the satellite navigation receiver according to the adjusted satellite When the channel configuration observes the satellites in the target satellite set, it is specifically used for:

在对所述卫星导航接收机进行初始化配置的过程中，利用所述卫星导航接收机的空闲卫星通道对所述目标卫星集合中的卫星进行观测，以得到所述目标卫星集合对应的卫星观测数据。In the process of initial configuration of the satellite navigation receiver, the idle satellite channels of the satellite navigation receiver are used to observe the satellites in the target satellite set to obtain satellite observation data corresponding to the target satellite set .
根据权利要求18-20任一项所述的装置，其特征在于，所述修正源包括定位基站，所述通过所述通信接口获取来自修正源的卫星修正数据时，具体用于：The apparatus according to any one of claims 18-20, wherein the correction source comprises a positioning base station, and when the satellite correction data from the correction source is acquired through the communication interface, it is specifically used to:

通过所述通信接口接收所述定位基站发送的卫星修正数据；Receiving satellite correction data sent by the positioning base station through the communication interface;

其中，所述卫星修正数据是由所述定位基站利用获取到的至少一个卫星的观测信息生成的，所述定位基站与所述卫星导航接收机之间的距离小于或等于预设距离。Wherein, the satellite correction data is generated by the positioning base station using the acquired observation information of at least one satellite, and the distance between the positioning base station and the satellite navigation receiver is less than or equal to a preset distance.
根据权利要求12所述的装置，其特征在于，所述卫星导航接收机为用于差分定位的定位接收机，所述修正源为用于差分定位的定位基站。The apparatus according to claim 12, wherein the satellite navigation receiver is a positioning receiver for differential positioning, and the correction source is a positioning base station for differential positioning.
一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，其特征在于：所述计算机程序被处理器执行时实现如权利要求1至11中任一项所述方法的步骤。A computer-readable storage medium in which a computer program is stored, characterized in that: when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented .