WO2019134137A1 - Satellite-based positioning method and device, and smartwatch - Google Patents

Abstract

Disclosed are a satellite-based positioning method and device and a smartwatch. The method comprises the following steps: when a satellite-based positioning system is launched, instructing a mobile terminal to perform satellite-based positioning; receiving auxiliary positioning data sent by the mobile terminal, wherein the auxiliary positioning data comprises at least ephemeris data; and performing satellite-based positioning using the ephemeris data. The satellite-based positioning system of the mobile terminal and the Internet are used to rapidly acquire the ephemeris data, and rapid positioning is performed by using the ephemeris data sent by the mobile terminal, thereby realizing rapid positioning during a cold boot of the satellite-based positioning system, greatly shortening positioning waiting time during a cold boot of a satellite-based positioning system and improving the user experience. In addition, first positioning data sent by the mobile terminal and second positioning data acquired by the smartwatch itself are combined for calculation of current position coordinates, such that positioning is more accurate, solving the technical problem of poor positioning accuracy when a satellite-based positioning system has just been launched.

Description

Satellite positioning method, device and smart watch Technical field

The invention relates to the field of electronic technology, and in particular to a satellite positioning method, device and smart watch.

Background technique

With the development of wireless communication technology, smart wearable devices are gradually favored by people, among which smart watches are the most mature. Smart watches not only can indicate time, but also have functions such as navigation, calibration, reminding, etc., and even support interconnection with other smart devices, such as connecting with smart phones, and supporting some functions of smart phones, such as WeChat message reminders, call reminders, and viewing SMS messages. Viewing emails, viewing schedules, etc., it can be seen that the application scenarios of smart watches are very broad.

In order to reduce system power consumption, most smart watches cannot bring their own Internet access. The satellite positioning system that implements the navigation function needs to wait for a long time (usually 40 seconds - 2 minutes) during cold start (that is, when it is started for the first time or when it is not used for a long time), because it cannot access the Internet for auxiliary positioning. In order to obtain the ephemeris data to achieve positioning, at the same time, when the satellite positioning system is just started, the positioning drift is serious, and the positioning accuracy is poor, which seriously affects the user experience.

It can be seen that how to shorten the positioning waiting time of the satellite positioning system during cold start is a technical problem that needs to be solved.

technical problem

The main object of the present invention is to provide a satellite positioning method, device and smart watch, which aim to shorten the positioning waiting time of the satellite positioning system during cold start.

Technical solution

In order to achieve the above objective, an embodiment of the present invention provides a satellite positioning method, where the method includes the following steps: when a satellite positioning system is activated, notifying a mobile terminal to perform satellite positioning; receiving positioning positioning data sent by the mobile terminal, The positioning assistance data includes at least ephemeris data; the ephemeris data is used for satellite positioning.

The embodiment of the present invention further provides a satellite positioning apparatus, the apparatus comprising: a first notification module, configured to notify a mobile terminal to perform satellite positioning when the satellite positioning system is activated; and a data receiving module, configured to receive the mobile terminal to send Positioning assistance data, the positioning assistance data includes at least ephemeris data; a satellite positioning module for performing satellite positioning using the ephemeris data.

Embodiments of the present invention also provide a smart watch including a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to be used for Perform the aforementioned satellite positioning method.

Beneficial effect

A satellite positioning method provided by an embodiment of the present invention notifies a mobile terminal to perform satellite positioning when the satellite positioning system is started, acquires ephemeris data by using a satellite positioning system and an internetwork of the mobile terminal, and uses an ephemeris transmitted by the mobile terminal. Data is quickly located. Thereby, the rapid positioning of the satellite positioning system during cold start is realized, which greatly shortens the positioning waiting time of the satellite positioning system during cold start, and improves the user experience. Further, the first positioning data sent by the mobile terminal and the second positioning data obtained by the local positioning are used to calculate the current position coordinates, so that the positioning is more accurate, and the technical problem of poor positioning accuracy when the satellite positioning system is just started is solved.

