CN110531388A - Optimization method, device, car-mounted terminal and the storage medium of global position system - Google Patents

Abstract

The invention discloses a kind of optimization method of global position system, device, car-mounted terminal and storage mediums, wherein the optimization method of global position system includes: the location information received under a variety of station-keeping modes；Filter out the location information for meeting preset condition；Optimization is weighted to the location information filtered out, to obtain the location information after optimization.Optimization method, device, car-mounted terminal and the storage medium of the global position system of the embodiment of the present invention, by receiving the location information under a variety of station-keeping modes, and filter out the location information for meeting preset condition, and optimization is weighted to the location information filtered out, to obtain the location information after optimization, the position error of Weakened System enhances robustness to improve the setting accuracy of global position system.

Description

Optimization method, device, vehicle terminal and storage medium for satellite positioning system

technical field

The invention relates to the technical field of information processing, and in particular, to an optimization method, device, vehicle terminal and storage medium for a satellite positioning system.

Background technique

With the continuous advancement of technology, more and more vehicles are equipped with satellite positioning systems, which can help users easily locate the location of the vehicle. The positioning accuracy is an important indicator to measure the satellite positioning system. At present, inertial navigation technology and differential positioning technology of ground base stations are mainly used to improve the accuracy of satellite positioning. However, the differential positioning technology needs to introduce a ground differential signal station to assist the positioning, the construction cost is high, and the coverage is limited. Inertial navigation technology is easily affected by the environment. When the system error reaches a certain level, the inertial navigation technology cannot make up for the system error well.

SUMMARY OF THE INVENTION

The present invention provides an optimization method, device, vehicle terminal and storage medium for a satellite positioning system to solve at least one of the above technical problems.

An embodiment of the present invention provides an optimization method for a satellite positioning system, including:

Receive positioning information in multiple positioning modes;

Filter out the positioning information that meets the preset conditions;

Weighted optimization is performed on the selected positioning information to obtain optimized positioning information.

Optionally, filter out the positioning information that meets the preset conditions, including:

Parse out the positioning flag bits and the number of satellites in the positioning information under the multiple positioning modes;

It is determined that the positioning flag bit is successfully screened and the number of satellites is greater than or equal to the preset number of positioning information.

Optionally, weighted optimization is performed on the selected positioning information to obtain optimized positioning information, including:

obtaining the weighting coefficient corresponding to the selected positioning information;

The corresponding filtered positioning information is weighted and optimized according to the weighting coefficient.

Optionally, obtaining the weighting coefficient corresponding to the selected positioning information, including:

obtaining the positioning error coefficient and the carrier-to-noise ratio corresponding to the selected positioning information;

calculating the signal reference deviation coefficient of the selected positioning information according to the carrier-to-noise ratio;

The value range of the weighting coefficient is determined according to the positioning error coefficient and the signal reference deviation coefficient.

Optionally, the method also includes:

After weighted optimization is performed on the selected positioning information to obtain optimized positioning information, data smoothing processing is performed on the optimized positioning information.

Optionally, the data smoothing processing method includes Kalman filtering.

Optionally, the positioning information in the multiple positioning modes includes longitude information, latitude information and altitude information.

Optionally, the positioning mode includes GPS mode, Beidou mode, GLONASS mode and GALILEO mode.

Another embodiment of the present invention provides an optimization device for a satellite positioning system, including:

The receiving module is used to receive positioning information in multiple positioning modes;

The screening module is used to filter out the positioning information that meets the preset conditions;

The obtaining module is used to perform weighted optimization on the selected positioning information to obtain the optimized positioning information.

Optionally, the screening module is used for:

Parse out the positioning flag bits and the number of satellites in the positioning information under the multiple positioning modes;

It is determined that the positioning flag bit is successfully screened and the number of satellites is greater than or equal to the preset number of positioning information.

Optionally, the obtaining module is used for:

obtaining the weighting coefficient corresponding to the selected positioning information;

The corresponding filtered positioning information is weighted and optimized according to the weighting coefficient.

