CN111323803A - Wireless signal processing method and device and terminal - Google Patents
Wireless signal processing method and device and terminal Download PDFInfo
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- CN111323803A CN111323803A CN201811535184.6A CN201811535184A CN111323803A CN 111323803 A CN111323803 A CN 111323803A CN 201811535184 A CN201811535184 A CN 201811535184A CN 111323803 A CN111323803 A CN 111323803A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention is suitable for the technical field of wireless communication, and provides a method, a device and a terminal for processing wireless signals, wherein the method comprises the following steps: generating a first function curve according to an incoherent accumulated value of a wireless signal, and determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve; determining the ranging code phase offset of the wireless signal according to the slope; and compensating the ranging error of the ranging code of the wireless signal according to the ranging code phase offset. The embodiment of the invention can reduce the distance measurement error caused by multipath interference when the wireless signal is used for positioning, so that the positioning result obtained based on the wireless signal is more accurate, the user can also obtain accurate positioning coordinates in the area with weaker wireless signal strength, and the experience of the user is improved.
Description
Technical Field
The present invention relates to the field of wireless communication technologies, and in particular, to a method, an apparatus, and a terminal for processing a wireless signal.
Background
With the increasing demand of people for positioning, the problems of low positioning precision, low positioning availability in indoor and seriously-shielded areas and the like of the satellite positioning technology are gradually revealed. The wireless signal is used as supplement of the satellite positioning signal, so that the area which is seriously shielded by the satellite positioning signal such as indoors can be effectively covered, and the defect of low positioning precision of the satellite positioning technology is effectively overcome. When wireless signals are used for positioning, multipath interference can be generated due to the fact that the wireless signals are influenced by buildings, terrain, landform and the like in the transmission process, and thermal noise generated by various electronic components is added, so that a pseudo-range measurement value measured by a ranging code of the wireless signals is inaccurate, and finally the positioning result is inaccurate. At present, in the prior art, the processing of the ranging error caused by multipath interference and thermal noise is usually to use preset parameters to perform ranging error compensation, so that although the ranging error can be reduced to a certain extent, the ranging accuracy is not accurate enough.
Disclosure of Invention
In view of the above, the present invention is directed to a method, an apparatus, and a terminal for processing a wireless signal, so as to solve the problem in the prior art that an error compensation parameter used for multipath interference and thermal noise interference is too simple, resulting in a low accuracy of a positioning result obtained based on the wireless signal.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a method for processing a wireless signal, where the method includes:
generating a first function curve according to the incoherent accumulated value of the wireless signal;
determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve;
determining the ranging code phase offset of the wireless signal according to the slope;
and compensating the ranging error of the ranging code of the wireless signal according to the ranging code phase offset.
Further, the determining a ranging code phase offset according to the slope of the wireless signal includes:
subtracting the slope of a straight line formed by any two adjacent incoherent accumulated values on the second function curve from the slope to obtain a slope deviation value;
and inquiring a first preset table according to the slope deviation value, and acquiring the ranging code phase offset corresponding to the slope deviation value in the first preset table.
Further, before generating the first function curve according to the incoherent accumulation value of the wireless signal, the method further includes:
inputting the wireless signal into a correlator for correlation operation to obtain coherent accumulation data;
and carrying out incoherent accumulation on the coherent accumulation data to obtain an incoherent accumulation value.
Further, after performing incoherent accumulation on the coherent accumulation data to obtain the incoherent accumulation value, the method further includes:
subtracting the incoherent accumulated value from the ideal incoherent accumulated value to obtain a deviation value;
counting the times that the deviation value is larger than a preset threshold value within a preset time;
judging whether the times are greater than preset times or not;
and if the times are more than or equal to the preset times, generating a first function curve according to the incoherent accumulated value of the wireless signal.
Further, after determining whether the number of times is greater than a preset number of times, the method further includes:
and if the frequency is less than the preset frequency, inputting the wireless signal into a correlator for correlation operation to obtain the coherent accumulation data.
Further, the method further comprises:
counting the times of the mth correlator performing coherent processing on the wireless signal within the preset observation times to obtain a maximum incoherent accumulated value, and obtaining the probability of the mth correlator;
determining probability distribution of M correlators based on probability of the mth correlator, wherein M is a positive integer smaller than M, and M is total number of the correlators;
determining the ranging code ranging precision of the wireless signal according to the probability distribution;
and according to the ranging precision of the ranging code, performing ranging error compensation on the ranging code of the wireless signal.
Further, the determining the ranging accuracy of the ranging code of the wireless signal according to the probability distribution includes:
and inquiring a second preset table according to the probability distribution to obtain the ranging code ranging precision corresponding to the probability distribution in the second preset table.