DRAWINGS

1 is a flow chart of a first embodiment of a satellite positioning method of the present invention;

2 is a flow chart of a second embodiment of the satellite positioning method of the present invention;

Figure 3 is a flow chart showing a third embodiment of the satellite positioning method of the present invention;

Figure 4 is a flow chart showing a fourth embodiment of the satellite positioning method of the present invention;

Figure 5 is a block diagram showing the first embodiment of the satellite positioning device of the present invention;

Figure 6 is a block diagram showing a second embodiment of the satellite positioning device of the present invention;

Figure 7 is a block diagram of the first computing module of Figure 6;

8 is another block diagram of the first computing module of FIG. 6;

Figure 9 is a block diagram showing a third embodiment of the satellite positioning device of the present invention;

Figure 10 is a block diagram showing a fourth embodiment of the satellite positioning apparatus of the present invention;

11 is a block diagram of the positioning determination module of FIG. 10;

FIG. 12 is another block diagram of the positioning determination module of FIG. 10.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

The singular forms "a", "an", "the" It is to be understood that the phrase "comprise" or "an" Integers, steps, operations, components, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element. Further, "connected" or "coupled" as used herein may include either a wireless connection or a wireless coupling. The phrase "and/or" used herein includes all or any one and all combinations of one or more of the associated listed.

Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have meaning consistent with the meaning in the context of the prior art, and will not be idealized or excessive unless specifically defined as here. The formal meaning is explained.

Those skilled in the art can understand that the "terminal" and "terminal device" used herein include both a wireless signal receiver device, a device having only a wireless signal receiver without a transmitting capability, and a receiving and transmitting hardware. A device having a device capable of performing two-way communication receiving and transmitting hardware on a two-way communication link. Such devices may include cellular or other communication devices having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (Personal Communications) Service, personal communication system), which can combine voice, data processing, fax and/or data communication capabilities; PDA (Personal Digital Assistant), which can include radio frequency receiver, pager, Internet/Intranet access, network Browser, notepad, calendar and/or GPS (Global Positioning System) receiver; conventional laptop and/or palmtop computer or other device with and/or conventional lap including radio frequency receiver Type and / or palmtop or other device. As used herein, "terminal", "terminal device" may be portable, transportable, installed in a vehicle (aviation, sea and/or land), or adapted and/or configured to operate locally, and/or Run in any other location on the Earth and/or space in a distributed form. The "terminal" and "terminal device" used herein may also be a communication terminal, an internet terminal, a music/video playing terminal, and may be, for example, a PDA, a MID (Mobile Internet Device), and/or have a music/video playback. Functional mobile phones can also be smart TVs, set-top boxes and other devices.

The satellite positioning method and device of the embodiment of the present invention are mainly applied to a wearable device such as a smart watch, and may of course be applied to other terminal devices, which is not limited by the present invention.

Referring to Figure 1, a first embodiment of a satellite positioning method of the present invention is presented. The method includes the following steps:

S11. When the satellite positioning system is started, notify the mobile terminal to perform satellite positioning.

In the embodiment of the present invention, the smart watch and the mobile terminal establish a wireless connection through a wireless communication module such as Bluetooth or WIFI. When the smart watch starts the satellite positioning system, the notification information is sent to the mobile terminal through the wireless connection, and the mobile terminal immediately receives the notification information. The satellite positioning system and the auxiliary satellite positioning system are activated, and the satellite positioning system and the satellite positioning system are used for rapid satellite positioning to obtain ephemeris data and first positioning data.

The mobile terminal may be a smart terminal such as a mobile phone or a tablet. The satellite positioning system may include GPS, BDS (BeiDou Navigation) At least one of a Satellite System, a Beidou satellite navigation system, and a GLONASS satellite navigation system. The auxiliary satellite positioning system such as AGPS (Assisted Global) Positioning System (AGPS), EPO (Extended Prediction Orbit), etc., is a technology that combines network base station information and satellite positioning information to locate mobile stations, using both satellite positioning systems and mobile The base station not only solves the problem of satellite positioning system coverage, but also realizes rapid positioning by means of the Internet when the satellite positioning system is just started.

For example, an application (APP) can be installed on the mobile terminal, and the smart watch establishes a Bluetooth connection with the mobile terminal. When the smart watch starts GPS, it detects whether there is a mobile terminal with which a Bluetooth connection is established, and if so, sends a notification message to the APP of the mobile terminal through Bluetooth, and after receiving the notification information, the APP starts the GPS and AGPS of the mobile terminal. Use GPS and AGPS to quickly perform satellite positioning to obtain ephemeris data and first positioning data.