Optionally, the obtaining module is used for:

obtaining the positioning error coefficient and the carrier-to-noise ratio corresponding to the selected positioning information;

calculating the signal reference deviation coefficient of the selected positioning information according to the carrier-to-noise ratio;

The value range of the weighting coefficient is determined according to the positioning error coefficient and the signal reference deviation coefficient.

Optionally, the device further includes:

The processing module is configured to perform data smoothing processing on the optimized positioning information after weighted optimization is performed on the selected positioning information to obtain the optimized positioning information.

Optionally, the data smoothing processing method includes Kalman filtering.

Optionally, the positioning information in the multiple positioning modes includes longitude information, latitude information and altitude information.

Optionally, the positioning mode includes GPS mode, Beidou mode, GLONASS mode and GALILEO mode.

Another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, realizes the optimization of the satellite positioning system according to the embodiment of the first aspect of the present invention method.

Yet another embodiment of the present invention provides a vehicle-mounted terminal, including a satellite positioning system, where the satellite positioning system is used to implement the method for optimizing the satellite positioning system according to the embodiment of the first aspect.

The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

By receiving positioning information in multiple positioning modes, filtering out the positioning information that meets the preset conditions, and weighting and optimizing the selected positioning information, the optimized positioning information is obtained, the positioning error of the system is weakened, and the satellite is improved. The positioning accuracy of the positioning system increases the robustness.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

Fig. 1 is the flow chart of the optimization method of the satellite positioning system of one embodiment of the present invention;

2 is a flowchart of obtaining a weighting coefficient corresponding to the selected positioning information according to an embodiment of the present invention;

3 is a flowchart of an optimization method for a satellite positioning system according to another embodiment of the present invention;

Fig. 4 is the structural block diagram of the optimization apparatus of the satellite positioning system of an embodiment of the present invention;

FIG. 5 is a structural block diagram of an optimization apparatus for a satellite positioning system according to another embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The optimization method, device, vehicle terminal, and storage medium of the satellite positioning system according to the embodiments of the present invention are described below with reference to the accompanying drawings.

FIG. 1 is a flowchart of a method for optimizing a satellite positioning system according to an embodiment of the present invention.

As shown in Figure 1, the optimization method of the satellite positioning system includes:

S101, receiving positioning information in multiple positioning modes.

At present, the mainstream satellite positioning system is still GPS. However, with the continuous improvement of satellite navigation systems such as Beidou, GLONASS, and GALILEO, more and more positioning and navigation products support multi-mode positioning. That is to say, the internal core of the product adopts a single positioning mode, and only one of a variety of satellite positioning systems is selected for positioning and navigation. When there is a problem with one of them, switch to the other positioning mode. In the single positioning mode, the inertial navigation technology is mainly adopted, and various sensors and algorithm optimization are used to assist the positioning and navigation, and the positioning accuracy is gradually controlled to about 2 meters. However, this method is greatly affected by the environment, and the system error is not a fixed value. When the system error reaches a certain level, the inertial navigation technology cannot compensate for the system error. Of course, there are also differential positioning technologies using ground base stations, which need to introduce ground differential signal stations to assist positioning. However, the construction cost of the differential signal station is high and the coverage is limited, so that the differential positioning technology can only be used in some areas.

In order to solve the above problems, the present invention proposes an optimization method for a satellite positioning system, which introduces a multi-mode positioning mechanism to improve the positioning accuracy of the satellite positioning system.

In one embodiment of the present invention, positioning information in multiple positioning modes can be received. The positioning mode may include GPS mode, Beidou mode, GLONASS mode and GALILEO mode. The positioning information in various positioning modes includes longitude information, latitude information and altitude information.

In the prior art, only positioning information in one positioning mode can be received, and only after the signal received in this positioning mode is not strong enough or a problem occurs, switch to another positioning mode and receive positioning in another positioning mode. information. Different from the prior art, this embodiment can simultaneously receive positioning information in four different modes: GPS, Beidou, GLONASS, and GALILEO.

S102, filtering out the positioning information that meets the preset condition.

After receiving the positioning information in multiple positioning modes, the positioning information that meets the preset conditions can be screened out. Specifically, the positioning flag bit and the number of satellites in the positioning information in various positioning modes can be parsed, and then the positioning flag bit is obtained successfully, and the positioning information is greater than or equal to the preset number of satellites. For example, the positioning flags and the number of satellites in GPS mode, Beidou mode, GLONASS mode, and GALILEO mode can be demodulated respectively. If the positioning flags are all successful in the four modes, and the number of satellites is greater than 4, the positioning information of these four modes can be selected at the same time. If the positioning flag in a certain mode indicates that the positioning is unsuccessful, or the positioning is successful but the number of satellites is less than 4, then the positioning information of this mode is filtered out, that is, the factors affecting the positioning accuracy are removed.

S103, weighted optimization is performed on the selected positioning information to obtain optimized positioning information.

After the positioning information that meets the preset conditions is selected, a weighted optimization operation may be performed on the selected positioning information, so as to obtain the optimized positioning information.

Specifically, a weighting coefficient corresponding to the selected positioning information can be obtained, and then weighted optimization is performed on the corresponding screened positioning information according to the weighting coefficient.

Wherein, obtaining the weighting coefficient corresponding to the selected positioning information, as shown in FIG. 2 , may include the following steps:

S201: Obtain a positioning error coefficient and a carrier-to-noise ratio corresponding to the selected positioning information.

S202: Calculate the signal reference deviation coefficient of the selected positioning information according to the carrier-to-noise ratio.

S203: Determine the value range of the weighting coefficient according to the positioning error coefficient and the signal reference deviation coefficient.

A specific example is given below:

The satellite positioning system can simultaneously receive GPS, Beidou, GLONASS, GALILEO satellite signals, and demodulate the GPS, Beidou, GLONASS, GALILEO positioning data (positioning flag position and number of satellites). First, it is judged whether there is a mode in which the positioning is invalid among the four satellite positioning modes. Among them, two judgment conditions are included: the first judgment condition, the positioning flag is successful. If the positioning flag is unsuccessful, the positioning data of the corresponding mode is not included in the subsequent calculation process. The second judgment condition is that the number of satellites is greater than or equal to 4. In other words, only 4 satellites can achieve accurate positioning. Although less than 4 satellites can achieve positioning, the error is too large. The positioning data satisfying the foregoing two judgment conditions are screened out for subsequent weighting processing.

Assuming that the positioning data of the four modes all meet the judgment conditions, weighting processing is performed on the positioning data in the four modes. Specifically, the positioning error of the GPS system is o _GPS , and the positioning error may be an empirical value given by an official, or a value calculated through known parameters. The carrier-to-noise ratio of the GPS satellite signal is _Cn (n=1, 2...n). where C _n is a known parameter. Then, based on the carrier-to-noise ratio C _n , formula 1 can be used to calculate the signal reference deviation σ _GPS-C/N of the GPS system.

Formula one:

The positioning data of the GPS system are (Lng _GPS , Lng _GPS , Lat _GPS ), which correspond to longitude, latitude and altitude respectively.

Similarly, the positioning error of the Beidou system is σ _BD , then the signal reference deviation σ _BD-C/N of the Beidou system can be calculated by formula 2.

Formula two:

The positioning data of the Beidou system is (Lng _BD , Lat _BD , Ele _BD ).

Similarly, the positioning error of the GLONASS system is σ _GLONASS . Then, the signal reference deviation σ _GLONASS-C/N of the GLONASS system can be calculated by formula 3.

Formula three:

The positioning data of the GLONASS system is (Lng _GLONASS , Lng _GLONASS , Lat _GLONASS ,).

Similarly, the positioning error of the GALILEO system is σ _GALILEO . Then, the signal reference deviation σ _GALILEO-C/N of the GALILEO system can be calculated by formula 4.

Formula four:

The positioning data of the GALILEO system is (Lng _GALILEO , Lat _GALILEO , Lat _CALILEO ).

After the above positioning data is prepared, it can be weighted.