In a second aspect, an embodiment of the present invention provides an apparatus for processing a wireless signal, where the apparatus includes:
the curve generation module is used for generating a first function curve according to the incoherent accumulated value of the wireless signal;
the slope determining module is used for determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve;
the ranging code phase offset determining module is used for determining the ranging code phase offset of the wireless signal according to the slope;
and the error compensation module is used for performing ranging error compensation on the ranging code of the wireless signal according to the ranging code phase offset.
Further, the apparatus further comprises:
the statistical module is used for counting the times of the mth correlator performing coherent processing on the wireless signals within the preset observation times to obtain the maximum incoherent accumulated value, and obtaining the probability of the mth correlator; determining probability distribution of M correlators based on probability of the mth correlator, wherein M is a positive integer smaller than M, and M is total number of the correlators;
and the ranging code ranging precision determining module is used for determining the ranging code ranging precision of the wireless signal according to the probability distribution.
In a third aspect, an embodiment of the present invention provides a terminal, including a processor, a correlator, an input device, an output device, and a memory, where the processor, the correlator, the input device, the output device, and the memory are connected to each other, where the memory is used to store a computer program that supports the terminal to execute the above method, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the method of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, the computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method of the first aspect.
According to the embodiment of the invention, a first function curve is generated according to the incoherent accumulated values of wireless signals, and the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve is determined; determining the ranging code phase offset of the wireless signal according to the slope; and according to the phase offset of the ranging code, performing ranging error compensation of the ranging code of the wireless signal, wherein the ranging error compensation can compensate part of errors in ranging, so that the ranging precision can be improved. For example, the technical solution provided by the embodiment of the present invention can reduce the ranging error caused by multipath interference when the wireless signal is used for positioning, so that the positioning result obtained based on the wireless signal is more accurate, the user can obtain good positioning coordinates in the area with weak wireless signal strength, and the experience of the user is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of multipath propagation of a wireless signal according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for processing a wireless signal according to an embodiment of the present invention;
FIG. 3 is a graph of a second function provided by an embodiment of the present invention;
FIG. 4 is a graph of a first function in a multipath propagation environment according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a slope of a first function curve in a multipath propagation environment according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating another method for processing a wireless signal according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating another method for processing a wireless signal according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating another method for processing a wireless signal according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating thermal noise induced correlator jitter according to an embodiment of the present invention;
fig. 10 is a schematic block diagram of a method for processing a wireless signal according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a wireless signal processing apparatus according to an embodiment of the present invention;
fig. 12 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Compared with the wireless signal used for wireless communication, when the wireless signal is used for ranging and positioning, the processing mode of the received signal has a larger difference. In the application scenario of wireless communication, the reliability of communication between a terminal and a base station is ensured by multiple means, such as signal diversity, signal retransmission mechanism, channel coding, decoding, error correction, signaling interaction, connection confirmation, and the like. In addition, the wireless communication process is usually a burst data transmission process, and it is not necessary for the terminal and the base station to always maintain a signal interaction state, but in the ranging and positioning using the wireless signals, because a continuous positioning function needs to be implemented, the receiver needs to continuously observe the received wireless signals, and obtain a pseudorange measurement value according to an observed value. Even when the signal strength of the wireless signal continuously fluctuates or suffers from multipath interference, the receiver should keep the received signal as uninterrupted as possible to obtain continuous pseudorange measurement, and ensure that the positioning result is continuous and does not diverge. In this process, a mechanism such as data retransmission cannot compensate for the degradation of the pseudorange measurement value due to channel degradation, and therefore, it is necessary to compensate for the ranging error due to channel degradation.
Referring to fig. 1, fig. 1 is a schematic view of multipath propagation of a wireless signal according to an embodiment of the present invention, as shown in fig. 1, due to the existence of buildings and obstacles, a wireless signal transmitted by a base station forms multipath propagation at the obstacle, and a multipath signal is superimposed on a direct path signal to cause a ranging error, so that a ranging error compensation needs to be performed on an error caused by multipath interference.
In addition, since thermal noise of various electronic components continuously affects the positioning accuracy, the thermal noise is more serious especially in a weak signal environment. If the range error caused by thermal noise is not compensated, the final positioning result is affected. In a weak signal environment, the adaptability of a pseudo-range measurement value to parameters such as a signal-to-noise ratio, a carrier-to-noise ratio and a symbol signal-to-noise ratio is much higher than that in a wireless communication application scene, however, a terminal usually has certain mobility due to the movement of a user, when the user moves to a sheltered area, signal intensity fluctuation and Doppler frequency shift are caused due to sheltering of obstacles, a signal is affected by thermal noise seriously, and the signal-to-noise ratio, the carrier-to-noise ratio, the symbol signal-to-noise ratio and other parameters in the general sense often cannot reflect the quality of a received signal timely and effectively.
