[go: up one dir, main page]

CN120009932B - Navigation method, device and storage medium based on low-orbit satellite - Google Patents

Navigation method, device and storage medium based on low-orbit satellite

Info

Publication number
CN120009932B
CN120009932B CN202510504346.3A CN202510504346A CN120009932B CN 120009932 B CN120009932 B CN 120009932B CN 202510504346 A CN202510504346 A CN 202510504346A CN 120009932 B CN120009932 B CN 120009932B
Authority
CN
China
Prior art keywords
determining
wave
vehicles
wave position
road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202510504346.3A
Other languages
Chinese (zh)
Other versions
CN120009932A (en
Inventor
孙守家
张大为
宋浩
朱正贤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Galaxy Aerospace Xi'an Technology Co ltd
Original Assignee
Galaxy Aerospace Xi'an Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Galaxy Aerospace Xi'an Technology Co ltd filed Critical Galaxy Aerospace Xi'an Technology Co ltd
Priority to CN202510504346.3A priority Critical patent/CN120009932B/en
Publication of CN120009932A publication Critical patent/CN120009932A/en
Application granted granted Critical
Publication of CN120009932B publication Critical patent/CN120009932B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/046—Wireless resource allocation based on the type of the allocated resource the resource being in the space domain, e.g. beams
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Radio Relay Systems (AREA)

Abstract

本申请公开了一种基于低轨卫星的导航方法、装置及存储介质，属于卫星通信领域。该方法包括：确定与目标波束对应的簇，并确定所述簇内的各个波位；每隔预定周期，确定预定周期内各个波位的车辆的轨迹信息，确定各个波位覆盖区域内的道路复杂度；根据轨迹信息，确定在预定周期内各个波位的车辆的平均速度以及车辆之间的平均距离；基于平均速度、平均距离和道路复杂度，确定各个波位的风险系数；以及根据风险系数，确定各个波位在跳波束周期内与低轨卫星连接的时间占比，并根据时间占比，对目标波束进行调度。本申请采用动态调度机制能够确保在复杂交通环境下，卫星资源能够根据实际需求进行精准分配，提高信号覆盖质量和导航服务的整体效率。

The present application discloses a navigation method, device and storage medium based on low-orbit satellites, which belongs to the field of satellite communications. The method includes: determining a cluster corresponding to a target beam, and determining each beam position within the cluster; determining the trajectory information of vehicles at each beam position within the predetermined period at every predetermined period, and determining the road complexity within the coverage area of each beam position; determining the average speed of vehicles at each beam position within the predetermined period and the average distance between vehicles based on the trajectory information; determining the risk coefficient of each beam position based on the average speed, average distance and road complexity; and determining the time proportion of each beam position connected to the low-orbit satellite within the beam hopping period based on the risk coefficient, and scheduling the target beam based on the time proportion. The dynamic scheduling mechanism adopted in the present application can ensure that in a complex traffic environment, satellite resources can be accurately allocated according to actual needs, thereby improving the signal coverage quality and the overall efficiency of navigation services.