S12. Receive positioning assistance data sent by the mobile terminal, where the positioning assistance data includes ephemeris data.

After the mobile terminal acquires the ephemeris data and the first positioning data, the ephemeris data is sent as the positioning assistance data to the smart watch, and the smart watch receives the ephemeris data sent by the mobile terminal.

S13. Using ephemeris data for satellite positioning.

The smart watch directly uses the ephemeris data sent by the mobile terminal to quickly perform satellite positioning. The specific positioning method is the same as the prior art, and will not be described here.

When the positioning is successful, the smart watch acquires the second positioning data, and calculates the current position coordinate according to the second positioning data.

Further, the smart watch can also use the pedometer to assist positioning and improve the positioning accuracy. Specifically, the smart watch acquires the moving distance through the pedometer, filters the second positioning data by using the moving distance, and calculates the current position coordinate according to the remaining data after the filtering.

For example, the smart watch activates the pedometer, uses the pedometer to calculate the number of steps the user moves, and converts the number of steps moved into the moving distance (number of steps * distance per step). At the same time, the smart watch analyzes the second positioning data, first removes the data with large error, and then filters out the data with more serious drift (such as the drift distance is greater than or equal to the first threshold), and finally filters out the drift distance. Move distance or data that exceeds the preset value of the movement distance. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, by rapidly acquiring the ephemeris data by means of the satellite positioning system and the internetwork of the mobile terminal, the ephemeris data transmitted by the mobile terminal is used for rapid positioning, thereby realizing the rapid positioning of the satellite positioning system during cold start, which greatly shortens the coldness of the satellite positioning system. The positioning wait time at startup improves the user experience. With the satellite positioning method of the embodiment of the invention, the smart watch can complete the positioning within 10 seconds.

Referring to Figure 2, a second embodiment of the satellite positioning method of the present invention is presented. The method includes the following steps:

S21: When the satellite positioning system is started, notify the mobile terminal to perform satellite positioning.

S22. Receive positioning assistance data sent by the mobile terminal, where the positioning assistance data includes ephemeris data and first positioning data.

S23. Perform satellite positioning by using ephemeris data to obtain second positioning data.

S24. Calculate current position coordinates by combining the first positioning data and the second positioning data.

In this embodiment, the smart watch comprehensively analyzes the first positioning data and the second positioning data, filters out data in which the drift distance is greater than or equal to the first threshold, and calculates current position coordinates according to the remaining data after filtering, thereby improving positioning accuracy. .

For example, the smart watch comprehensively analyzes the first positioning data and the second positioning data, first removes the data with a large error, and then filters out the data whose drift is relatively serious (such as the data whose drift distance is greater than or equal to the first threshold). Finally, the current position coordinates are calculated based on the remaining data after filtering.

In a preferred embodiment, the smart watch can also utilize the pedometer for auxiliary positioning to further improve the positioning accuracy. Specifically, the smart watch acquires the moving distance through the pedometer, and filters the first positioning data and the second positioning data by using the moving distance, such as filtering out the drift distance of the first positioning data and the second positioning data beyond the moving distance or exceeding the movement. The data of the preset value is calculated, and finally the current position coordinates are calculated according to the data remaining after the filtering.

For example, the smart watch activates the pedometer, uses the pedometer to calculate the number of steps the user moves, and converts the number of steps moved into the moving distance (number of steps * distance per step). At the same time, the smart watch comprehensively analyzes the first positioning data and the second positioning data, first removes the data with large error, and then filters out the data whose drift is relatively serious (such as the data whose drift distance is greater than or equal to the first threshold). Finally, the data whose drift distance exceeds the moving distance or exceeds the preset value of the moving distance is filtered out. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, combined with the first positioning data sent by the mobile terminal and the second positioning data obtained by the local positioning, the data with large drift can be filtered out, thereby obtaining more accurate positioning, and solving the positioning accuracy of the satellite positioning system just after starting. Technical problem.

Referring to Figure 3, a third embodiment of the satellite positioning method of the present invention is presented. The method includes the following steps:

S31. When the satellite positioning system is started, notify the mobile terminal to perform satellite positioning.

S32. Receive ephemeris data and first positioning data sent by the mobile terminal.

S33. Using ephemeris data for satellite positioning. It is judged whether the positioning is successful, when the positioning is successful, the process proceeds to step S34; when the positioning fails, the process proceeds to step S35.