First, the positioning error of the satellite positioning system is (o _GPS , o _BD , o _GLONASS , o _GALILEO ), which are all known parameters. The signal reference deviation is (σ _GPS-C/N , σ _BD-C/N , σ _CLONASS-C/N , σ _GALILEO-C/N ), which is calculated according to the carrier-to-noise ratio. Assume that the weighting coefficients in the four positioning modes are Then, the value ranges of the weighting coefficients (ε _GPS , ε _DD , ε _GLONASS , and ε _GALILEO can be calculated based on formulas 5 to 7.

Formula 5: ε _GPS +ε _BD +ε _GLONASS +ε _GALILEO -1;

Formula 6: Min(ε _GPS *σ _GPS +ε _BD *σ _BD +ε _GLONASS *σ _GLONASS +ε _GALILEO *σ _GALILEO );

Formula seven:

Min(ε _GPS *σ _GPS-c/N +ε _BD *σ _BD-C/N +ε _GLONASS *σ _GLONASS-C/N +ε _GALILEO *σ _GALILEO-C/N ).

The value range of (ε _GPS , ε _BD , ε _GLONASS , ε _GALILEO ) is calculated by the above formula, and then the weighted positioning data is calculated according to formula 8 to formula 10.

Formula eight:

Lng=ε _GPS *Lng _GPS +ε _BD *Lng _BD +ε _GLONASS *Lng _GLONASS +ε _GALILEO *Lng _GALILEO ;

Formula nine:

Lat=a _GPS *Lat _GPS |a _BD *Lat _BD |a _GLONASS *Lat _GLONASS |a _GALILEO *Lat _GALILEO ;

Formula ten:

Fle=ε _GPS *Ele _GPS +ε _BD +Ele _BD +ε _GLONASS *Ele _GLONASS +ε _GALILEO +Ele _GALILEO .

Finally, the weighted positioning data (Lng, Lat, Ele) is calculated according to the above formula.

In practical applications, because the satellites of the GPS system, Beidou system, GLONASS system, and GALILEO system have different distribution positions in the sky, a certain satellite positioning system may not be available in a certain area. In this example, the positioning data of other satellite positioning systems that can be positioned can be used for weighted calculation to obtain more accurate positioning data, which greatly weakens the excessive deviation of positioning data caused by a satellite positioning system, thereby enhancing the robustness of the satellite positioning system.

It should be understood that this embodiment only takes the four most common satellite positioning modes as examples for description, and any three of them may also be selected as examples, which are not limited in this embodiment. If more satellite positioning systems with different modes appear in the future, the method in this embodiment is still valid.

The optimization method of the satellite positioning system of the present invention obtains the optimized positioning information by receiving the positioning information in various positioning modes, screening the positioning information that meets the preset conditions, and performing weighted optimization on the screened positioning information. , weakening the positioning error of the system, thereby improving the positioning accuracy of the satellite positioning system and enhancing the robustness.

As shown in Figure 3, the optimization method of the satellite positioning system may further include:

S104 , after weighted optimization is performed on the selected positioning information to obtain optimized positioning information, data smoothing is performed on the optimized positioning information.

In order to further improve the positioning accuracy of the satellite positioning system, after the weighting processing is performed on the positioning information, data smoothing processing can also be performed on the optimized positioning information. The data smoothing processing method may include Kalman filtering.

In order to realize the above-mentioned embodiment, the present invention also proposes an optimization device for a satellite positioning system. FIG. 4 is a structural block diagram of an optimization device for a satellite positioning system according to an embodiment of the present invention. As shown in FIG. 4 , the device includes a receiving module 410 , screening module 420 and acquisition module 430 .

The receiving module 410 is configured to receive positioning information in multiple positioning modes.

The screening module 420 is used for screening out the positioning information that meets the preset conditions.

The obtaining module 430 is configured to perform weighted optimization on the selected positioning information to obtain optimized positioning information.

As shown in FIG. 5 , the optimization apparatus of the satellite positioning system may further include a processing module 340 .

The processing module 440 is configured to perform data smoothing processing on the optimized positioning information after weighted optimization is performed on the selected positioning information to obtain the optimized positioning information.