Therefore, if the error compensation is not performed on the ranging error caused by the multipath interference and the thermal noise, the finally obtained positioning result must be inaccurate. If the preset parameters are simply used for error compensation in the position calculation algorithm, the positioning result calculated by the position calculation algorithm is not accurate enough.
Therefore, the embodiment of the invention provides a method for processing a wireless signal, which respectively performs error compensation on ranging errors caused by multipath interference and thermal noise interference, so that a positioning result obtained based on the wireless signal is more accurate. In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for processing a wireless signal according to an embodiment of the present invention, where the method is executed by a processor, and the processor executes the method according to steps S101 to S104, and the method includes:
step S101, a first function curve is generated according to the incoherent accumulated value of the wireless signal.
The incoherent accumulated value is a numerical value obtained by performing coherent operation on an input wireless signal and then performing incoherent accumulation on the input wireless signal. The main purpose of the correlation operation is to extract the direct path signal from the multipath interference and the thermal noise, and the main effect of the incoherent accumulation is to further improve the accumulation gain of the received signal.
In an embodiment of the present invention, the first function curve is an autocorrelation function curve, and the autocorrelation function is also described as an example in the following embodiments. Specifically, generating an autocorrelation function curve according to the incoherent accumulated value includes: the processor takes the incoherent accumulated value as a vertical coordinate, the time delay of each correlator for generating the subcarrier signal as a horizontal coordinate, and an autocorrelation function curve is established.
For example, referring to fig. 3, fig. 3 is a graph illustrating a second function curve, i.e., an autocorrelation function curve generated according to a wireless signal in an ideal state without thermal noise and multipath interference, according to an embodiment of the present invention. As shown in fig. 3, the autocorrelation function curve is symmetrical in the absence of thermal noise and multipath interference. The second function curve can be simulated by a matlab program which is run in advance by the processor and is stored in the memory.
Due to the existence of buildings and obstacles, a wireless signal sent by a base station forms multipath propagation at the obstacle, and the multipath signal is superposed on a direct path signal to cause a ranging error. As shown in fig. 4, fig. 4 is a graph of a first function in a multipath propagation environment according to an embodiment of the present invention. As shown in fig. 4, since the multipath signal is superimposed on the direct path signal, the correlator symmetry is broken, resulting in an asymmetric autocorrelation function curve, and multiple peaks may occur.
It should be understood that, since the correlator can perform the correlation operation periodically, the points corresponding to any two adjacent incoherent accumulation values on the curve are spaced on the coordinate axis.
And step S102, determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve.
Since the autocorrelation function curve is generated according to the incoherent accumulated values, each incoherent accumulated value corresponds to one point on the curve, for example, if there are 5 correlators, 5 incoherent accumulated values are correspondingly calculated, there are 5 corresponding points on the curve, and two adjacent points are connected to obtain 4 straight lines, so there are 4 slopes in correspondence.
For example, referring to fig. 5, fig. 5 is a schematic diagram illustrating a slope of a first function curve in a multipath propagation environment according to an embodiment of the present invention. As shown in fig. 5, A, B two points are adjacent to each other on the autocorrelation function curve, and if the coordinates of point a are (x1, y1) and the coordinates of point B are (x2, y2), the slope k of the straight line formed by point a and point B is (y1-y2)/(x1-x 2).
And step S103, determining the ranging code phase offset of the wireless signal according to the slope.
Due to multipath interference, the autocorrelation function curve generated according to the incoherent accumulated value and the second function curve generate difference, the slope of a straight line formed by two adjacent points on the curve also changes, and the larger the slope change of the straight line is, the more serious the multipath interference is, and the larger the phase offset of the direct path signal ranging code is.
Further, the determining a ranging code phase offset of the wireless signal according to the slope includes:
and subtracting the slope corresponding to the straight line formed by any two adjacent incoherent accumulated values on the second function curve to obtain a slope deviation value.
For example, as shown in fig. 5, the slope k of the straight line formed by the points a and B on the curve is (y1-y2)/(x1-x 2). As shown in FIG. 3, there are two points A corresponding to A, B on the second function curve1And B1The correspondence here refers to two points on the corresponding curve on the same abscissa if A1The coordinates of the point are (x1, y)11)，B1The coordinates of the point are (x2, y)12) Then A on the second function curve1Points and B1Slope k of straight line formed by points1＝(y11-y12) /(x1-x 2). Then the slope deviation value is equal to k-k1The closer the slope deviation value is to 0, the smaller the multipath interference on the wireless signal is, the smaller the phase deviation of the ranging code is, and the size of the phase deviation of the ranging code can be determined through the slope deviation value.