S34. Acquire second positioning data, and calculate current position coordinates by combining the first positioning data and the second positioning data.

S35. Calculate the current position coordinate directly according to the first positioning data.

In this embodiment, before the positioning is successful, the smart watch directly calculates the current position coordinate according to the first positioning data, and avoids waiting for a long time; when the positioning is successful, the current positioning is calculated by combining the first positioning data and the second positioning data. Position coordinates to improve positioning accuracy. Thereby further shortening the positioning waiting time of the smart watch.

Further, the smart watch can also use the pedometer to assist positioning and improve the positioning accuracy. Specifically, the smart watch acquires the moving distance through the pedometer, filters the first positioning data by using the moving distance, and calculates the current position coordinate according to the remaining data after the filtering. Therefore, the maximum moving distance in a short time can be calculated, thereby avoiding the occurrence of a motion route or path that does not conform to the actual situation in the positioning opening phase.

For example, the smart watch activates the pedometer, uses the pedometer to calculate the number of steps the user moves, and converts the number of steps moved into the moving distance (number of steps * distance per step). At the same time, the smart watch analyzes the first positioning data, first removes the data with large error, and then filters out the data with more serious drift (such as the drift distance is greater than or equal to the first threshold), and finally filters out the drift distance. Move distance or data that exceeds the preset value of the movement distance. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, before the smart watch itself is successfully positioned, the first positioning data obtained by the positioning of the mobile terminal is directly used to complete the position initialization, thereby avoiding waiting for a long time, thereby further shortening the positioning waiting time of the smart watch, and shortening the positioning waiting time to 3 Within seconds.

Referring to Figure 4, a fourth embodiment of the satellite positioning method of the present invention is proposed. The method includes the following steps:

S41. When the satellite positioning system is started, notify the mobile terminal to perform satellite positioning.

S42. Receive ephemeris data and first positioning data sent by the mobile terminal.

S43. Perform satellite positioning using ephemeris data. It is judged whether the positioning is successful, when the positioning fails, the process proceeds to step S44; when the positioning is successful, the process proceeds to step S45.

S44. Calculate the current position coordinate directly according to the first positioning data.

S45. Acquire second positioning data, and calculate current position coordinates by combining the first positioning data and the second positioning data.

S46. Determine whether the positioning of the satellite positioning system tends to be accurate. When it is preferable to proceed to step S47.

S47. Notify the mobile terminal to stop satellite positioning.

In this embodiment, steps S46 and S47 are added on the basis of the third embodiment. When the smart watch determines that the positioning of the satellite positioning system itself is accurate, the mobile terminal is notified to stop the satellite positioning, and the satellite positioning system of the machine is directly used. Get ephemeris data for positioning. After receiving the notification information, the mobile terminal no longer sends data to the smart watch, and turns off the satellite positioning system and the auxiliary satellite positioning system to avoid unnecessary consumption of power by the mobile terminal.

The smart watch can judge whether the positioning of the satellite positioning system is accurate by the following methods:

Optionally, the smart watch determines whether the second positioning data is close to the first positioning data, such as determining whether the error (or the gap, the distance) of the two is lower than a preset value, and determining that the two are close when the value is lower than the preset value. Otherwise, it is determined that the two are not close; if the second positioning data is close to the first positioning data, it is determined that the positioning of the satellite positioning system tends to be accurate, otherwise the positioning of the satellite positioning system is determined to be not accurate enough.

Optionally, the smart watch determines whether the running time of the satellite positioning system exceeds a second threshold, that is, whether the duration of the satellite watch system after the satellite positioning system starts to exceed the second threshold; if the running time of the satellite positioning system exceeds the second threshold, then It is determined that the positioning of the satellite positioning system tends to be accurate, otherwise the positioning of the satellite positioning system is not accurate enough. The second threshold can be set according to actual needs, such as set to 1-3 minutes.

In addition, it is also possible to determine whether the positioning of the satellite positioning system tends to be accurate by other means in the prior art, which is not limited by the present invention.