It should be noted that the foregoing explanation of the optimization method of the satellite positioning system is also applicable to the optimization apparatus of the satellite positioning system of the embodiment of the present invention, and details that are not disclosed in the embodiment of the present invention will not be repeated here.

The optimization device of the satellite positioning system of the present invention obtains the optimized positioning information by receiving the positioning information in various positioning modes, screening the positioning information that meets the preset conditions, and performing weighted optimization on the screened positioning information. , weakening the positioning error of the system, thereby improving the positioning accuracy of the satellite positioning system and enhancing the robustness.

In order to realize the above embodiments, the present invention also proposes a vehicle-mounted terminal.

The vehicle-mounted terminal includes a satellite positioning system, and the satellite positioning system is used to implement the method for optimizing the satellite positioning system according to the embodiment of the first aspect of the present invention.

In order to realize the above-mentioned embodiments, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. Optimization.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the invention includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention belong.

The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (ram), Read only memory (rom), erasable and editable read only memory (eprom or flash memory), fiber optic devices, and portable compact disk read only memory (cdrom). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as may be done, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (pga), field programmable gate arrays (fpga), etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. , including one or a combination of the steps of the method embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (18)

1. a kind of optimization method of global position system characterized by comprising

Receive the location information under a variety of station-keeping modes；

Filter out the location information for meeting preset condition；

Optimization is weighted to the location information filtered out, to obtain the location information after optimization.

2. the method as described in claim 1, which is characterized in that filter out the location information for meeting preset condition, comprising:

Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；

Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.

3. the method as described in claim 1, which is characterized in that optimization is weighted to the location information filtered out, to obtain Location information after optimization, comprising:

The corresponding weighting coefficient of the location information filtered out described in acquisition；

Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.

4. method as claimed in claim 3, which is characterized in that the corresponding weighting system of the location information filtered out described in acquisition Number, comprising:

The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；

The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；

The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.

5. the method as described in claim 1, which is characterized in that further include:

Optimization is being weighted to the location information filtered out, after obtaining the location information after optimization, after the optimization Location information carry out data smoothing processing.

6. method as claimed in claim 5, which is characterized in that the processing mode of the data smoothing processing includes Kalman's filter Wave.

7. the method as described in claim 1, which is characterized in that the location information under a variety of station-keeping modes includes longitude letter Breath, latitude information and altitude information.

8. the method as described in claim 1, which is characterized in that the station-keeping mode include GPS mode, Beidou mode, GLONASS mode and GALILEO mode.

9. a kind of optimization device of global position system characterized by comprising

Receiving module, for receiving the location information under a variety of station-keeping modes；

Screening module, for filtering out the location information for meeting preset condition；

Module is obtained, for being weighted optimization to the location information filtered out, to obtain the location information after optimization.

10. device as claimed in claim 9, which is characterized in that the screening module is used for:

Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；

Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.

11. device as claimed in claim 9, which is characterized in that the acquisition module is used for:

The corresponding weighting coefficient of the location information filtered out described in acquisition；

Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.

12. device as claimed in claim 11, which is characterized in that the acquisition module is used for:

The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；

The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；

The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.

13. device as claimed in claim 9, which is characterized in that further include:

Processing module, for being weighted optimization to the location information filtered out, after obtaining the location information after optimization, Data smoothing processing is carried out to the location information after the optimization.

14. device as claimed in claim 13, which is characterized in that the processing mode of the data smoothing processing includes Kalman Filtering.

15. device as claimed in claim 9, which is characterized in that the location information under a variety of station-keeping modes includes longitude Information, latitude information and altitude information.

16. device as claimed in claim 9, which is characterized in that the station-keeping mode include GPS mode, Beidou mode, GLONASS mode and GALILEO mode.

17. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, the computer program is processed The optimization method such as the described in any item global position systems of claim 1-8 is realized when device executes.

18. a kind of car-mounted terminal, including global position system, the global position system is appointed for realizing such as claim 1-8 The optimization method of global position system described in one.