Description

Navigation method, device and storage medium based on low-orbit satellite
Technical Field
The present application relates to the field of satellite communications technologies, and in particular, to a navigation method, apparatus, and storage medium based on a low-orbit satellite.
Background
In the field of vehicle navigation, the existing technical system mainly depends on a satellite antenna installed at a vehicle end to receive signals of medium-high orbit satellites so as to realize basic functions of vehicle positioning, path planning, navigation and the like. The medium-high orbit satellites (such as satellites of GPS, beidou, galileo and other systems) have wider coverage range and relatively stable signal transmission, and are the main signal sources of the existing urban satellite navigation.
For example, the publication number is CN114302322A, the invention provides a novel high-precision positioning navigation system and method based on Beidou +5G, the novel high-precision positioning navigation system comprises a Beidou navigation application service platform, a data center, a Beidou director and a navigation terminal, wherein the Beidou navigation application service platform is used for providing personnel, terminal and position information management, inquiry and display functions for users and also can provide path planning navigation services according to user-defined parameters, the data center is used for realizing the functions of transmitting, storing, managing and backing up Beidou navigation service platform data, the Beidou director is used for networking and scheduling the navigation terminal to establish connection between the Beidou navigation service platform and the navigation terminal, and the navigation terminal is used for realizing high-precision positioning and path planning navigation functions under different scenes for the users.
For example, publication number US20200264301A1, its translated version entitled system and method for vehicle navigation, comprising at least one radar generating radar echo images and a navigation system comprising a three-dimensional map database. The navigation system may compare it to a three-dimensional map to determine the three-dimensional position of the vehicle. Based on the position determination, the navigation system may guide the vehicle to the destination while avoiding the obstacle.
However, the middle-high orbit satellite is far away from the ground, and the signal can be influenced by various factors such as atmosphere, building shielding and the like in the transmission process, so that the signal strength is attenuated, and the positioning accuracy is reduced. This effect is particularly pronounced in complex environments such as urban canyons, tall building forests, and the like. In addition, the existing medium-high orbit satellite navigation technology generally adopts a static or quasi-static beam scheduling mode in satellite resource allocation. The beam is allocated mainly according to a preset rule or fixed time slot, specifically, the same time slot length is allocated to all wave bits covered by the beam, and the wave slots are communicated with vehicle terminals in corresponding wave bits. However, this beam scheduling method lacks flexibility, and it is difficult to flexibly adjust the direction, power or connection time of the beam according to dynamic factors such as traffic flow, vehicle driving state and road complexity, which are changed in real time in each wave position. Therefore, satellite resources cannot be timely and effectively allocated in complex and changeable traffic environments, so that partial area signals are insufficient in coverage.
Particularly, when an emergency state (such as a collision on a highway) occurs, due to the lack of flexibility of a static or quasi-static beam scheduling mode adopted by the existing medium-high orbit satellite navigation technology, beam resources cannot be dynamically adjusted according to real-time road conditions and vehicle driving states, so that when an emergency occurs, a satellite system is difficult to capture the emergency conditions in time, and the beam is quickly adjusted to point to or increase the signal intensity of a relevant area so as to activate an early warning function to remind a following vehicle owner to avoid. Therefore, at critical time, the limitation of the beam scheduling mode makes the early warning function of the satellite not be effectively applied, so that the risk of danger of subsequent vehicles is increased.
Aiming at the technical problems that the prior art mainly depends on medium-high orbit satellite signals in the vehicle navigation field, and the resource allocation is not timely, the coverage is insufficient and the early warning function is limited due to static scheduling beams, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the disclosure provides a navigation method, a navigation device and a storage medium based on a low-orbit satellite, which at least solve the technical problems that the prior art mainly depends on medium-high-orbit satellite signals in the vehicle navigation field, and the resource allocation is not timely, the coverage is insufficient and the early warning function is limited due to static scheduling beams.
According to one aspect of the embodiment of the disclosure, a navigation method based on a low-orbit satellite is provided, which comprises the steps of determining a cluster corresponding to a target beam, determining each wave position in the cluster, determining track information of vehicles of each wave position in the preset period every preset period, determining road complexity in each wave position coverage area, determining average speed of the vehicles of each wave position in the preset period and average distance between the vehicles according to the track information, determining risk factors of each wave position based on the average speed, the average distance and the road complexity, determining time occupation ratio of connection of each wave position with the low-orbit satellite in a wave-hopping beam period according to the risk factors, and scheduling the target beam according to the time occupation ratio.
According to another aspect of the embodiments of the present disclosure, there is also provided a storage medium including a stored program, wherein the method of any one of the above is performed by a processor when the program is run.
According to another aspect of the embodiment of the present disclosure, there is provided a navigation device based on a low-orbit satellite, including a first determining module configured to determine a cluster corresponding to a target beam and determine each wave position in the cluster, a second determining module configured to determine track information of vehicles of each wave position in a predetermined period every predetermined period and determine road complexity in a coverage area of each wave position, a third determining module configured to determine an average speed of the vehicles of each wave position in the predetermined period and an average distance between the vehicles according to the track information, a fourth determining module configured to determine a risk coefficient of each wave position based on the average speed, the average distance and the road complexity, and a fifth determining module configured to determine a time duty ratio of connection of each wave position with the low-orbit satellite in a beam-jumping period according to the risk coefficient and schedule the target beam according to the time duty ratio.
According to another aspect of the embodiment of the disclosure, there is provided a navigation device based on a low orbit satellite, which comprises a processor, and a memory connected with the processor and used for providing instructions for the processor to process the following processing steps, namely determining a cluster corresponding to a target beam, determining each wave position in the cluster, determining track information of vehicles of each wave position in the preset period every preset period, determining road complexity in each wave position coverage area, determining average speed of the vehicles of each wave position in the preset period and average distance between the vehicles according to the track information, determining risk factors of each wave position based on the average speed, the average distance and the road complexity, determining time occupation ratio of each wave position connected with the low orbit satellite in a wave jumping beam period according to the risk factors, and scheduling the target beam according to the time occupation ratio.
The application fully utilizes the advantages of short signal transmission path, low delay and high signal intensity of the low-orbit satellite, applies the low-orbit satellite to the field of vehicle navigation, and provides a navigation method based on the low-orbit satellite. The method comprises the steps of firstly determining a cluster corresponding to a target beam and each wave position in the cluster, providing flexible operation space for subsequent beam resource optimal allocation aiming at a specific area, and laying a foundation for dynamic scheduling. And secondly, the real-time monitoring of the traffic environment and the running state of the vehicle is realized by collecting the vehicle track information of each wave position and the road complexity in the coverage area every preset period. The key data are acquired, so that the system can accurately grasp traffic flow, vehicle running track and road condition of each wave position, and a rich decision basis is provided for beam scheduling.
And then, calculating the average speed of the vehicles and the average distance between the vehicles in the preset period of each wave position according to the track information, further evaluating the traffic jam degree and the vehicle running efficiency of each wave position, and providing a quantization index for determining the risk coefficient. And then, accurately evaluating the risk level of each wave position by comprehensively considering multidimensional factors such as traffic flow, vehicle running state, road complexity and the like, and providing scientific basis for dynamic allocation of beam resources.