The satellite positioning method according to the embodiment of the present invention notifies the mobile terminal to perform satellite positioning when the satellite positioning system is started, obtains ephemeris data quickly by using the satellite positioning system and the interconnection network of the mobile terminal, and rapidly locates the ephemeris data transmitted by the mobile terminal. . Thereby, the rapid positioning of the satellite positioning system during cold start is realized, which greatly shortens the positioning waiting time of the satellite positioning system during cold start, and improves the user experience. Further, the first positioning data sent by the mobile terminal and the second positioning data obtained by the local positioning are used to calculate the current position coordinates, so that the positioning is more accurate, and the technical problem of poor positioning accuracy when the satellite positioning system is just started is solved.

By adopting the satellite positioning method of the embodiment of the invention, the positioning can be completed within 10 seconds in an outdoor open environment, and the phenomenon of large drift of the initial positioning trajectory is greatly reduced.

Referring to FIG. 5, a first embodiment of a satellite positioning apparatus according to the present invention is proposed. The apparatus includes a first notification module 10, a data receiving module 20, and a satellite positioning module 30, wherein: a first notification module 10 is used as a satellite positioning system. At the time of startup, the mobile terminal is notified to perform satellite positioning; the data receiving module 20 is configured to receive positioning assistance data sent by the mobile terminal, the positioning assistance data includes ephemeris data, and the satellite positioning module 30 is configured to perform satellite positioning by using ephemeris data.

In the embodiment of the present invention, when the smart watch starts the satellite positioning system, the notification information is sent to the mobile terminal by using a wireless communication method such as Bluetooth or WIFI, so that the mobile terminal starts the satellite positioning system and the auxiliary satellite positioning system according to the notification information. The satellite positioning system and the satellite positioning system are used for rapid satellite positioning to obtain ephemeris data and first positioning data. Auxiliary satellite positioning system is a technology for positioning mobile stations by combining network base station information and satellite positioning information. It not only utilizes satellite positioning system but also mobile base station, which not only solves the problem of satellite positioning system coverage, but also can be used in satellite positioning system. Quickly locate with the help of the Internet when you first started.

After the ephemeris data and the first positioning data are acquired by the mobile terminal, the ephemeris data is sent to the smart watch as the positioning assistance data, and the data receiving module 20 receives the ephemeris data sent by the mobile terminal by using a wireless communication method such as Bluetooth or WIFI.

The data acquisition module directly uses the ephemeris data sent by the mobile terminal to perform satellite positioning quickly. The specific positioning method is the same as the prior art, and is not described here.

When the positioning is successful, the satellite positioning module 30 acquires the second positioning data, and calculates the current position coordinates according to the second positioning data.

Further, the satellite positioning module 30 can also use the pedometer to perform auxiliary positioning to improve positioning accuracy. Specifically, the satellite positioning module 30 acquires the moving distance through the pedometer, filters the second positioning data by using the moving distance, and calculates the current position coordinate according to the remaining data after the filtering.

For example, the satellite positioning module 30 activates the pedometer, uses the pedometer to calculate the number of steps the user moves, and converts the number of steps moved to the moving distance (number of steps * distance per step). At the same time, the satellite positioning module 30 analyzes the second positioning data, first removes the data with large error, and then filters out the data whose drift is relatively serious (such as the data whose drift distance is greater than or equal to the first threshold), and finally filters out the drift. Data that exceeds the travel distance or exceeds the preset value of the travel distance. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, by rapidly acquiring the ephemeris data by means of the satellite positioning system and the internetwork of the mobile terminal, the ephemeris data transmitted by the mobile terminal is used for rapid positioning, thereby realizing the rapid positioning of the satellite positioning system during cold start, which greatly shortens the coldness of the satellite positioning system. The positioning wait time at startup improves the user experience.

Further, as shown in FIG. 6, in the second embodiment of the satellite positioning apparatus of the present invention, the apparatus further includes a first calculating module 40, and the positioning assistance data received by the data receiving module 20 further includes positioning of the mobile terminal. The first positioning module 40 is configured to: when the positioning is successful, acquire the second positioning data, and calculate the current position coordinates by combining the first positioning data and the second positioning data.

In some embodiments, the first calculation module 40 includes a first filtering unit 41 and a first computing unit 42 as shown in FIG. 7, wherein: the first filtering unit 41 is configured to comprehensively analyze the first positioning data and the second Positioning data, filtering out data in which the drift distance is greater than or equal to the first threshold; the first calculating unit 42 is configured to calculate current position coordinates according to the remaining data after filtering.

For example, the first filtering unit 41 performs comprehensive analysis on the first positioning data and the second positioning data, first removing data with a large error, and then filtering out data in which the drift is relatively serious (for example, the drift distance is greater than or equal to the first threshold). Data), finally the first calculation unit 42 calculates the current position coordinates based on the data remaining after the filtering.

In other embodiments, the first calculating module 40 includes a distance acquiring unit 43, a second filtering unit 44, and a second calculating unit 45, as shown in FIG. 8, wherein: the distance obtaining unit 43 is configured to obtain by the pedometer The second filtering unit 44 is configured to filter the first positioning data and the second positioning data by using the moving distance, such as filtering out the drift distance in the first positioning data and the second positioning data beyond the moving distance or exceeding the moving distance. The data of the value is set; the second calculating unit 45 is configured to calculate the current position coordinate according to the data remaining after the filtering.

For example, the distance acquisition unit 43 activates the pedometer, calculates the number of steps of the user's movement using the pedometer, and converts the number of steps moved into the moving distance (the number of steps * the distance of each step). At the same time, the second filtering unit 44 performs comprehensive analysis on the first positioning data and the second positioning data, first removes the data with large error, and then filters out the data whose drift is relatively serious (for example, the drift distance is greater than or equal to the first threshold). Data), finally filtering out the data whose drift distance exceeds the moving distance or exceeds the preset value of the moving distance. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, combined with the first positioning data sent by the mobile terminal and the second positioning data obtained by the local positioning, the data with large drift can be filtered out, thereby obtaining more accurate positioning, and solving the positioning accuracy of the satellite positioning system just after starting. Technical problem.

Further, as shown in FIG. 9, in the third embodiment of the satellite positioning device of the present invention, the device further includes a second calculating module 50, configured to: when the positioning fails, directly according to the first The positioning data calculates the current position coordinates. Thereby avoiding long waits, one step shortens the positioning waiting time of the smart watch.

Further, when the second calculation module 50 calculates the position coordinates, the pedometer can be used for auxiliary positioning to improve the positioning accuracy. Specifically, the second calculating module 50 obtains the moving distance through the pedometer, and filters the first positioning data by using the moving distance, for example, filtering out the data in which the drift distance exceeds the moving distance or exceeds the preset value of the moving distance in the first positioning data. Finally, the current position coordinates are calculated based on the remaining data after filtering.

For example, the second calculation module 50 activates the pedometer, uses the pedometer to calculate the number of steps the user moves, and converts the number of steps moved into the moving distance (the number of steps * the distance of each step). At the same time, the second calculation module 50 analyzes the first positioning data, first removes the data with a large error, and then filters out the data whose drift is relatively serious (such as the data whose drift distance is greater than or equal to the first threshold), and finally filters out Data whose drift distance exceeds the travel distance or exceeds the preset value of the travel distance. Finally, the current position coordinates are calculated based on the remaining data after filtering.

Therefore, before the smart watch itself is successfully positioned, the first positioning data obtained by the positioning of the mobile terminal is directly used to complete the position initialization, thereby avoiding waiting for a long time, thereby further shortening the positioning waiting time of the smart watch, and shortening the positioning waiting time to 3 Within seconds.

Further, as shown in FIG. 10, in the fourth embodiment of the satellite positioning apparatus of the present invention, the apparatus further includes a positioning determining module 60 and a second notifying module 70, wherein: the positioning determining module 60 is configured to determine the satellite positioning. Whether the positioning of the system tends to be accurate; the second notification module 70 is configured to notify the mobile terminal to stop the satellite positioning if the positioning of the satellite positioning system is accurate, so that the first calculating module 40 directly uses the second positioning data to calculate the current Position coordinates.

After receiving the notification information of the second notification module 70, the mobile terminal no longer sends data to the smart watch, and turns off the satellite positioning system and the auxiliary satellite positioning system to avoid unnecessary consumption of power by the mobile terminal.

Optionally, the location determining module 60 includes a first determining unit 61 and a first determining unit 62, where the first determining unit 61 is configured to determine whether the second positioning data is close to the first positioning data. The first determining unit 62 is configured to determine that the positioning of the satellite positioning system tends to be accurate if the second positioning data is close to the first positioning data, otherwise the positioning of the satellite positioning system is determined to be not accurate enough.

The first determining unit 61 may determine whether the error (or the gap, the distance) of the second positioning data and the first positioning data is lower than a preset value, and if it is lower than the preset value, determine that the two are close, otherwise, the two are not determined. Close.