In the embodiment of the invention, the second function curve is an ideal curve simulated by matlab, so that the slopes of straight lines formed by any two adjacent incoherent accumulated values on the second function curve are known, the processor acquires the slopes of the straight lines formed by any two adjacent incoherent accumulated values on the second function curve in advance, writes the slopes into the memory, and directly calls the memory when calculating the slope deviation value.
And inquiring a first preset table according to the slope deviation value, and acquiring the ranging code phase offset corresponding to the slope deviation value in the first preset table.
The slope deviation value and the ranging code phase offset have a certain corresponding relation, and different slope deviation values correspond to different ranging code phase offsets. For example, if the number of correlators is 3, 3 straight lines can be formed on the first function curve, and if the slope deviation values of all the 3 straight lines are 0, the ranging code phase shift amount is 0. The processor obtains the concrete corresponding relation between each slope deviation value and the ranging code phase offset value obtained by experiments in advance, writes the corresponding relation between the slope deviation values and the ranging code phase offset values into a first preset table one by one, and obtains the ranging code phase offset value by checking the first preset table when the slope deviation values are obtained, wherein the first preset table is stored in the memory.
And step S104, compensating the ranging error of the ranging code of the wireless signal according to the ranging code phase offset.
The ranging code phase offset is used as a ranging error compensation parameter of a position calculation algorithm to participate in position calculation, so that the ranging error caused by multipath interference can be reduced, and the positioning precision of the positioning coordinate calculated by the position calculation algorithm is improved.
In the embodiment of the present invention, the position calculation algorithm is a position calculation algorithm commonly used in the art, and therefore, a detailed description thereof will not be provided. For example, the position solution algorithm includes: a weighted least squares filtering algorithm or a kalman filtering algorithm.
According to the embodiment of the invention, a first function curve is generated according to the incoherent accumulated values of wireless signals, and the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve is determined; determining the ranging code phase offset of the wireless signal according to the slope; and compensating the ranging error of the ranging code of the wireless signal according to the ranging code phase offset. The ranging error compensation can make up a part of errors in ranging, so that the ranging precision can be improved. For example, the technical scheme provided by the embodiment of the invention can reduce the ranging error caused by multipath interference when the wireless signal is used for positioning, so that the positioning result obtained based on the wireless signal is more accurate, a user can also obtain accurate positioning coordinates in an area with weak wireless signal strength, and the experience of the user is improved.
Referring to fig. 6, fig. 6 is a schematic flowchart of another wireless signal processing method according to an embodiment of the present invention, and as shown in fig. 6, in step S101 of the above embodiment: before generating the first function curve according to the incoherent accumulated value of the wireless signal, the method further includes steps S1001 to S1002.
Step S1001, inputting the wireless signal into a correlator for correlation operation to obtain coherent accumulation data.
Specifically, the inputting the wireless signal into a correlator for correlation operation to obtain coherent accumulation data includes:
and the correlator carries out correlation operation on the group of locally generated subcarrier signals and the wireless signals to obtain coherent accumulation data.
The correlator can extract the direct path signal from multipath interference, or thermal noise, using the correlation characteristics of the signal. The correlator comprises: local carrier signal generator, correlation operation array module, etc. The local carrier signal generator is configured to generate two mutually orthogonal discrete signals, which are generally referred to as subcarrier signals. And the correlation operation array module is used for performing correlation operation on the input signal and the subcarrier signal generated by the local carrier signal generator.
The input signal is a wireless signal sent by a base station for positioning. Processor acquisition correlator usage localityCoherent accumulation data is obtained after correlation operation is carried out on the generated group of subcarrier signals and input signals, and the operation formula of the correlation operation is as follows:
where Cor is the coherent accumulation data, τ is the time interval for each correlator to generate a subcarrier signal, s is the received wireless signal, l is the coherent accumulation length, f1(t + τ) to fm(t + τ) is a subcarrier signal divided into m parts, 1 to m are subcarrier numbers, and allocation of subcarriers is specified by the third Generation Partnership Project (3rd Generation Partnership Project, 3 GPP); d1To DmNumbering the ranging codes of the radio signals, the number of times the subcarriers are divided, since the ranging codes are modulated on the subcarrier signals, the number of times the ranging codes are divided, and thus, at D1To DmIn (1) to m also represent the number of subcarriers; e is the base of the natural logarithm and j represents a negative number. To ensure signal estimation resolution, τ ≦ 0.5Ts, which is a ranging code symbol width, is common.