Finally, the connection time of each wave position and the low-orbit satellite is flexibly adjusted according to the risk coefficient, so that the accurate distribution of satellite resources in a complex traffic environment is ensured. Therefore, the signal coverage quality and stability are effectively enhanced, and the overall efficiency of the navigation service is improved. Particularly, in an emergency state, the application can quickly respond, adjust beam resources based on real-time data, activate early warning functions in time and provide accurate avoidance information for subsequent vehicle owners. The risk of danger of the following vehicles is obviously reduced, and the safety and reliability of vehicle navigation are comprehensively improved. And the technical problems of untimely resource allocation, insufficient coverage and limited early warning function caused by static scheduling beams of the medium-high orbit satellite signals which are mainly relied on in the vehicle navigation field in the prior art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the present disclosure, and together with the description serve to explain the present disclosure. In the drawings:
fig. 1 is a schematic view of a communication coverage of a low-orbit satellite according to embodiment 1 of the present application;
Fig. 2 is a schematic diagram of a hardware architecture of a low-orbit satellite according to embodiment 1 of the present application;
FIG. 3 is a modular schematic diagram of a satellite communication system according to embodiment 1 of the present application;
FIG. 4 is a flow chart of a low orbit satellite based navigation method according to embodiment 1 of the present application;
FIG. 5 is a schematic diagram of a low-orbit satellite based navigation device according to embodiment 2 of the present application;
fig. 6 is a schematic diagram of a low-orbit satellite-based navigation device according to embodiment 3 of the present application.
Detailed Description
In order to better understand the technical solutions of the present disclosure, the following description will clearly and completely describe the technical solutions of the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely embodiments of a portion, but not all, of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to the present embodiment, there is provided a method embodiment of low-orbit satellite-based navigation, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.
Fig. 1 is a schematic diagram of a communication coverage of a low-orbit satellite according to an embodiment of the application. Referring to fig. 1, a low-orbit satellite 110 interacts with vehicle terminals within a first communication coverage area 120 via a satellite communication system. It is noted that the low-orbit satellite 110 generates a plurality of beams Q 1~Qt, each having a respective second communication coverage area 131-13 r. For example, beam Q 1 corresponds to the second communication coverage 131, and the satellite communication system of the low-orbit satellite 110 can interact with vehicle terminals within the second communication coverage 131 through beam Q 1. So that in the case where the low-orbit satellite 110 generates a plurality of beams Q 1~Qt and the communication coverage areas of the respective beams Q 1~Qt do not overlap, the first communication coverage area 120 as shown in fig. 1 can be formed.
Further, the second communication coverage area 131-13 r of each beam Q 1~Qt transmitted by the low-orbit satellite 110 has a corresponding cluster Z 1~Zt, and each cluster Z 1~Zt includes a plurality of wave bits. So that each beam Q 1~Qt can communicate with the vehicle terminals in each of the wave positions in turn according to the hopping sequence and the slot size corresponding to each wave position.
For example, with the wave position covered by beam Q 1 The corresponding time slot size isThe number of time slots isAnd the wave position covered by the wave beam Q 1 The corresponding time slot size isThe number of time slots isAnd so on, and the wave position covered by the beam Q 1 The corresponding time slot size isThe number of time slots is。
For another example, the same wave position as that covered by beam Q 2 The corresponding time slot size isThe number of time slots isAnd the wave position covered by the wave beam Q 2 The corresponding time slot size isThe number of time slots isAnd so on, and the wave position covered by the beam Q 2 The corresponding time slot size isThe number of time slots is。
And so on.
For another example, the same wave position as that covered by beam Q t The corresponding time slot size isThe number of time slots isAnd the wave position covered by the wave beam Q t The corresponding time slot size isThe number of time slots isAnd so on, and the wave position covered by the beam Q t The corresponding time slot size isThe number of time slots is。
Fig. 2 further shows a schematic diagram of the hardware architecture of the low-orbit satellite 110 in fig. 1. Referring to fig. 2, the low orbit satellite 110 comprises an integrated electronic system comprising a processor, a memory, a bus management module, and a communication interface. Wherein the memory is coupled to the processor such that the processor can access the memory, read program instructions stored in the memory, read data from the memory, or write data to the memory. The bus management module is connected to the processor and also to a bus, such as a CAN bus. The processor can communicate with the satellite-borne peripheral connected with the bus through the bus managed by the bus management module. In addition, the processor is also in communication connection with the camera, the star sensor, the measurement and control transponder, the data transmission equipment and other equipment through the communication interface. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 2 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the satellite system may also include more or fewer components than shown in FIG. 2, or have a different configuration than shown in FIG. 2.
It should be noted that one or more of the processors and/or other data processing circuits shown in fig. 2 may be referred to herein generally as a "data processing circuit". The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computing device. As referred to in the embodiments of the present disclosure, the data processing circuit acts as a processor control (e.g., selection of the variable resistance termination path to interface with).
The memory shown in fig. 2 may be used to store software programs and modules of application software, such as a program instruction/data storage device corresponding to the low-orbit satellite-based navigation method in the embodiment of the disclosure, and the processor executes the software programs and modules stored in the memory, thereby performing various functional applications and data processing, that is, implementing the low-orbit satellite-based navigation method of the application program. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
It should be noted here that in some alternative embodiments, the apparatus shown in fig. 2 described above may include hardware elements (including circuits), software elements (including computer code stored on a computer readable medium), or a combination of both hardware and software elements. It should be noted that fig. 2 is only one example of a specific example and is intended to illustrate the types of components that may be present in the above-described apparatus.
Fig. 3 is a modular schematic diagram of a satellite communication system according to an embodiment of the application. Referring to fig. 3, the satellite communication system includes a data acquisition module, an optimization module, a scheduling module, and a beam transmitting module. The data acquisition module is used for continuously acquiring the related information of each wave position in the cluster corresponding to the target wave beam, wherein the related information comprises the position information of the vehicle terminal and the map data of each wave position coverage area. The optimization module is used for comprehensively considering real-time road conditions, vehicle running state changes, comprehensive road conditions, vehicle state monitoring and road complexity influence every predetermined period, and determining the time duty ratio of each wave position connected with the low-orbit satellite in the wave beam jumping period. The scheduling module is used for scheduling the target beam according to the time duty ratio. The beam transmitting module is used for transmitting a plurality of beams.
In the above-described operating environment, according to a first aspect of the present embodiment, there is provided a low-orbit satellite-based navigation method implemented by the satellite communication system shown in fig. 3. Fig. 4 shows a schematic flow chart of the method, and referring to fig. 4, the method includes:
s402, determining a cluster corresponding to a target beam, and determining each wave position in the cluster;
s404, determining track information of vehicles of each wave position in a preset period every preset period, and determining road complexity in each wave position coverage area;
s406, determining the average speed of the vehicles and the average distance between the vehicles of each wave position in the preset period according to the track information;
s408, determining risk coefficients of each wave position based on the average speed, the average distance and the road complexity;
and S410, determining the time duty ratio of each wave position connected with the low-orbit satellite in the wave beam jumping period according to the risk coefficient, and scheduling the target wave beam according to the time duty ratio.