Optionally, the positioning determining module 60 includes a second determining unit 63 and a second determining unit 64, as shown in FIG. 12, wherein: the second determining unit 63 is configured to determine whether the running time of the satellite positioning system exceeds a second threshold. That is, whether the duration of the smart watch starts the satellite positioning system exceeds the second threshold; the second determining unit 64 is configured to determine that the positioning of the satellite positioning system is accurate if the running time after the satellite positioning system is started exceeds the second threshold. Otherwise, the positioning of the satellite positioning system is not accurate enough. The second threshold can be set according to actual needs, such as set to 1-3 minutes.

In addition, the positioning judging module 60 can determine whether the positioning of the satellite positioning system is more accurate by using other methods in the prior art, which is not limited by the present invention.

The satellite positioning device of the embodiment of the invention notifies the mobile terminal to perform satellite positioning when the satellite positioning system is started, acquires ephemeris data quickly by using the satellite positioning system and the internetwork of the mobile terminal, and rapidly locates the ephemeris data transmitted by the mobile terminal. . Thereby, the rapid positioning of the satellite positioning system is realized, the positioning waiting time of the satellite positioning system during cold start is greatly shortened, and the user experience is improved. Further, the first positioning data sent by the mobile terminal and the second positioning data obtained by the local positioning are used to calculate the current position coordinates, so that the positioning is more accurate, and the technical problem of poor positioning accuracy when the satellite positioning system is just started is solved.

The present invention also contemplates a smart watch that includes a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to perform a satellite positioning method. The satellite positioning method includes the following steps: when the satellite positioning system is activated, notifying the mobile terminal to perform satellite positioning; receiving positioning assistance data sent by the mobile terminal, the positioning assistance data includes at least ephemeris data; and using the ephemeris data for satellite positioning. The satellite positioning method described in this embodiment is a satellite positioning method according to the foregoing embodiment of the present invention, and details are not described herein again.

Those skilled in the art will appreciate that the present invention includes apparatus that is directed to performing one or more of the operations described herein. These devices may be specially designed and manufactured for the required purposes, or may also include known devices in a general purpose computer. These devices have computer programs stored therein that are selectively activated or reconfigured. Such computer programs may be stored in a device (eg, computer) readable medium or in any type of medium suitable for storing electronic instructions and coupled to a bus, respectively, including but not limited to any Types of disks (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable) Read-Only Memory, EEPROM (Electrically Erasable) Programmable Read-Only Memory, flash memory, magnetic card or light card. That is, a readable medium includes any medium that is stored or transmitted by a device (eg, a computer) in a readable form.

Those skilled in the art will appreciate that each block of the block diagrams and/or block diagrams and/or flow diagrams and combinations of blocks in the block diagrams and/or block diagrams and/or flow diagrams can be implemented by computer program instructions. . Those skilled in the art will appreciate that these computer program instructions can be implemented by a general purpose computer, a professional computer, or a processor of other programmable data processing methods, such that the processor is executed by a computer or other programmable data processing method. The blocks of the disclosed structure and/or block diagrams and/or flow diagrams or blocks specified in the various blocks.

Those skilled in the art can understand that the steps, measures, and solutions in the various operations, methods, and processes that have been discussed in the present invention may be alternated, changed, combined, or deleted. Further, other steps, measures, and schemes of the various operations, methods, and processes that have been discussed in the present invention may be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the prior art having various operations, methods, and processes disclosed in the present invention may also be alternated, changed, rearranged, decomposed, combined, or deleted.

The preferred embodiments of the present invention have been described above with reference to the drawings, and are not intended to limit the scope of the invention. A person skilled in the art can implement the invention in various variants without departing from the scope and spirit of the invention. For example, the features of one embodiment can be used in another embodiment to obtain a further embodiment. Any modifications, equivalent substitutions and improvements made within the technical concept of the invention are intended to be included within the scope of the invention.