Because the local carrier signal generator generates 2 paths of signals which are orthogonal to each other, 2 coherent accumulation data obtained after correlation operation are obtained, one path of coherent accumulation data is marked as I, and the other path of coherent accumulation data is marked as Q.
Step S1002, carrying out incoherent accumulation on the coherent accumulation data to obtain an incoherent accumulation value.
Specifically, the performing incoherent accumulation on the coherent accumulation data to obtain an incoherent accumulation value includes:
and performing data accumulation after performing modulus or modulus square on the coherent accumulated data to obtain a non-coherent accumulated value.
And taking the coherent accumulated data I of one path as a real part and the coherent accumulated data Q of the other path as an imaginary part.
The data accumulation formula after modulus taking is as follows:
the data accumulation formula after modulo square is:
wherein, Noncoh is an incoherent accumulation value, and k is an incoherent accumulation number.
When the wireless signal is used for ranging positioning, the real usable ranging signal needs to be restored to the maximum extent in the weaker signal tracking, so that a longer incoherent accumulation time is needed, and the incoherent accumulation time is usually in the order of milliseconds or seconds. For example, one embodiment of the present invention uses incoherent integration times on the order of seconds. The incoherent accumulation time can be realized by increasing the value of k in the formula, wherein k is the incoherent accumulation frequency, and the more the incoherent accumulation frequency is, the longer the incoherent accumulation time is correspondingly.
Referring to fig. 7, fig. 7 is a schematic flowchart of another wireless signal processing method provided by the present invention, and as shown in fig. 7, after step S1002 of the above embodiment, steps S1003 to S1007 are further included.
And S1003, subtracting the incoherent accumulated value from the ideal incoherent accumulated value to obtain a deviation value.
The ideal incoherent accumulated value is an incoherent accumulated value on the second function curve, because the wireless signal is influenced by multipath interference and thermal noise, the incoherent accumulated value may be different from the ideal incoherent accumulated value, the incoherent accumulated value is correspondingly subtracted from the ideal incoherent accumulated value to obtain a deviation value, the deviation value can reflect the quality of the input signal, and the smaller the deviation is, the closer the input signal is to the ideal input signal is. For example, as shown in FIGS. 3 and 5, the ordinate of the point A in FIG. 5 is subtracted from the ordinate of the point A in FIG. 31The ordinate of the point is the deviation value, which is y1-y 11。
Step S1004, counting the number of times that the deviation value is greater than a preset threshold value within a preset time.
The preset time is an observation time, and for example, the preset time may be 1 to 5 seconds. The preset threshold is used for reflecting whether multipath interference exists in the input signal, and if the deviation value is larger than the preset threshold, the fact that the currently received wireless signal is subjected to the multipath interference is indicated.
Because continuous observation is needed to be performed on the signal, the wireless signal cannot be described to be subjected to multipath interference according to the result of one-time observation, and therefore continuous observation needs to be performed for a certain time. Since the signals are periodically processed, the deviation value is calculated several times within a predetermined time.
It will be appreciated that if all of the incoherent integration values are subtracted from the corresponding ideal incoherent integration values, there may be a plurality of deviation values greater than the preset threshold, and therefore, in one observation, the number of times is only 1 regardless of the number of deviation values greater than the preset threshold.
Step S1005, determining whether the number of times is greater than a preset number of times.
The preset time and the preset times are set by a technician according to experience, for example, the preset time is 2 seconds, and the preset times are 10 times.
For example, if the number of times is 20 times and the preset number of times is 10 times, the number of times is greater than the preset number of times.
Step S1006, if the number of times is greater than or equal to the preset number of times, a first function curve is generated according to the incoherent accumulated value of the wireless signal.
If the number of times is greater than or equal to the preset number of times, it indicates that the wireless signal is subjected to multipath interference, and error compensation of the multipath interference is required, and step S101 and the following steps of the above embodiment are executed.
Step S1007, if the number of times is less than the preset number of times, inputting the wireless signal into a correlator to perform correlation operation, and obtaining the coherent accumulation data.
If the number of times is less than the preset number of times, it indicates that the wireless signal is not subjected to multipath interference, and error compensation of multipath interference is not required, step S1001 and subsequent steps of the above embodiment are executed, and the received wireless signal is input to a correlator for correlation operation, so as to obtain the coherent accumulation data.
Subtracting the ideal incoherent accumulated value from the incoherent accumulated value to obtain a deviation value; counting the times that the deviation value is larger than a preset threshold value within a preset time; judging whether the times are greater than preset times or not; if the times are more than or equal to the preset times, the wireless signals are proved to be subjected to multipath interference, and error compensation needs to be carried out on errors caused by the multipath interference; if the times are less than the preset times, the wireless signals are not subjected to multipath interference, and error compensation of the multipath interference is not needed. The embodiment of the invention provides a judgment basis for the distance measurement error compensation caused by the multipath interference.
Referring to fig. 8, fig. 8 is a schematic flow chart of another wireless signal processing method provided by the present invention, as shown in fig. 8, in the above embodiment, the method further includes steps S105 to S107.
Step S105, counting the times of the mth correlator performing coherent processing on the wireless signals within the preset observation times to obtain the maximum incoherent accumulated value, and obtaining the probability of the mth correlator; determining a probability distribution of the M correlators based on the probability of the M correlators.
Wherein M is a positive integer smaller than M, and M is the total number of the correlators.
Referring to fig. 9, fig. 9 is a schematic diagram of correlator jitter caused by thermal noise according to an embodiment of the present invention, where due to a weak signal environment or user movement, a received wireless signal is significantly disturbed by thermal noise, so that a correlator with a time offset of 0 cannot accurately align with a ranging code phase of the received signal, thereby forming random disturbance, and an autocorrelation function curve in the thermal noise environment as shown in fig. 9 cannot overlap with a second function curve. Along with the continuous weakening of signals, random disturbance is gradually strengthened, and further the distance measurement precision and the positioning precision are influenced. Ranging codes are a binary code sequence used to determine the distance from a satellite to a receiver, and because of thermal noise and the code element width of the ranging code, the pseudorange measurements made by the ranging code may be inaccurate. Therefore, it is necessary to estimate the ranging accuracy of the ranging code of the input signal, where the ranging accuracy is used to represent the ranging reliability of the ranging code of the input signal, and the higher the reliability is, the better the signal quality of the input signal is, and the more accurate the measured value of the pseudorange measured by using the ranging code of the input signal is. When the measurement accuracy of the ranging code of the input signal is high, the system increases the weight of the input signal and tells a position calculation algorithm to fully trust the measured value of the pseudo range measured by the ranging code of the input signal; on the contrary, when the ranging accuracy of the ranging code of the input signal is low, which indicates that the signal quality of the input signal is poor, the system reduces the weight of the input signal and tells the position calculation algorithm not to trust the measured value of the pseudo range measured by the ranging code of the input signal excessively.
Because of the continuous positioning function, the wireless signals need to be continuously observed. The number of times that the mth correlator coherently processes the wireless signal to obtain the maximum incoherent accumulated value within the preset number of observations is counted, for example, in an embodiment of the present invention, the number of times includes a correlator a, a correlator B, and a correlator C, the correlator B is aligned to the phase center of the ranging code of the input signal in advance, and it is assumed that the preset number of observations is 100 times. If in 100 continuous observations, the number of times that the correlator A performs coherent processing on the wireless signals to obtain the maximum incoherent accumulated value is 10, the number of times that the correlator B performs coherent processing on the wireless signals to obtain the maximum incoherent accumulated value is 80, and the number of times that the correlator C performs coherent processing on the wireless signals to obtain the maximum incoherent accumulated value is 10. The probability distribution of the maximum incoherent accumulation value of the correlator a is 10%, the probability distribution of the maximum incoherent accumulation value of the correlator B is 80%, and the probability distribution of the maximum incoherent accumulation value of the correlator C is 10%.
If the received wireless signal quality is very good, the maximum incoherent accumulation value will appear in the correlator aligned with the phase center of the wireless signal ranging code every time, and finally the probability distribution of the maximum incoherent accumulation values of A, B and C correlators will show 0%, 100% and 0%. If the input signal is completely buried in thermal noise, correlator B and its adjacent correlator A, C, which are originally aligned with the phase center of the ranging code, will not exhibit a correlator gain higher than the noise variance, and finally the probability distribution of the maximal incoherent accumulation values of A, B and C three correlators will exhibit a uniform distribution approaching 33%, 33%.
And step S106, determining the ranging code ranging precision of the wireless signal according to the probability distribution.
Further, the determining the ranging accuracy of the ranging code according to the probability distribution includes:
and inquiring a second preset table according to the distribution rate to obtain the ranging code ranging precision corresponding to the distribution rate in the second preset table.
The probability distribution of the maximum incoherent accumulated value has a certain corresponding relation with the ranging code ranging precision, and the probability distribution of different maximum incoherent accumulated values corresponds to different ranging code ranging precisions. The processor obtains the specific corresponding relation between the probability distribution of the maximum incoherent accumulated value and the ranging precision of the ranging code, and writes the corresponding relation between the probability distribution of the maximum incoherent accumulated value and the ranging precision of the ranging code into a second preset table one by one.
For example, in an embodiment of the present invention, the ranging code ranging accuracy may be divided into 0 to 9, and the probability distributions of different maximum incoherent accumulation values correspond to different ranging code ranging accuracies, for example, if the probability distributions of the maximum incoherent accumulation values of the correlators A, B and C are 0%, 100%, 0%, the ranging code ranging accuracy corresponding to the distribution rate may be divided into the highest level 9; if the probability distribution of the maximum incoherent accumulation values of correlators A, B and C is 33%, the ranging code ranging accuracy corresponding to the probability distribution of the maximum incoherent accumulation values can be classified as the lowest level 0.
It should be appreciated that the division of ranging code ranging accuracy may use not only the 0 to 9 representation, but also the 0% to 100% representation or other representations. The division of the ranging accuracy of the ranging code in the embodiment of the present invention is only an exemplary illustration, and does not limit the implementation process of the embodiment of the present invention at all.
And S107, compensating the ranging error of the ranging code of the wireless signal according to the ranging precision of the ranging code.
After the ranging accuracy of the ranging code is obtained, the ranging accuracy of the ranging code is used as a weight parameter of a position calculation algorithm to participate in position calculation, so that the influence of thermal noise on the ranging accuracy can be reduced, and the positioning coordinate calculated by the position calculation algorithm is more accurate.
It should be noted that, in the embodiment of the present invention, step 101 and step 105 are executed simultaneously.
According to the embodiment of the invention, the frequency of the maximum incoherent accumulated value obtained by carrying out coherent processing on the wireless signal by the mth correlator within the preset observation frequency is counted to obtain the probability of the mth correlator; determining probability distribution of M correlators based on the probability of the mth correlator, and determining ranging code ranging precision of wireless signals according to the probability distribution; and according to the ranging precision of the ranging code, performing ranging error compensation on the ranging code of the wireless signal. The ranging error compensation can make up a part of errors in ranging, so that the ranging precision can be improved. For example, the technical scheme provided by the embodiment of the invention can reduce the distance measurement error caused by thermal noise, so that the positioning result of positioning through the wireless communication signal is more accurate, a user can obtain accurate positioning coordinates in an area with weak wireless signal strength, and the experience of the user is improved.
Referring to fig. 10, fig. 10 is a schematic block diagram of a method for processing a wireless signal according to an embodiment of the present invention, as shown in fig. 10, a processor inputs an input signal into a correlator to perform correlation operation to obtain coherent accumulation data, performs incoherent accumulation on the coherent accumulation data to obtain an incoherent accumulation value, generates an autocorrelation function curve according to the incoherent accumulation value, compares the autocorrelation function curve with a second function curve to obtain a ranging code phase offset and a ranging code ranging accuracy, uses the ranging code phase offset as a ranging error compensation parameter of a position calculation algorithm, and uses the ranging code ranging accuracy as a weight parameter of the position calculation algorithm, so as to reduce ranging errors caused by multipath interference and thermal noise, and make a positioning result of positioning by a wireless communication signal more accurate.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Referring to fig. 11, fig. 11 is a schematic diagram of a wireless signal processing apparatus according to an embodiment of the present invention, as shown in fig. 11, the apparatus includes: a curve generation module 11, a slope determination module 12, a ranging code phase offset determination module 13 and an error compensation module 14.
The curve generating module 11 is configured to generate a first function curve according to the incoherent accumulated value of the wireless signal;
a slope determining module 12, configured to determine a slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve;
a ranging code phase offset determining module 13, configured to determine a ranging code phase offset of the wireless signal according to the slope;
and an error compensation module 14, configured to perform ranging error compensation on the ranging code of the wireless signal according to the ranging code phase offset.
Further, the apparatus further comprises:
the statistical module 15 is configured to count the number of times that the mth correlator performs coherent processing on the wireless signal to obtain the maximum incoherent accumulated value within the preset observation times, and obtain the number of times that the M correlators perform coherent processing on the wireless signal to obtain the maximum incoherent accumulated value, respectively, so as to obtain probability distribution of the maximum incoherent accumulated value, where M is a positive integer smaller than M, and M is the total number of the correlators;
and a ranging code ranging accuracy determining module 16, configured to determine ranging code ranging accuracy of the wireless signal according to the probability distribution.
The error compensation module 14 is further configured to perform ranging error compensation on the ranging code of the wireless signal according to the ranging code ranging precision.