In particular, a beam transmitting module within the satellite communication system corresponding to the low-orbit satellite 110 may transmit different beams Q 1~Qt, and each beam Q 1~Qt may cover a plurality of wave bits that make up a cluster Z 1~Zt corresponding to each beam Q 1~Qt. The satellite communication system may thus communicate with vehicle terminals in corresponding wave positions via respective beams Q 1~Qt. For example, beam Q 1 corresponds to cluster Z 1 and includes a plurality of wave bits within cluster Z 1 So that the satellite communication system can communicate with a plurality of wave positions through the beam Q 1 The vehicle terminals in the cluster communicate with each other, the beam Q 2 corresponds to the cluster Z 2, and the cluster Z 2 includes a plurality of wave positionsSo that the satellite communication system can communicate with a plurality of wave positions through the beam Q 2 The beam Q t corresponds to the cluster Z t and the cluster Z t includes a plurality of wave positions thereinSo that the satellite communication system can communicate with a plurality of wave positions through the beam Q t The vehicle terminals therein communicate.
Thus, first, the satellite communication system determines a cluster corresponding to the target beam, and further determines each wave position within the cluster (S402). For example, the satellite communication system determines beam Q x of the plurality of beams Q 1~Qt as the target beam. The target beam Q x corresponds to the cluster Z x and includes a plurality of wave positions within the cluster Z x The target beam Q x may thus be steered through various wave positions within the cluster Z x And wave positionThe vehicle terminals therein communicate.
Next, the satellite communication system determines, through the optimization module, track information of vehicles of each wave position in the predetermined period and road complexity in coverage areas of each wave position every predetermined period (S404), and provides a basis for subsequent risk assessment and beam scheduling. Specifically, the optimization module continuously collects position information from each vehicle terminal through the data collection module, and obtains map data of each wave position coverage area from a map service provider (such as a Goldmap, a hundred degree map, HERE Maps and the like). The optimization module then determines track information for the vehicle for each of the wave positions based on the data, and determines road complexity within the coverage area of each of the wave positions. The track information of the vehicle includes the position, speed, running direction and the like of the vehicle, and can reflect the running state of the vehicle in a specific time period. By analyzing the track information, the driving habit of the vehicle, the traffic flow distribution and possible congestion points can be known. Road complexity includes factors such as, but not limited to, width, curvature, grade, traffic sign, and signal lamp settings of the road. These factors can affect the speed and safety of the vehicle, which in turn can affect the scheduling of the beam. For example, in areas where road complexity is high, it may be desirable to increase the coverage time of the beam or to increase the signal strength to ensure that the vehicle is able to stably receive satellite signals.
Then, the satellite communication system determines the average speed of the vehicles and the average distance between the vehicles in each wave position in the predetermined period according to the track information through the optimizing module (S406), so as to further process the track information collected in the step S404, and extract the index having important meaning for risk assessment and beam scheduling. Wherein, through calculating the vehicle average speed of each wave position in the predetermined period, the traffic fluency of the area can be known. A higher average speed may mean that traffic is smooth, while a lower average speed may mean that there is congestion. This information helps to assess the risk level of each bin and provides a basis for subsequent beam scheduling. Also, the average distance between vehicles is an important index reflecting traffic conditions. For example, in areas of dense traffic, where the average distance between vehicles is small, more frequent communications and higher signal strength may be required to ensure information exchange between vehicles. In the area of sparse traffic, the average distance between vehicles is larger, so that the coverage time of the beam can be properly reduced or the signal strength can be reduced.
Subsequently, the satellite communication system determines risk factors for the respective wave positions based on the average speed, the average distance and the road complexity through an optimization module (S408), thereby comprehensively evaluating the data collected and processed previously to determine risk levels for the respective wave positions. Wherein the higher the risk factor, the higher the risk level representing the wave position, more satellite resources may be required to ensure safe driving of the vehicle. For example, in areas of traffic congestion, where road complexity is high, risk factors may be high, requiring increased coverage time of the beam or increased signal strength.
And finally, the satellite communication system determines the time duty ratio of each wave position connected with the low orbit satellite in the wave beam jumping period through an optimization module according to the risk coefficient, and schedules the target wave beam through a scheduling module according to the time duty ratio (S410) so as to realize the aim of dynamically adjusting the wave beam resource according to the real-time traffic condition and the risk level. Specifically, the optimization module allocates different time duty ratios for connecting with the low-orbit satellite to each wave position according to the size of the risk coefficient. The higher risk factor wave positions can obtain more connection time so as to ensure that the vehicle can stably receive satellite signals. And the wave position with lower risk coefficient can obtain less connection time so as to save satellite resources. The scheduling module schedules the target beam according to the time duty cycle. During the beam hopping period, the target beam communicates with each of the wave positions according to the time duty cycle given by the optimization module. The dynamic scheduling mode can ensure that satellite resources are accurately allocated in a complex traffic environment, improves signal coverage quality and stability, and realizes high-efficiency navigation based on low-orbit satellites.
As described in the background art, the existing medium-high orbit satellite navigation technology mostly adopts a static or quasi-static beam scheduling mode on satellite resource allocation, and the mode is mainly based on a preset rule or fixed time period to perform beam allocation, so that the direction, power or connection time of the beam is difficult to flexibly adjust according to dynamic factors such as traffic flow, vehicle driving state and road complexity which change in real time, and therefore satellite resources cannot be timely and effectively allocated in complex and changeable traffic environments, partial area signal coverage is insufficient or excessive, and the overall quality and efficiency of navigation service are affected.
In view of the above, the application fully utilizes the advantages of short signal transmission path, low delay and high signal strength of the low-orbit satellite, applies the low-orbit satellite to the field of vehicle navigation, and provides a navigation method based on the low-orbit satellite. The method comprises the steps of firstly determining a cluster corresponding to a target beam and each wave position in the cluster, providing flexible operation space for subsequent beam resource optimal allocation aiming at a specific area, and laying a foundation for dynamic scheduling. And secondly, the real-time monitoring of the traffic environment and the running state of the vehicle is realized by collecting the vehicle track information of each wave position and the road complexity in the coverage area every preset period. The key data are acquired, so that the system can accurately grasp traffic flow, vehicle running track and road condition of each wave position, and a rich decision basis is provided for beam scheduling.
And then, calculating the average speed of the vehicles and the average distance between the vehicles in the preset period of each wave position according to the track information, further evaluating the traffic jam degree and the vehicle running efficiency of each wave position, and providing a quantization index for determining the risk coefficient. And then, accurately evaluating the risk level of each wave position by comprehensively considering multidimensional factors such as traffic flow, vehicle running state, road complexity and the like, and providing scientific basis for dynamic allocation of beam resources.
Finally, the connection time of each wave position and the low-orbit satellite is flexibly adjusted according to the risk coefficient, so that the accurate distribution of satellite resources in a complex traffic environment is ensured. The measure effectively enhances the quality and stability of signal coverage and improves the overall efficiency of navigation service. Particularly, in an emergency state, the application can quickly respond, adjust beam resources based on real-time data, activate early warning functions in time and provide accurate avoidance information for subsequent vehicle owners. The risk of danger of the following vehicles is obviously reduced, and the safety and reliability of vehicle navigation are comprehensively improved. And the technical problems of untimely resource allocation, insufficient coverage and limited early warning function caused by static scheduling beams of the medium-high orbit satellite signals which are mainly relied on in the vehicle navigation field in the prior art are solved.