Claims (19)

A satellite positioning method, comprising the steps of: Notifying the mobile terminal to perform satellite positioning when the satellite positioning system is activated; Receiving positioning assistance data sent by the mobile terminal, where the positioning assistance data includes at least ephemeris data; The ephemeris data is used for satellite positioning. The satellite positioning method according to claim 1, wherein the positioning assistance data further comprises first positioning data, and the step of performing satellite positioning by using the ephemeris data further comprises: when the positioning fails, directly Calculating current position coordinates according to the first positioning data. The satellite positioning method according to claim 1, wherein the positioning assistance data further comprises first positioning data, and the step of performing satellite positioning by using the ephemeris data further comprises: acquiring when the positioning is successful The second positioning data is combined with the first positioning data and the second positioning data to calculate current position coordinates. The satellite positioning method according to claim 3, wherein the step of calculating the current position coordinates in combination with the first positioning data and the second positioning data comprises: Comprehensively analyzing the first positioning data and the second positioning data, and filtering out data in which a drift distance is greater than or equal to a first threshold; The current position coordinates are calculated based on the remaining data after filtering. The satellite positioning method according to claim 3, wherein the step of calculating the current position coordinates in combination with the first positioning data and the second positioning data comprises: Obtaining the moving distance through the pedometer; Filtering the first positioning data and the second positioning data by using the moving distance; The current position coordinates are calculated based on the remaining data after filtering. The satellite positioning method according to claim 3, wherein the step of calculating the current position coordinates in combination with the first positioning data and the second positioning data further comprises: Determining whether the positioning of the satellite positioning system tends to be accurate; If so, the mobile terminal is notified to stop satellite positioning. The satellite positioning method according to claim 6, wherein the step of determining whether the positioning of the satellite positioning system tends to be accurate comprises: Determining whether the second positioning data is close to the first positioning data; If so, it is determined that the positioning of the satellite positioning system tends to be accurate. The satellite positioning method according to claim 6, wherein the step of determining whether the positioning of the satellite positioning system tends to be accurate comprises: Determining whether the running time of the satellite positioning system exceeds a second threshold; If so, it is determined that the positioning of the satellite positioning system tends to be accurate. The satellite positioning method according to claim 1, wherein the method is applied to a smart watch. A satellite positioning device, comprising: a first notification module, configured to notify the mobile terminal to perform satellite positioning when the satellite positioning system is activated; a data receiving module, configured to receive positioning assistance data sent by the mobile terminal, where the positioning assistance data includes at least ephemeris data; A satellite positioning module is configured to perform satellite positioning using the ephemeris data. The satellite positioning device according to claim 10, wherein the positioning assistance data further comprises first positioning data, the device further comprising a second calculating module, the second calculating module is configured to: when the positioning fails Calculating the current position coordinates directly according to the first positioning data. The satellite positioning device according to claim 10, wherein the positioning assistance data further comprises first positioning data, the device further comprising a first calculating module, the first calculating module is configured to: when the positioning is successful Obtaining second positioning data, and calculating current position coordinates in combination with the first positioning data and the second positioning data. The satellite positioning device according to claim 12, wherein the first calculation module comprises: a first filtering unit, configured to comprehensively analyze the first positioning data and the second positioning data, and filter out data in which a drift distance is greater than or equal to a first threshold; The first calculating unit is configured to calculate a current position coordinate according to the remaining data after the filtering. The satellite positioning device according to claim 12, wherein the first calculation module comprises: a distance obtaining unit for obtaining a moving distance by the pedometer; a second filtering unit, configured to filter the first positioning data and the second positioning data by using the moving distance; The second calculating unit is configured to calculate current position coordinates according to the remaining data after filtering. The satellite positioning device according to claim 12, wherein the device further comprises: a positioning determining module, configured to determine whether the positioning of the satellite positioning system is accurate; The second notification module is configured to notify the mobile terminal to stop satellite positioning if the positioning of the satellite positioning system is accurate. The satellite positioning device according to claim 15, wherein the positioning determining module comprises: a first determining unit, configured to determine whether the second positioning data is close to the first positioning data; The first determining unit is configured to determine that the positioning of the satellite positioning system is accurate if the second positioning data is close to the first positioning data. The satellite positioning device according to claim 15, wherein the positioning determining module comprises: a second determining unit, configured to determine whether a running time of the satellite positioning system exceeds a second threshold; The second determining unit is configured to determine that the positioning of the satellite positioning system tends to be accurate if the running time after the satellite positioning system is started exceeds a second threshold. A satellite positioning device according to claim 10, wherein said device is applied to a smart watch. A smart watch comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, wherein the application is configured to execute the claims The satellite positioning method described in 1.