Fig. 12 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 12, the terminal device 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in said memory 81 and executable on said processor 80. The terminal device further includes: a correlator 83. The processor 80, when executing the computer program 82, implements the steps in the various method embodiments described above, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules in the device embodiments, such as the functions of the modules 11 to 14 shown in fig. 11. The correlator performs correlation of the input signal and sends the result of the correlation to the processor 80. Illustratively, the computer program 82 may be partitioned into one or more modules that are stored in the memory 81 and executed by the processor 80 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the terminal device 8.
The terminal device may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 12 is merely an example of a terminal device 8 and does not constitute a limitation of terminal device 8 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 81 may be an internal storage unit of the terminal device 8, such as a hard disk or a memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used for storing the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely illustrated, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to perform all or part of the above described functions. Each functional module in the embodiments may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module, and the integrated module may be implemented in a form of hardware, or in a form of software functional module. In addition, specific names of the functional modules are only used for distinguishing one functional module from another, and are not used for limiting the protection scope of the application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (11)
1. A method for processing a wireless signal, comprising:
generating a first function curve according to the incoherent accumulated value of the wireless signal;
determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve;
determining the ranging code phase offset of the wireless signal according to the slope;
and compensating the ranging error of the ranging code of the wireless signal according to the ranging code phase offset.
2. The method of claim 1, wherein determining a ranging code phase offset based on a slope of the wireless signal comprises:
subtracting the slope of a straight line formed by any two adjacent incoherent accumulated values on the second function curve from the slope to obtain a slope deviation value;
and inquiring a first preset table according to the slope deviation value, and acquiring the ranging code phase offset corresponding to the slope deviation value in the first preset table.
3. The method of claim 1, wherein prior to generating the first function curve from the non-coherent accumulation of wireless signals, further comprising:
inputting the wireless signal into a correlator for correlation operation to obtain coherent accumulation data;
and carrying out incoherent accumulation on the coherent accumulation data to obtain an incoherent accumulation value.
4. The method of claim 3, wherein after non-coherently accumulating the coherently accumulated data to obtain the non-coherent accumulated value, further comprising:
subtracting the incoherent accumulated value from the ideal incoherent accumulated value to obtain a deviation value;
counting the times that the deviation value is larger than a preset threshold value within a preset time;
judging whether the times are greater than preset times or not;
and if the times are more than or equal to the preset times, generating a first function curve according to the incoherent accumulated value of the wireless signal.
5. The method of claim 4, wherein after determining whether the number of times is greater than a preset number of times, further comprising:
and if the frequency is less than the preset frequency, inputting the wireless signal into a correlator for correlation operation to obtain the coherent accumulation data.
6. The method of claim 1, wherein the method further comprises:
counting the times of the mth correlator performing coherent processing on the wireless signal within the preset observation times to obtain a maximum incoherent accumulated value, and obtaining the probability of the mth correlator;
determining a probability distribution of the M correlators based on the probabilities of the M correlators;
wherein M is a positive integer less than or equal to M, and M is the total number of the correlators;
determining the ranging code ranging precision of the wireless signal according to the probability distribution;
and according to the ranging precision of the ranging code, performing ranging error compensation on the ranging code of the wireless signal.
7. The method of claim 6, wherein said determining ranging code ranging accuracy for the wireless signal based on the probability distribution comprises:
and inquiring a second preset table according to the probability distribution to obtain the ranging code ranging precision corresponding to the probability distribution in the second preset table.
8. An apparatus for processing a wireless signal, comprising:
the curve generation module is used for generating a first function curve according to the incoherent accumulated value of the wireless signal;
the slope determining module is used for determining the slope of a straight line formed by any two adjacent incoherent accumulated values on the first function curve;
the ranging code phase offset determining module is used for determining the ranging code phase offset of the wireless signal according to the slope;
and the error compensation module is used for performing ranging error compensation on the ranging code of the wireless signal according to the ranging code phase offset.
9. The apparatus of claim 8, wherein the apparatus further comprises:
the statistical module is used for counting the times of the mth correlator performing coherent processing on the wireless signals within the preset observation times to obtain the maximum incoherent accumulated value, and obtaining the probability of the mth correlator; determining probability distribution of M correlators based on probability of the mth correlator, wherein M is a positive integer smaller than M, and M is total number of the correlators;
and the ranging code ranging precision determining module is used for determining the ranging code ranging precision of the wireless signal according to the probability distribution.
10. A terminal, comprising a processor, a correlator, an input device, an output device and a memory, the processor, the correlator, the input device, the output device and the memory being interconnected, wherein the memory is configured to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1 to 7.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to carry out the method according to any one of claims 1-7.
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| CN112051562A (en) * | 2020-08-26 | 2020-12-08 | 广东博智林机器人有限公司 | Distance compensation method and device for wireless ranging, electronic equipment and storage medium |
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