Optionally, determining the track information of the vehicles of each wave position in the preset period every preset period comprises continuously receiving the position information from each vehicle terminal in each preset period, wherein the position information comprises a terminal unique identifier, GNSS coordinates, a local clock time stamp, a three-dimensional speed vector and a course angle, and for each wave position, arranging the position information of all the vehicles in the wave position coverage range in the preset period according to time sequence to form the track information of the vehicles.
Specifically, the satellite communication system establishes a communication link with the vehicle terminals through the low-orbit satellite, and continuously receives position information from each vehicle terminal in each preset period through the data acquisition module, wherein the position information comprises GPS coordinates, time stamps, vehicle IDs and the like, so that the system can acquire the latest position state of the vehicle in real time, and a data basis is provided for the construction of follow-up track information. In addition, since there may be a difference in the time at which the data is transmitted by different vehicle terminals, it is necessary to perform time synchronization processing on the data, ensuring that all the location information is under the same time reference.
The satellite communication system then divides the satellite coverage area into a plurality of wave positions, each wave position corresponding to a particular geographic area. For each wave position, the position information of all vehicles in the period within the wave position coverage range are arranged in time sequence to form vehicle track information. And the track data is subjected to smoothing treatment, so that the noise influence is reduced, and the continuity and accuracy of the track are improved. The track information not only contains the position change of the vehicle, but also implies dynamic information such as the running speed, the acceleration, the running direction and the like of the vehicle, and provides rich data support for subsequent risk assessment and beam scheduling.
Thus, by continuously receiving the position information of the vehicle terminal and forming the vehicle track information in chronological order, the satellite communication system is provided with comprehensive and accurate data on the running state of the vehicle. The data are the basis of subsequent risk assessment and beam scheduling, and are beneficial to the system to dynamically adjust beam resources according to real-time traffic conditions, so that the efficiency and safety of navigation service are improved.
The method comprises the steps of obtaining map data of each wave zone coverage area, wherein the map data comprise road center line coordinates, road types, road widths, the number of intersections and curve curvatures, assigning different complexity weights to different types of roads, calculating the number of intersections and the curvature of the curve in each wave zone coverage area, and determining the road complexity in each wave zone coverage area according to the complexity weights, the number of intersections and the curvature.
Specifically, the satellite communication system obtains detailed map data of each wave position coverage area through an interface with a Geographic Information System (GIS) or other map service provider, wherein the map data comprises key information such as road center line coordinates, road types, road widths, intersection numbers, curve curvatures and the like. The central line coordinates of the road are used for determining the position and trend of the road, and are the basis for constructing a road network. Road types such as expressways, urban roads, rural roads, etc., and different types of roads have different traffic characteristics and complexities. Road width affects the travel space and speed of the vehicle, with wider roads typically having higher traffic capacities. The intersection is the point where traffic flows converge and diverge, and the more the number, the more complex the traffic conditions. The curvature of the curve describes the degree of curvature of the curve, and the larger the curvature is, the larger the steering angle required by the vehicle when the vehicle runs is, and the driving difficulty is correspondingly increased.
Then, the satellite communication system distributes different complexity weights for different types of roads according to the influence degree of the road types on the traffic flow through the optimization module. For example, highways typically have higher traffic capacities and lower traffic complexity and thus may be assigned lower complexity weights, whereas urban roads may be assigned higher complexity weights due to the presence of a large number of intersections, pedestrians, non-motor vehicles, etc. And counting the number of intersections in each wave position coverage area by analyzing the road network in the map data. The more the number of intersections, the more complex the traffic conditions representing the area, and the more satellite resources are required to ensure safe travel of the vehicle. The curvature of each curve is calculated using the road centerline coordinate data. The curvature can be obtained by calculating the ratio of the tangential angle of the road centerline at the curve to the arc length. The larger the curve curvature, the larger the steering angle required for driving the vehicle, and the driving difficulty is correspondingly increased, so that the road complexity of the area is also higher.
And then, determining the road complexity f in each wave position coverage area according to the complexity weight, the number of intersections and the curvature by the following formula:
the higher the road complexity, the more complex the traffic conditions representing the area, requiring more satellite resources to ensure safe driving and efficient navigation of the vehicle.
It is assumed that a certain coverage area contains the following road data:
Expressways with a length of 1000 meters and a complexity weight of 0.2, urban roads with a length of 2000 meters and a complexity weight of 0.8, intersections with a number of 5, area of 1 square kilometer (1,000,000 square meters), average curvature of 0.01 (assumed value, average bending degree of the road);
The corresponding road complexity is calculated as follows:
the road type weighting complexity is 0.2×1000/3000+0.8×2000/3000=0.67.
The intersection density was 5/1000000=0.000005 (number of intersections per unit area).
Hypothesized weight coefficient、(For the order of balance),The calculation result of the road complexity f is:
f=1×0.67+1000000×0.000005+10×0.01=0.67+0.5+0.1=1.27
Thus, the satellite communication system is provided with comprehensive and accurate information about road complexity in each wave position coverage area through operations such as acquiring map data, distributing complexity weights, calculating the number of intersections and curve curvature, determining road complexity and the like. The information is helpful for the system to dynamically adjust the beam resources according to the road complexity, and the efficiency and the safety of navigation service are improved.
Optionally, the operation of determining the average speed of the vehicles and the average distance between the vehicles in each wave position in the preset period according to the track information comprises the steps of calculating the distance between two adjacent position points for each vehicle track according to the track information and dividing the distance by a time difference to obtain the instantaneous speed of the vehicle track, averaging the instantaneous speeds of all the vehicles in the corresponding wave positions to obtain the average speed of the vehicles in the corresponding wave positions, calculating the position distance of each pair of vehicles in the same wave position at the same time point, and averaging the distances between all the pairs of vehicles in the same wave position to obtain the average distance between the vehicles in the corresponding wave positions.
Specifically, the track information includes a series of location points of the vehicle in a predetermined period, each location point has a time stamp and coordinate information (GNSS coordinates), the satellite navigation system first extracts the GNSS coordinates and time stamps of two adjacent location points from the track information of the vehicle, and then calculates a distance d between the two adjacent location points using a euclidean distance formula:
Wherein, the AndThe coordinates of two adjacent position points, respectively.
Then, the time difference between two adjacent position points is calculatedThe difference of the time stamps is divided by the calculated distance by the time difference to obtain the instantaneous speed v Instantaneous time of the vehicle on the track:
wherein the instantaneous speed reflects a moving speed of the vehicle in a specific period of time;
Second, for each wave position, instantaneous speed data of all vehicles in the wave position is collected. The instantaneous speeds of all vehicles in the corresponding wave position are then averaged to obtain the average speed v Average of of the vehicles in the wave position by using the following formula:
where N is the number of instantaneous vehicle speeds in the band, Is the instant speed of the ith vehicle.
Thereafter, for each pair of vehicles within the same wave position, the positional information thereof at the same point in time (or the closest point in time) is selected, and the positional distance of each pair of vehicles at the same point in time is calculated using the same method (euclidean distance formula) as in the calculation of the instantaneous speed. If the position information of the vehicle is not collected at the same time point, interpolation or nearest neighbor matching can be adopted to align the position information of the vehicle to the same time point.
Finally, collecting distance data between all vehicle pairs in the same wave position, and averaging the distances between all vehicle pairs by using the following formula to obtain an average distance d Average of between vehicles in the wave position:
Wherein, the For the distance data between the j-th pair of vehicles, M is the number of vehicle pairs in the wave position.
Thus, by calculating the instantaneous speed, average speed, and average distance between vehicles, the satellite communication system is provided with important information about the vehicle running state and traffic conditions in the wave position. The information helps the system to evaluate the risk level of each wave position more accurately and provides decision basis for subsequent wave beam dispatching.
Optionally, the operation of determining the risk coefficient of each wave position based on the average speed, the average distance and the road complexity comprises determining the risk coefficient of each wave position based on the average speed, the average distance and the road complexity by the following formula:
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
Further, referring to fig. 1, according to a second aspect of the present embodiment, there is provided a storage medium. The storage medium includes a stored program, wherein the method of any one of the above is performed by a processor when the program is run.
Therefore, according to the embodiment, the technical effect of improving the communication efficiency can be achieved under the condition that the target beam actually traverses each wave bit in the cluster.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Example 2
Fig. 5 shows a low-orbit satellite based navigation device according to the present embodiment, which corresponds to the method according to embodiment 1. Referring to fig. 5, the apparatus includes a first determining module 510 for determining a cluster corresponding to a target beam and determining each of the wave positions in the cluster, a second determining module 520 for determining track information of vehicles of each of the wave positions in the predetermined period every predetermined period and determining road complexity in each of the wave position coverage areas, a third determining module 530 for determining an average speed of the vehicles of each of the wave positions in the predetermined period and an average distance between the vehicles according to the track information, a fourth determining module 540 for determining a risk coefficient of each of the wave positions based on the average speed, the average distance and the road complexity, and a fifth determining module 550 for determining a time duty ratio of connection of each of the wave positions with a low-orbit jumping satellite in the beam period according to the risk coefficient and scheduling the target beam according to the time duty ratio.
Optionally, the second determining module 520 is specifically configured to continuously receive, in each predetermined period, location information from each vehicle terminal, where the location information includes a terminal unique identifier, GNSS coordinates, a local clock timestamp, a three-dimensional speed vector, and a heading angle, and for each wave position, arrange, in time sequence, location information of all vehicles located in the range covered by the wave position in the predetermined period, to form track information of the vehicle.
Optionally, the second determining module 520 is specifically configured to obtain map data of each wave-level coverage area, where the map data includes coordinates of a road center line, a road type, a road width, the number of intersections, and curvature of curves, allocate different complexity weights to different types of roads, calculate the number of intersections and curvature of curves in each wave-level coverage area, and determine the complexity of the roads in each wave-level coverage area according to the complexity weights, the number of intersections, and the curvature.
Optionally, the third determining module 530 is specifically configured to calculate, for each vehicle track, a distance between two adjacent location points according to the track information, and divide the distance by a time difference to obtain an instantaneous speed of the vehicle track, average the instantaneous speeds of all vehicles in the corresponding wave positions to obtain an average speed of the vehicles in the corresponding wave positions, calculate a location distance of each pair of vehicles in the same wave position at the same time point, and average the distances between all pairs of vehicles in the same wave position to obtain an average distance between the vehicles in the corresponding wave positions.
Optionally, the fourth determining module 540 is specifically configured to determine the risk coefficient of each wave position according to the following formula based on the average speed, the average distance and the road complexity:
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
Therefore, according to the embodiment, by fully utilizing the advantages of the low-orbit satellite signals and combining the dynamic beam scheduling method in the vehicle navigation field, the real-time monitoring and accurate assessment on the traffic environment and the vehicle running state are realized, the satellite resource allocation efficiency, the signal coverage quality and the navigation service safety are obviously improved, and the technical problems that the vehicle navigation field mainly depends on the medium-high-orbit satellite signals, the resource allocation is not timely, the coverage is insufficient and the early warning function is limited due to the static scheduling beam in the prior art are effectively solved.
Example 3
Fig. 6 shows a low-orbit satellite based navigation device according to the present embodiment, which corresponds to the method according to embodiment 1. Referring to fig. 6, the apparatus includes a processor 610 and a memory 620 coupled to the processor 610 for providing instructions to the processor 610 for determining a cluster corresponding to a target beam and determining each of the wave positions within the cluster, determining track information of vehicles for each of the wave positions within the predetermined period every predetermined period, and determining road complexity within a coverage area of each of the wave positions, determining an average speed of the vehicles and an average distance between the vehicles for each of the wave positions within the predetermined period based on the track information, determining a risk factor for each of the wave positions based on the average speed, the average distance, and the road complexity, and determining a time duty ratio for each of the wave positions to be connected to a low-orbit satellite within a hop beam period based on the risk factor, and scheduling the target beam based on the time duty ratio.
Optionally, the operation of determining the track information of the vehicles of each wave position in the preset period comprises the steps of continuously receiving the position information from each vehicle terminal in each preset period, wherein the position information comprises a terminal unique identifier, GNSS coordinates, a local clock time stamp, a three-dimensional speed vector and a course angle, and for each wave position, arranging the position information of all the vehicles in the wave position coverage range in the preset period according to time sequence to form the track information of the vehicles.
The method comprises the steps of obtaining map data of each wave position coverage area, wherein the map data comprise road center line coordinates, road types, road widths, the number of intersections and curve curvatures, assigning different complexity weights to different types of roads, calculating the number of intersections and the curvature of the curve in each wave position coverage area, and determining the road complexity in each wave position coverage area according to the complexity weights, the number of intersections and the curvature.
Optionally, the operation of determining the average speed of the vehicles and the average distance between the vehicles in each wave position in the preset period according to the track information comprises the steps of calculating the distance between two adjacent position points for each vehicle track according to the track information and dividing the distance by a time difference to obtain the instantaneous speed of the vehicle track, averaging the instantaneous speeds of all the vehicles in the corresponding wave positions to obtain the average speed of the vehicles in the corresponding wave positions, calculating the position distance of each pair of vehicles in the same wave position at the same time point, and averaging the distances between all the pairs of vehicles in the same wave position to obtain the average distance between the vehicles in the corresponding wave positions.
Optionally, the operation of determining the risk coefficient of each wave position based on the average speed, the average distance and the road complexity comprises determining the risk coefficient of each wave position based on the average speed, the average distance and the road complexity by the following formula:
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
Therefore, according to the embodiment, by fully utilizing the advantages of the low-orbit satellite signals and combining the dynamic beam scheduling method in the vehicle navigation field, the real-time monitoring and accurate assessment on the traffic environment and the vehicle running state are realized, the satellite resource allocation efficiency, the signal coverage quality and the navigation service safety are obviously improved, and the technical problems that the vehicle navigation field mainly depends on the medium-high-orbit satellite signals, the resource allocation is not timely, the coverage is insufficient and the early warning function is limited due to the static scheduling beam in the prior art are effectively solved.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store the program code.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (9)

1. A low-orbit satellite-based navigation method, comprising:
determining a cluster corresponding to a target beam, and determining each wave position in the cluster;
Determining track information of vehicles of each wave position in a preset period every other preset period, and determining road complexity in each wave position coverage area;
determining the average speed of the vehicles and the average distance between the vehicles of each wave position in the preset period according to the track information;
Determining risk factors for each wave position based on the average speed, average distance and the road complexity, and
Determining the time duty ratio of each wave position connected with a low-orbit satellite in a wave beam jumping period according to the risk coefficient, and scheduling the target wave beam according to the time duty ratio;
wherein the determining a risk factor for each wave position based on the average speed, average distance and road complexity comprises:
based on the average speed, average distance and the road complexity, the risk coefficient of each wave position is determined by the following formula:
;
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
2. The method according to claim 1, wherein the operation of determining the track information of the vehicle for each wave position in the predetermined period every predetermined period includes:
continuously receiving position information from each vehicle terminal for each predetermined period, wherein the position information comprises a terminal unique identifier, GNSS coordinates, a local clock time stamp, a three-dimensional speed vector and a course angle, and
For each wave position, the position information of all vehicles in the wave position coverage range in the preset period are arranged in time sequence to form the track information of the vehicles.
3. The method of claim 1, wherein the operation of determining the road complexity within each wave-level coverage area comprises:
Acquiring map data of each wave position coverage area, wherein the map data comprises road center line coordinates, road types, road widths, intersection quantity and curve curvatures;
Assigning different complexity weights to different types of roads, calculating the number of intersections and the curvature of the curve in each wave zone coverage area, and
And determining the complexity of the road in each wave position coverage area according to the complexity weight, the number of intersections and the curvature.
4. The method according to claim 1, wherein the operation of determining the average speed of the vehicles and the average distance between the vehicles for each wave position in the predetermined period based on the trajectory information, comprises:
According to the track information, calculating the distance between two adjacent position points for each vehicle track, and dividing the distance by the time difference to obtain the instantaneous speed of the vehicle track;
averaging the instantaneous speeds of all vehicles in the corresponding wave positions to obtain the average speed of the vehicles in the corresponding wave positions;
calculating the position distance of each pair of vehicles in the same wave position at the same time point, and
And (5) averaging the distances among all the vehicle pairs in the same wave position to obtain the average distance among the vehicles in the corresponding wave position.
5. A storage medium comprising a stored program, wherein the method of any one of claims 1 to 4 is performed by a processor when the program is run.
6. A low-orbit satellite-based navigation device, comprising:
The first determining module is used for determining a cluster corresponding to the target beam and determining each wave position in the cluster;
the second determining module is used for determining the track information of the vehicles of each wave position in the preset period and determining the complexity of the road in the coverage area of each wave position every preset period;
a third determining module for determining an average speed of the vehicles and an average distance between the vehicles for each wave position in the predetermined period according to the track information;
A fourth determination module for determining risk factors of the respective wave positions based on the average speed, the average distance and the road complexity, and
A fifth determining module, configured to determine, according to the risk coefficient, a time duty ratio of connection between each wave position and a low-orbit satellite in a beam hopping period, and schedule the target beam according to the time duty ratio;
wherein the determining a risk factor for each wave position based on the average speed, average distance and road complexity comprises:
based on the average speed, average distance and the road complexity, the risk coefficient of each wave position is determined by the following formula:
;
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
7. The navigation device of claim 6, wherein the second determining module is specifically configured to:
continuously receiving position information from each vehicle terminal for each predetermined period, wherein the position information comprises a terminal unique identifier, GNSS coordinates, a local clock time stamp, a three-dimensional speed vector and a course angle, and
For each wave position, the position information of all vehicles in the wave position coverage range in the preset period are arranged in time sequence to form the track information of the vehicles.
8. The navigation device of claim 6, wherein the second determining module is specifically configured to:
Acquiring map data of each wave position coverage area, wherein the map data comprises road center line coordinates, road types, road widths, intersection quantity and curve curvatures;
Assigning different complexity weights to different types of roads, calculating the number of intersections and the curvature of the curve in each wave zone coverage area, and
And determining the complexity of the road in each wave position coverage area according to the complexity weight, the number of intersections and the curvature.
9. A low-orbit satellite-based navigation device, comprising:
Processor, and
A memory, coupled to the processor, for providing instructions to the processor to process the following processing steps:
determining a cluster corresponding to a target beam, and determining each wave position in the cluster;
Determining track information of vehicles of each wave position in a preset period every other preset period, and determining road complexity in each wave position coverage area;
determining the average speed of the vehicles and the average distance between the vehicles of each wave position in the preset period according to the track information;
Determining risk factors for each wave position based on the average speed, average distance and the road complexity, and
Determining the time duty ratio of each wave position connected with a low-orbit satellite in a wave beam jumping period according to the risk coefficient, and scheduling the target wave beam according to the time duty ratio;
wherein the determining a risk factor for each wave position based on the average speed, average distance and road complexity comprises:
based on the average speed, average distance and the road complexity, the risk coefficient of each wave position is determined by the following formula:
;
wherein R i is the risk factor of the ith wave position; The average speed of the vehicle for the i-th bin, For the average distance between vehicles of the ith bin,And k 0、k1、k2 and k 3 are values of 0-1.
CN202510504346.3A 2025-04-22 2025-04-22 Navigation method, device and storage medium based on low-orbit satellite Active CN120009932B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202510504346.3A CN120009932B (en) 2025-04-22 2025-04-22 Navigation method, device and storage medium based on low-orbit satellite

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202510504346.3A CN120009932B (en) 2025-04-22 2025-04-22 Navigation method, device and storage medium based on low-orbit satellite

Publications (2)

Publication Number Publication Date
CN120009932A CN120009932A (en) 2025-05-16
CN120009932B true CN120009932B (en) 2025-08-01

Family

ID=95662737

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202510504346.3A Active CN120009932B (en) 2025-04-22 2025-04-22 Navigation method, device and storage medium based on low-orbit satellite

Country Status (1)

Country Link
CN (1) CN120009932B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120260292B (en) * 2025-06-04 2025-10-03 江苏大学 Method and device for analyzing dynamic traffic flow and reasoning road topology

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117318798A (en) * 2023-11-28 2023-12-29 银河航天(西安)科技有限公司 Unmanned active communication scheduling method and system based on satellite
CN118984186A (en) * 2024-10-18 2024-11-19 银河航天(西安)科技有限公司 Beam hopping scheduling method, device and storage medium for satellite

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110238308A1 (en) * 2010-03-26 2011-09-29 Isaac Thomas Miller Pedal navigation using leo signals and body-mounted sensors
US10116379B2 (en) * 2017-03-17 2018-10-30 Aireon Llc Scheduling beams of a satelite antenna
CN115250432A (en) * 2021-04-28 2022-10-28 华为技术有限公司 Method and device for switching beams
CN114884554B (en) * 2021-05-17 2023-06-23 银河航天(北京)网络技术有限公司 Satellite communication method, satellite and satellite system
CN114221689B (en) * 2021-12-14 2022-08-09 上海垣信卫星科技有限公司 Beam hopping scheduling method and system for non-stationary orbit constellation
US20230224028A1 (en) * 2022-01-13 2023-07-13 Satelles, Inc. Positioning, navigation, and timing (pnt) satellite beam and data scheduling
CN116599566A (en) * 2023-05-19 2023-08-15 中国电子科技集团公司第五十四研究所 A user grouping and beam-hopping scheduling method for low-orbit satellite systems
CN119155800B (en) * 2024-11-14 2025-05-30 南京邮电大学 An efficient synaesthesia resource allocation method for low-orbit communication satellites

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117318798A (en) * 2023-11-28 2023-12-29 银河航天(西安)科技有限公司 Unmanned active communication scheduling method and system based on satellite
CN118984186A (en) * 2024-10-18 2024-11-19 银河航天(西安)科技有限公司 Beam hopping scheduling method, device and storage medium for satellite

Also Published As

Publication number Publication date
CN120009932A (en) 2025-05-16

Similar Documents

Publication Publication Date Title
US10984652B2 (en) Method and system for modeling and processing vehicular traffic data and information and applying thereof
CN120009932B (en) Navigation method, device and storage medium based on low-orbit satellite
US20210271263A1 (en) Positioning system based on geofencing framework
CN102460534B (en) Computer implementation method of predicting expected road traffic conditions based on historical and current data and computing system
US20180257660A1 (en) Long Range Path Prediction and Target Classification Algorithm using connected vehicle data and others
CN101379536B (en) Intelligent real-time distributed traffic sampling and navigation system
US8111153B2 (en) Apparatus and method for providing position information and gathering information using RFID
CN101673460B (en) Traffic information quality evaluation method, device and system therefor
US6975939B2 (en) Mapping patterns of movement based on the aggregation of spatial information contained in wireless transmissions
WO2001055993A1 (en) Apparatus and method for monitoring road traffic
CN111208542B (en) Motion trail control system, device and method for automatic mobile traffic facility
CN116931005B (en) V2X-assisted vehicle high-precision positioning method and device and storage medium
CN112991741B (en) Traffic flow prediction method and device
CN118464036A (en) Method, device, equipment, medium and program product for identifying road lane
US11809199B2 (en) Method and apparatus for predicting demand for personal mobility vehicle and redistributing personal mobility vehicle
Raiyn Performance metrics for positioning terminals based on a GNSS in autonomous vehicle networks
KR100892786B1 (en) Traffic information collection device and speed information provision terminal
CN109218978A (en) A kind of localization method and device
CN117890949B (en) A GNSS and RSSI fusion positioning method taking MAC address into account
Thompson Integrating PDA, GPS and GIS technologies for Mobile Traffic Data Acquisition and Traffic Data Analysis
KR20220025648A (en) Apparatus and Method for Predicting and Redistributing Personal Mobility Demand
CN117091611A (en) Map matching method, map matching device, internet of vehicles device and readable storage medium
Niehöfer et al. Community map generation based on trace-collection for GNSS outdoor and RF-based indoor localization applications
CN116243357A (en) Positioning method, positioning device, terminal equipment, positioning system and readable storage medium
CN118548909A (en) Navigation method, system and computer readable storage medium based on satellite communication

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant