CN112698365A - Satellite receiver based on double antennas, satellite positioning method and system - Google Patents

Satellite receiver based on double antennas, satellite positioning method and system Download PDF

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CN112698365A
CN112698365A CN202011545390.2A CN202011545390A CN112698365A CN 112698365 A CN112698365 A CN 112698365A CN 202011545390 A CN202011545390 A CN 202011545390A CN 112698365 A CN112698365 A CN 112698365A
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antenna
satellite
digital intermediate
observation data
radio frequency
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CN112698365B (en
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刘欢
张明凯
陆赛赛
徐锦龙
赵鹏涛
邹永杨
方金荣
吉青
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SHANGHAI HIGH GAIN INFORMATION TECHNOLOGY CO LTD
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SHANGHAI HIGH GAIN INFORMATION TECHNOLOGY CO LTD
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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
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention relates to the technical field of satellite navigation, in particular to a satellite receiver based on double antennas, a satellite positioning method and a satellite positioning system, which are used for solving the problems of low positioning precision and poor usability caused by a multi-satellite single-frequency receiver based on a single antenna. In the embodiment of the invention, a first antenna and a second antenna are used for receiving radio frequency signals of a plurality of satellites, a radio frequency module down-converts the corresponding radio frequency signals into corresponding digital intermediate frequencies, a baseband processing module generates first observation data corresponding to the first antenna and second observation data corresponding to the second antenna through relevant processing of the digital intermediate frequencies, a main control module selects the first antenna and the second antenna by using a satellite selection algorithm, determines that the first antenna corresponding to the first observation data is a main antenna, corrects the second observation data according to attitude information of a carrier, and calculates and obtains a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellites.

Description

Satellite receiver based on double antennas, satellite positioning method and system
Technical Field
The embodiment of the invention relates to the technical field of satellite navigation, in particular to a satellite receiver based on double antennas, a satellite positioning method and a satellite positioning system.
Background
With the concern and favor of LEO (Low Earth Orbit) and rocket launching in the world satellite navigation field, the requirement for high dynamic receivers for rocket launching and Low Orbit satellites is becoming more and more strict.
At present, a high dynamic receiver for rocket launching and low orbit satellites is mainly based on a multi-satellite single frequency receiver, and is commonly a dual-satellite single frequency receiver, such as a GPS (Global Positioning System) L1 and a BD (BeiDou Positioning System) B1, and the multi-satellite single frequency receiver receives satellite navigation signals for a single antenna. However, in consideration of the situation of rocket and satellite carrier attitude change, a single-antenna-based multi-satellite single-frequency receiver cannot receive enough visible satellites and is discontinuous in satellite search, which results in that the positioning accuracy of the single-antenna-based multi-satellite single-frequency receiver is not high enough and the usability is poor.
Therefore, a solution is needed to solve the problems of insufficient positioning accuracy and poor usability caused by a single-antenna-based multi-satellite single-frequency receiver.
Disclosure of Invention
The embodiment of the invention provides a satellite receiver based on double antennas, a satellite positioning method and a satellite positioning system, which are used for solving the problems of low positioning precision and poor usability caused by a multi-satellite single-frequency receiver based on a single antenna.
In a first aspect, an embodiment of the present invention provides a dual-antenna based satellite receiver, including:
a first antenna for receiving first radio frequency signals of a plurality of first satellites;
a second antenna for receiving second radio frequency signals of a plurality of second satellites;
the radio frequency module is used for down-converting the first radio frequency signal into a first digital intermediate frequency and down-converting the second radio frequency signal into a second digital intermediate frequency;
a baseband processing module, configured to separate the first digital intermediate frequency from the second digital intermediate frequency, and determine a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency; generating first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals;
the main control module is used for selecting the first antenna and the second antenna by using a satellite selection algorithm and determining that the first antenna corresponding to the first observation data is a main antenna; correcting the second observation data according to the attitude information of the carrier; and resolving to obtain a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite.
By the mode, the satellite receiver based on the double antennas can still receive enough satellites under the condition that the attitude of the carrier changes through the double antennas symmetrically arranged on the receiver, the problems of discontinuous satellite search and few available satellites caused by the change of the attitude of the carrier are solved, and the availability of the satellites is improved; and the main antenna is selected through a satellite selection algorithm, and the observation data of the double antennas are jointly resolved according to the attitude information of the carrier, so that the positioning precision is improved.
In one possible design, the main control module is specifically configured to:
respectively carrying out single-point positioning according to the first observation data and the second observation data, and determining the precision factor of the first antenna and the precision factor of the second antenna;
and comparing the precision factor of the first antenna with the precision factor of the second antenna, and determining that the first antenna is a main antenna when the precision factor of the first antenna is smaller than the precision factor of the second antenna.
By the mode, the main antenna is selected by utilizing the precision factor determined by the double antennas through single-point positioning, so that the satellite distribution degree received by the selected main antenna is better, the selected main antenna is further solved, and the positioning precision of the determined positioning result is further improved.
In one possible design, the rf module includes a first rf chip and a second rf chip, and the rf module is further configured to:
outputting the first digital intermediate frequency and the second digital intermediate frequency and corresponding sampling clocks;
the baseband processing module is further configured to:
and determining a first radio frequency chip corresponding to the first antenna, and sampling the first digital intermediate frequency and the second digital intermediate frequency according to a sampling clock corresponding to the first radio frequency chip as a reference clock.
By the above mode, the first radio frequency chip corresponding to the main antenna is selected, and the sampling clock corresponding to the first radio frequency chip is used as the reference clock to perform sampling processing of the digital intermediate frequency, so that the precision of the digital intermediate frequency determined by the sampling processing is improved, and accurate digital intermediate frequency is provided for further determining a positioning result by the main control module.
In one possible design, the main control module is specifically configured to:
determining a baseline vector between the first antenna and the second antenna from attitude information of the carrier
Figure BDA0002855868580000031
From the baseline vector
Figure BDA0002855868580000032
And a radio frequency delay τ10And pseudo ranges ρ of a plurality of second satellites determined by the second antenna0 mFitting the pseudo ranges of the plurality of second satellites determined by the second antenna into pseudo ranges rho of the satellite corresponding to reception of the first antenna1 m；
Carrier phases L of a plurality of second satellites determined according to the second antenna0 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the satellite corresponding to the reception of the first antenna1 m；
Receiving pseudo range rho of corresponding satellite by the first antenna1 mAccording to formula (1);
the formula (1) is:
Figure BDA0002855868580000033
wherein the content of the first and second substances,
Figure BDA0002855868580000034
is the direction vector of the satellite, c is the speed of light;
the first antenna receives the carrier phase L of the corresponding satellite1 mAccording to formula (2);
the formula (2) is:
Figure BDA0002855868580000041
wherein N is01And lambda is the wavelength corresponding to the satellite frequency point.
By the mode, when the first antenna is determined to be the main antenna, observation data of the second antenna, namely the pseudo range and the carrier phase of the second antenna are corrected and fitted to the pseudo range and the carrier phase of the first antenna for receiving the corresponding satellite, positioning accuracy influence caused by position offset is fully considered, and positioning accuracy obtained through positioning calculation is further improved by fitting the pseudo range and the carrier phase of the second antenna to the pseudo range and the carrier phase of the first antenna for receiving the corresponding satellite.
In one possible design, the radio frequency delay τ10The delay of different frequency points and the radio frequency channel of the radio frequency module is calibrated in a preset calibration mode.
In one possible design, the main control module is specifically configured to:
according to the pseudo range and the carrier phase of the first antenna, the rho1 mAnd said L1 mAnd ephemeris information of the corresponding satellite, and the positioning result is determined through single-point positioning calculation.
By the mode, aiming at the observation data after down-conversion processing of the two paths of radio frequency chips, a fixed delay deviation exists, and the delay of the radio frequency channels of different frequency points and the radio frequency modules is calibrated in a preset calibration mode, so that the main control module further improves the positioning precision by resolving the determined positioning result.
In one possible design, the first digital intermediate frequency and the second digital intermediate frequency include:
digital intermediate frequencies corresponding to GPS constellation L1 and L2 frequency points and digital intermediate frequencies corresponding to Beidou positioning system BD2 constellation B1 and B3 frequency points.
By the mode, the selected first digital intermediate frequency and the second digital intermediate frequency are determined to be double-frequency data, so that ionospheric errors caused by single-frequency data are eliminated through the first digital intermediate frequency and the second digital intermediate frequency of the double-frequency data, and the positioning accuracy is further improved.
By the mode, the positioning result determined by single-point positioning calculation is carried out on the main antenna by utilizing the pseudo range and the carrier phase of the main antenna, namely the first antenna, the pseudo range and the carrier phase of the corresponding satellite which is fitted to the first antenna by the second antenna and the corresponding satellite ephemeris information, and the positioning precision is further improved.
In a second aspect, an embodiment of the present invention provides a satellite positioning method, including: receiving first radio frequency signals of a first plurality of satellites and receiving second radio frequency signals of a second plurality of satellites;
down-converting the first radio frequency signal to a first digital intermediate frequency, and down-converting the second radio frequency signal to a second digital intermediate frequency;
separating the first digital intermediate frequency from the second digital intermediate frequency, and determining a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency;
generating first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals;
selecting the first antenna and the second antenna by using a satellite selection algorithm, and determining that the first antenna corresponding to the first observation data is a main antenna;
correcting the second observation data according to the attitude information of the carrier;
and resolving to obtain a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite.
In one possible design, the selecting the first antenna and the second antenna using a satellite selection algorithm, and determining that the first antenna corresponding to the first observation data is a main antenna includes:
respectively carrying out single-point positioning according to the first observation data and the second observation data, and determining the precision factor of the first antenna and the precision factor of the second antenna;
and comparing the precision factor of the first antenna with the precision factor of the second antenna, and determining that the first antenna is a main antenna when the precision factor of the first antenna is smaller than the precision factor of the second antenna.
In one possible design, after the down-converting the first rf signal to a first digital intermediate frequency and the down-converting the second rf signal to a second digital intermediate frequency, the method further includes:
outputting the first digital intermediate frequency and the second digital intermediate frequency and corresponding sampling clocks;
and determining a first radio frequency chip corresponding to the first antenna, and sampling the first digital intermediate frequency and the second digital intermediate frequency according to a sampling clock corresponding to the first radio frequency chip as a reference clock.
In one possible design, the modifying the second observation data according to the attitude information of the carrier includes:
determining a baseline vector between the first antenna and the second antenna from attitude information of the carrier
Figure BDA0002855868580000061
From the baseline vector
Figure BDA0002855868580000062
And a radio frequency delay τ10And pseudo ranges ρ of a plurality of second satellites determined by the second antenna0 mFitting the pseudo ranges of the plurality of second satellites determined by the second antenna into pseudo ranges rho of the satellite corresponding to reception of the first antenna1 m；
Carrier phases L of a plurality of second satellites determined according to the second antenna0 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the satellite corresponding to the reception of the first antenna1 m；
Receiving pseudo range rho of corresponding satellite by the first antenna1 mAccording to formula (1);
the formula (1) is:
Figure BDA0002855868580000063
wherein the content of the first and second substances,
Figure BDA0002855868580000064
is the direction vector of the satellite, c is the speed of light;
the first antenna receives the carrier phase L of the corresponding satellite1 mAccording to formula (2);
the formula (2) is:
Figure BDA0002855868580000065
wherein N is01And lambda is the wavelength corresponding to the satellite frequency point.
In one possible design, the radio frequency delay τ10The delay of different frequency points and the radio frequency channel of the radio frequency module is calibrated in a preset calibration mode.
In a possible design, the calculating to obtain a positioning result according to the first observation data, the modified second observation data, and ephemeris information of a corresponding satellite includes:
according to the pseudo range and the carrier phase of the first antenna, the rho1 mAnd said L1 mAnd ephemeris information of the corresponding satellite, and the positioning result is determined through single-point positioning calculation.
In one possible design, the first digital intermediate frequency and the second digital intermediate frequency include:
digital intermediate frequencies corresponding to GPS constellation L1 and L2 frequency points and digital intermediate frequencies corresponding to Beidou positioning system BD2 constellation B1 and B3 frequency points.
In a third aspect, an embodiment of the present invention further provides a satellite positioning system, including the satellite receiver according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a computing device, including: a memory for storing a computer program; a processor for calling the computer program stored in said memory and executing the method as described in the various possible designs of the second aspect according to the obtained program.
In a fifth aspect, the present invention also provides a computer-readable non-volatile storage medium, which includes a computer-readable program, which, when read and executed by a computer, causes the computer to perform the method as set forth in the various possible designs of the second aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic diagram of a receiver and satellite provided in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a dual-antenna based satellite receiver according to an embodiment of the present invention;
fig. 3 is an internal schematic diagram of a radio frequency chip according to an embodiment of the present invention;
fig. 4 is a flowchart of observation data set processing provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. 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 application.
At present, low earth orbit satellites are gradually paid attention and favored by the field of Global Satellite Navigation with the unique advantages of constellations and signals, and are expected to become a new increment for the development of a new generation of Satellite Navigation systems. The world satellite Navigation field is concerned with research, development and practice on how to apply low-earth satellite technology to realize enhancement, backup and supplement of a PNT (Positioning, and Timing) system. The American iridium satellite system and the GPS jointly develop and release novel satellite timing and positioning service, and become backup or supplement of the GPS system; the european Galileo (Galileo satellite navigation system) technical team is also actively promoting the keplerian system research, and the low-orbit constellation consisting of 4-6 low-orbit satellites is used for monitoring and measuring the medium and high-orbit satellites with high precision through the inter-satellite link, so as to greatly improve the orbit determination precision of the Galileo constellation.
Meanwhile, the development of the domestic low-orbit satellite technology is also vigorous. Fig. 1 is a schematic diagram of a receiver and a satellite provided in an embodiment of the present invention. Under the push of relevant departments, large-scale enterprises, research institutions and civil enterprises, low-orbit satellite constellations such as swan, heaven and earth integrated networks, micro centimeter space and the like have already carried out on-orbit tests of test satellites, and orbit determination of low-orbit satellites needs a satellite-borne satellite receiver to be completed in an auxiliary mode, so that the satellite-borne satellite constellation positioning method is particularly important for whether the selected satellite receiver has high positioning accuracy.
In addition, for the launching and recovering work of the rocket, the rocket body of the rocket undergoes a short-time flight environment drastic change in the returning process, which increases the difficulty for control and navigation, for example, an acceleration sensor of an inertial guidance system after the return stage separation needs to calculate quickly, and the attitude of the rocket body is adjusted in the environment with weak pneumatic control, so that high-precision flight state initial information is provided, and therefore, besides a strong electronic system, a receiver with high positioning precision is also needed.
The necessity of determining a satellite receiver for high-precision positioning is described above by taking the launching and recovery of low-earth orbit satellites and rockets as an example, and actually the satellite receiver for high-precision positioning is applicable to more extensive situations, which are not listed one by one.
The embodiment of the invention provides a satellite receiver based on double antennas, which can be applied to the technical field of satellite navigation and aims to solve the problems of low positioning accuracy and poor usability caused by a multi-satellite single-frequency receiver based on a single antenna. Fig. 2 is a schematic structural diagram of a dual-antenna based satellite receiver according to an embodiment of the present invention, including:
s201, a first antenna receives first radio frequency signals of a plurality of first satellites;
s202, a second antenna receives second radio frequency signals of a plurality of second satellites;
s203, the radio frequency module down-converts the first radio frequency signal into a first digital intermediate frequency and down-converts the second radio frequency signal into a second digital intermediate frequency;
s204, the baseband processing module separates the first digital intermediate frequency and the second digital intermediate frequency, and determines a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency; generating first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals;
s205, the main control module selects a first antenna and a second antenna by using a satellite selection algorithm, determines that the first antenna corresponding to the first observation data is a main antenna, and corrects the second observation data according to the attitude information of the carrier; and resolving to obtain a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite.
In steps S201 and S202, two independent satellite antennas, namely a first antenna and a second antenna, are used and symmetrically installed on two symmetrical sides of the satellite receiver, so that a satellite with a changed attitude can still receive enough satellites. It should be understood that the attitude change satellite is formed by rotation of the satellite relative to its own mass point, and since the antenna has a directional pattern, when the elevation angle of the antenna is not within a preset range, the ability of the antenna to receive radio frequency signals will also be degraded, which will result in that for the attitude change satellite, enough visible satellites cannot be received and the satellite search is not continuous. Therefore, in the embodiment of the application, the dual antennas are used for receiving the radio frequency signals of the satellites, so that more satellites with changed attitudes can be received, that is, the first antenna can receive the first radio frequency signals of a plurality of first satellites, and the second antenna receives the second radio frequency signals of a plurality of second satellites.
For example, 3 satellites are received by the first antenna, and 2 satellites are received by the second antenna, so that if a single-antenna satellite receiver is adopted, it can be known that positioning calculation cannot be performed because the number of the satellites received by the single antenna is less than 4; the embodiment of the application is a satellite receiver based on double antennas, and the radio frequency signals of more than 4 (5) satellites can be received by the combination of the first antenna and the second antenna so as to perform positioning calculation. It should be noted that steps S201 and S202 are executed simultaneously, and are not in sequence.
In the specific implementation process of step 203, after receiving the first radio frequency signal output by the first antenna and the second radio frequency signal output by the second antenna, the radio frequency module down-converts the first radio frequency signal output by the first antenna to a first digital intermediate frequency, and down-converts the second radio frequency signal output by the second antenna to a second digital intermediate frequency; in order to adapt to the dual antennas, the satellite receiver may set two separate rf channels for the rf module in terms of hardware design to perform frequency conversion processing on the corresponding rf signals output by the first antenna and the second antenna, so as to obtain the corresponding digital intermediate frequency.
In the implementation process of step S204, the baseband processing module is a core element for receiving satellite navigation signals, and has a faster processing function. It should be understood that the first digital intermediate frequency and the second digital intermediate frequency are substantially digital intermediate frequencies including a plurality of first satellites and a plurality of second satellites corresponding thereto. Therefore, the first digital intermediate frequency and the second digital intermediate frequency are separated, that is, a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency can be determined by capturing and tracking satellites of the first antenna and the second antenna, and then first observation data corresponding to the first antenna and second observation data corresponding to the second antenna can be generated according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals; it can be seen that the first observation data and the second observation data are original observation data corresponding to the first antenna and the second antenna. It should be noted that, for the acquisition and tracking of the baseband processing module to the satellite, which belongs to the prior art, details are not described here.
In the specific implementation process of step S205, the main control module simultaneously schedules two acquisition channels and an internal tracking channel in a baseband processing module of the dual-antenna-based satellite receiver for loop processing, where the main control module includes: the device comprises a carrier tracking loop, a code tracking loop, bit synchronization processing, frame synchronization processing, a capturing and scheduling module, a local clock module and an observation data generating module. The main control module receives an original observation data set generated by the baseband processing module, namely first observation data corresponding to a first antenna and second observation data corresponding to a second antenna, selects the first antenna and the second antenna by using a satellite selection algorithm, and corrects the second observation data corresponding to a slave antenna (the second antenna) according to attitude information of a carrier when the first antenna corresponding to the first observation data is determined to be the master antenna because the first antenna and the second antenna have offset in geometric position, so that a positioning result is obtained by resolving according to the first observation data, the corrected second observation data and ephemeris information of a corresponding satellite, joint resolution of the observation data of the double antennas is realized, and positioning accuracy is improved.
For the frequency conversion processing of the radio frequency module on the received radio frequency signal to obtain the corresponding digital intermediate frequency, the first digital intermediate frequency and the second digital intermediate frequency, a specific mode is provided as follows:
the first and second digital intermediate frequencies include: digital intermediate frequencies corresponding to global positioning system GPS constellation L1 and L2 frequency points and digital intermediate frequencies corresponding to Beidou positioning system BD constellation B1 and B3 frequency points.
Positioning is carried out by receiving satellite navigation signals aiming at a GPS constellation, the GPS satellite navigation signals are divided into L1 and L2, namely an L1 frequency point and an L2 frequency point, the radio frequency is 1575.42 and 1227.6 respectively, then the radio frequency module carries out down-conversion treatment on the radio frequency of the L1 and L2 frequency points of the GPS constellation, and then the corresponding digital intermediate frequency can be obtained; for a BD constellation, the BD constellation is divided into B1, B2, and B3 frequency points, and in the embodiment of the present application, the B1 and B3 frequency points in the BD constellation are selected, so that the radio frequency module performs down-conversion processing on radio frequency of the B1 and B3 frequency points in the BD constellation, and a corresponding digital intermediate frequency can be obtained. In the embodiment of the application, sufficient observed data frequency points are provided for high-precision positioning calculation through double-star four-frequency data, and the selected first digital intermediate frequency and the selected second digital intermediate frequency are determined to be four ways of intermediate frequency data through the first digital intermediate frequency and the second digital intermediate frequency obtained through the double-star four-frequency data, so that ionospheric errors caused by single-frequency data are eliminated through the first digital intermediate frequency and the second digital intermediate frequency of the four ways of intermediate frequency data, and the positioning precision is further improved.
For the first digital intermediate frequency and the second digital intermediate frequency, another way is to determine that the first digital intermediate frequency and the second digital intermediate frequency are a digital intermediate frequency corresponding to a GPS constellation L1 and a GPS constellation L2, and a frequency point L1 and a frequency point L2 corresponding to a GLONASS (GLOBAL NAVIGATION satellite system) constellation, and specifically, which way is used to determine the first digital intermediate frequency and the second digital intermediate frequency, which is not limited in this application.
In addition, in step S204, the baseband processing module separates the first digital intermediate frequency from the second digital intermediate frequency, that is, captures and tracks the satellites of the first antenna and the second antenna, in order to save resources and reduce power consumption, a guidance capture function is supported for capturing and tracking four channels of frequency point data, and an actual signal of any one capture channel can assist in capturing signals of other frequency points in the tracking process. For example, when the L1 frequency point of the GPS constellation is captured, since the code phases of L1 and L2 are consistent at the zero point and the doppler has a certain proportion of the relationship, the frequency point L2 can be known through the frequency point L1, and therefore, it is no longer necessary to use a capture channel for additional capture, and other frequency points can be captured quickly by guiding to search for the doppler and code phase in a certain range.
For a radio frequency module that down-converts a first radio frequency signal to a first digital intermediate frequency and down-converts a second radio frequency signal to a second digital intermediate frequency, a specific manner is provided as follows:
the radio frequency module comprises a first radio frequency chip and a second radio frequency chip, and can output a first digital intermediate frequency, a second digital intermediate frequency and a corresponding sampling clock after down-converting a first radio frequency signal into a first digital intermediate frequency and down-converting a second radio frequency signal into a second digital intermediate frequency; further, after determining a first radio frequency chip corresponding to the first antenna, the baseband processing module performs sampling processing on the first digital intermediate frequency and the second digital intermediate frequency according to a sampling clock corresponding to the first radio frequency chip as a reference clock.
Aiming at the first radio frequency chip and the second radio frequency chip, two XN117 modules are used, clocks are homologous, two digital intermediate frequencies and sampling clocks are determined through the XN117 modules, the first radio frequency chip is responsible for down-converting a first antenna radio frequency signal into a first digital intermediate frequency, and the second radio frequency chip is responsible for down-converting a second antenna radio frequency signal into a second digital intermediate frequency. The XN117 module integrates a mixer, an intermediate frequency low pass filter, a variable gain amplifier, a frequency synthesizer, and an analog to digital converter. Each XN117 processes 2 rf channels. As shown in fig. 3, which is a schematic diagram of the inside of the rf chip, two paths of digital intermediate frequencies can be determined by one path of the rf chip. Wherein, according to the prior scheme verification, 4-path digital intermediate frequency is planned according to the table 1.
TABLE 1
Figure BDA0002855868580000121
For example, when the received satellite is the B1 and B3 frequency points of the BD constellation, and the channel 1 is selected as the radio frequency channel of the constellation, and when the received radio frequency is 1268.52, that is, it is indicated that the radio frequency corresponds to the B3 frequency point, by the frequency mixing of the radio frequency chip, a determined local frequency can be obtained by a local frequency-radio frequency; determining an intermediate frequency as: 1395-1268.52 ═ 187.86; further, according to a second local oscillation frequency determined by the radio frequency chip, obtaining a second intermediate frequency through the second local oscillation frequency-the first intermediate frequency; namely, determining the two intermediate frequency frequencies as follows: 174.375-187.86 is-13.485. It should be understood that the first digital intermediate frequency and the second digital intermediate frequency are a set of two intermediate frequencies.
After the radio frequency module outputs the first digital intermediate frequency, the second digital intermediate frequency and the corresponding sampling clock through the two radio frequency chips, and the baseband processing module selects the first antenna as a main antenna, the sampling clock of the first radio frequency chip corresponding to the first antenna can be used as a reference clock to perform sampling processing on the first digital intermediate frequency and the second digital intermediate frequency. By selecting the first radio frequency chip corresponding to the main antenna and using the sampling clock corresponding to the first radio frequency chip as the reference clock, the sampling processing of the digital intermediate frequency is performed, so that the precision of the digital intermediate frequency determined by the sampling processing is improved, and accurate digital intermediate frequency is provided for further determining a positioning result by the main control module.
For step S205, the main control module receives first observation data corresponding to the first antenna and second observation data corresponding to the second antenna, which are generated by the baseband processing module, and selects the first antenna and the second antenna by using a satellite selection algorithm for the main control module to determine the main antenna, a specific method is provided as follows:
the main control module respectively carries out single-point positioning according to the first observation data and the second observation data, determines the precision factor of the first antenna and the precision factor of the second antenna, compares the precision factor of the first antenna with the precision factor of the second antenna, and determines that the first antenna is the main antenna when the precision factor of the first antenna is smaller than the precision factor of the second antenna.
In the embodiment of the application, the accuracy factor of the first antenna corresponding to the first observation data and the accuracy factor of the second antenna corresponding to the second observation data can be determined by performing single-point positioning on the original observation data, that is, the single-point positioning of the first observation data and the second observation data. The quality of the observation data depends on the geometry between the measured satellite and the satellite receiver, and the calculation of the error amount is referred to as the strength of the accuracy, which is also referred to as the Dilution of Precision (DOP). It can be seen that the better the satellite distribution degree in the sky, the higher the positioning accuracy, the smaller the accuracy factor, and then the accuracy factor obtained by comparing the first antenna and the second antenna, and determining the first antenna with the small accuracy factor as the main antenna, which indicates that the distribution degree of the plurality of first satellites received by the first antenna is better, it should be understood that the single point positioning technology (PPP) belongs to the conventional technical means in the field, and details are not described here.
After the first antenna corresponding to the first observation data is determined to be the main antenna, the second observation data is corrected according to the attitude information of the carrier, and a specific implementation manner is provided as follows:
the main control module determines a baseline vector between the first antenna and the second antenna according to the attitude information of the carrier
Figure BDA0002855868580000141
From a baseline vector
Figure BDA0002855868580000142
And a radio frequency delay τ10And pseudo ranges ρ of a plurality of second satellites determined by the second antenna0 mFitting the pseudo ranges of the second satellites determined by the second antenna into the pseudo range rho of the satellite corresponding to the reception of the first antenna1 m；
Carrier phases L of a plurality of second satellites determined according to the second antenna0 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the satellite corresponding to the reception of the first antenna1 m；
Receiving pseudo range rho of corresponding satellite by first antenna1 mAccording to formula (1);
the formula (1) is:
Figure BDA0002855868580000143
wherein the content of the first and second substances,
Figure BDA0002855868580000144
is the direction vector of the satellite, c is the speed of light;
receiving carrier phase L of corresponding satellite by first antenna1 mAccording to formula (2);
the formula (2) is:
Figure BDA0002855868580000145
wherein N is01And lambda is the wavelength corresponding to the satellite frequency point.
And according to the attitude information provided by the carrier, accurately fitting the observation data corresponding to the first antenna and the second antenna to the phase center of the main antenna by means of information fusion. According to the latitude, longitude and altitude (L) of the carrierb，λbH), calculating a transformation matrix from the satellite navigation coordinate system to an ECEF (Earth-Centered, Earth-Fixed, Earth-Centered coordinate system) coordinate system
Figure BDA0002855868580000146
Acquiring attitude angles (theta, phi and psi) of a carrier, and calculating a transformation matrix from a carrier coordinate system to a satellite navigation coordinate system
Figure BDA0002855868580000147
Wherein the conversion matrix
Figure BDA0002855868580000148
And a transformation matrix
Figure BDA0002855868580000149
The following were used:
Figure BDA0002855868580000151
Figure BDA0002855868580000152
further, according to the transformation matrix from the satellite navigation coordinate system to the ECEF coordinate system
Figure BDA0002855868580000153
And a transformation matrix from the carrier coordinate system to the satellite navigation coordinate system
Figure BDA0002855868580000154
The transformation matrix from the carrier coordinate system to the ECEF coordinate system can be obtained
Figure BDA0002855868580000155
Figure BDA0002855868580000156
Then the transformation matrix from the carrier coordinate system to the ECEF coordinate system is used
Figure BDA0002855868580000157
And a base line vector in a carrier coordinate system
Figure BDA0002855868580000158
To determine a baseline vector between the first antenna and the second antenna in the ECEF coordinate system
Figure BDA0002855868580000159
Figure BDA00028558685800001510
Then, having determined that the first antenna is the primary antenna, i.e., the observation data from the secondary antenna, i.e., the second antenna, is to be synthesized to the primary antenna to receive the observation data from the corresponding satellite, wherein the observation data refers to the pseudorange and the carrier phase, a correction to the second observation data to a corrected pseudorange and a corrected carrier phase, i.e., a plurality of observations determined from the second antenna, are determinedThe pseudo-range of the second satellite is fit to the pseudo-range of the corresponding satellite received by the first antenna as ρ in the above equation (1)1 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted to the carrier phase of the corresponding satellite received by the first antenna, as L in the above formula (1)1 m(ii) a Then a correction to the second observation corresponding to the slave antenna, i.e. the second antenna, is achieved.
By the mode, when the first antenna is determined to be the main antenna, observation data of the second antenna, namely the pseudo range and the carrier phase of the second antenna are corrected and fitted to the pseudo range and the carrier phase of the first antenna for receiving the corresponding satellite, positioning accuracy influence caused by position offset is fully considered, and positioning accuracy obtained through positioning calculation is further improved by fitting the pseudo range and the carrier phase of the second antenna to the pseudo range and the carrier phase of the first antenna for receiving the corresponding satellite.
In the process of down-converting the radio-frequency signals corresponding to the first antenna and the second antenna to the corresponding digital intermediate frequency, because the first radio-frequency chip and the second radio-frequency chip are adopted to respectively perform frequency conversion processing on the radio-frequency signals of the first antenna and the second antenna, a fixed radio-frequency delay exists when first observation data corresponding to the first antenna and second observation data corresponding to the second antenna are generated according to the corresponding first digital intermediate frequency and second digital intermediate frequency, and therefore the radio-frequency delay tau needs to be delayed10Calibrating to further ensure high-precision positioning result, for the radio frequency delay tau10The following provides a specific implementation:
the radio frequency delay tau10The delay of the radio frequency channels of different frequency points and radio frequency modules is calibrated by adopting a preset calibration mode.
For example, the positioning accuracy is further improved by calibrating the delays of different frequency points, i.e., L1 and L2 of the GPS constellation, B1 and B3 of the BD constellation, and corresponding radio frequency channels, by using a laboratory hardware calibration method. It will be appreciated that the radio frequency delay τ varies with the first observation and the second observation10And also dynamically adjusted accordingly.
For the ephemeris information according to the first observation data, the corrected second observation data and the corresponding satellite, a positioning result is obtained by calculation, and a specific implementation manner is provided as follows:
according to the pseudo range and carrier phase of the first antenna, the determined rho1 mAnd L1 mAnd ephemeris information of the corresponding satellite, and a positioning result is determined through single-point positioning calculation.
Determining a first antenna as a main antenna through a satellite selection algorithm, and fitting pseudo ranges of a plurality of second satellites determined by a secondary antenna, namely a second antenna into pseudo range rho of a satellite corresponding to reception of the first antenna according to carrier attitude information1 m(ii) a And the carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the corresponding satellite received by the first antenna1 mThen, the pseudo range and the carrier phase observation data of the first antenna and the corrected observation data, namely the pseudo range rho are obtained through the joint calculation1 mAnd carrier phase L1 mAnd a two-channel RF delay tau corresponding to the RF module10And a high-precision positioning result is obtained through the calculation of a single-point positioning calculation algorithm.
The method has the advantages that the related observation data are obtained through a joint calculation mode, when the first antenna and the second antenna can not be independently positioned, the joint calculation mode can be started, the observation data corresponding to the first antenna and the second antenna are jointly calculated, the observation data with higher signal-to-noise ratio are determined according to the situation of repeated satellites in the first antenna and the second antenna by comparing the signal-to-noise ratio and neglecting the influence of the elevation angle, and high-precision positioning based on the double-antenna satellite receiver is realized.
For the set processing of the observation data to obtain a high-precision positioning result, fig. 4 is a flowchart of the observation data set processing provided in the embodiment of the present invention. The method comprises the following specific steps:
step 401, determining a first antenna as a main antenna by a double-antenna star selection algorithm;
step 402, completing initialization and correction of a local clock according to the telegraph message;
step 403, correcting second observation data corresponding to the second antenna according to the carrier attitude information;
step 404, performing joint calculation to obtain first observation data and corrected second observation data;
step 405, determining a dual-channel radio frequency delay;
step 406, obtaining observation data;
and step 407, single-point positioning, and resolving to obtain a positioning result.
According to step 401, the main control module selects a first antenna and a second antenna through a satellite selection algorithm, determines a precision factor of the first antenna and a precision factor of the second antenna through single-point positioning calculation of the first antenna and the second antenna, and selects the first antenna as a main antenna when the precision factor of the first antenna is determined to be small; that is, the first observation data corresponding to the first antenna and the second observation data corresponding to the second antenna may be determined, and the observation data of the slave antenna, that is, the second observation data corresponding to the second antenna may be corrected.
In step 402, the message information is extracted to complete the parsing and storage of the messages of the GPS constellation, BD constellation (e.g., BD2), D1 and D2, and the system time is extracted from the message to complete the initialization and correction of the local clock.
In step 403, a baseline vector between the first antenna and the second antenna is determined according to the carrier attitude information
Figure BDA0002855868580000181
And a radio frequency delay τ10The pseudo ranges of a plurality of second satellites determined by the second antenna are fitted into the pseudo range rho of the satellite corresponding to the reception of the first antenna1 m(ii) a The carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the corresponding satellite received by the first antenna1 m(ii) a The corrected pseudo range ρ is known1 mAnd the corrected carrier phase L1 mIs thatCorrected second observation data;
in step 405, since the first antenna and the second antenna select the rf channels corresponding to the two different rf chips in the rf module, and the two rf chips have different delays, the first observation data and the second observation data have a certain rf delay τ10And needs to delay the radio frequency by tau10Influence on positioning solution. Therefore, the delay of the radio frequency channels of different frequency points and radio frequency modules is calibrated in a preset calibration mode aiming at the double-channel radio frequency delay, and the accuracy of observation data is improved. It should be understood that the steps 404 and 405 may be performed in a different order, and the rf delay τ may be determined10Then, the second observation data is corrected, or the radio frequency delay tau is used in the process of correcting the second observation data10To correct the second observed data.
According to step 406, observation data required for positioning calculation can be obtained; the observation data is obtained by joint solution, and comprises pseudo ranges and carrier phases of a plurality of first satellites received by the first antenna and corrected second observation data, namely pseudo ranges of a plurality of second satellites received by the first antenna are synthesized into pseudo ranges rho of corresponding satellites received by the first antenna1 mAnd fitting the carrier phases of the plurality of second satellites determined by the second antenna into the carrier phase L of the corresponding satellite received by the first antenna1 mAnd ephemeris information of satellites corresponding to the first satellites and the second satellites.
And 407, jointly calculating the determined observation data through the step 406, namely determining a high-precision positioning result through a single-point positioning calculation algorithm.
From the above, it can be seen that: the embodiment of the invention provides a satellite receiver based on double antennas, a satellite positioning method and a satellite positioning system, wherein a first antenna is used for receiving first radio frequency signals of a plurality of first satellites, and a second antenna is used for receiving second radio frequency signals of a plurality of second satellites; the radio frequency module is used for down-converting a first radio frequency signal output by the first antenna into a first digital intermediate frequency and down-converting a second radio frequency signal output by the second antenna into a second digital intermediate frequency; further, the baseband processing module separates the first digital intermediate frequency and the second digital intermediate frequency, determines a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency, and generates first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals; and the main control module can select the first antenna and the second antenna by using a satellite selection algorithm, determine that the first antenna corresponding to the first observation data is the main antenna, correct the second observation data according to the attitude information of the carrier, and further calculate according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite to obtain a positioning result. It can be seen from the above that, the satellite receiver based on the dual antennas realizes that enough satellites can be received under the condition that the attitude of the carrier changes through the dual antennas symmetrically installed on the receiver, solves the problems of discontinuous satellite search and few available satellites caused by the attitude change of the carrier, and improves the usability of the satellites; and the main antenna is selected through a satellite selection algorithm, and the observation data of the double antennas are jointly resolved according to the attitude information of the carrier, so that the positioning precision is improved.
Based on the same inventive concept, the embodiment of the present invention further provides a satellite positioning method, which is performed by a dual-antenna based satellite receiver, and the method includes:
receiving first radio frequency signals of a plurality of first satellites and second radio frequency signals of a plurality of second satellites, and down-converting the first radio frequency signals to a first digital intermediate frequency and the second radio frequency signals to a second digital intermediate frequency; separating the first digital intermediate frequency and the second digital intermediate frequency, and determining a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency; according to the multiple first satellite navigation signals and the multiple second satellite navigation signals, first observation data corresponding to a first antenna and second observation data corresponding to a second antenna are generated, the first antenna and the second antenna are selected through a satellite selection algorithm, the first antenna corresponding to the first observation data is determined to be a main antenna, the second observation data are corrected according to attitude information of a carrier, and further, according to the first observation data, the corrected second observation data and ephemeris information of corresponding satellites, a positioning result is obtained through calculation.
In one possible design, selecting a first antenna and a second antenna using a satellite selection algorithm, and determining that the first antenna corresponding to the first observation data is a main antenna includes:
and respectively carrying out single-point positioning according to the first observation data and the second observation data, determining the precision factor of the first antenna and the precision factor of the second antenna, and determining that the first antenna is the main antenna when the precision factor of the first antenna is smaller than the precision factor of the second antenna by comparing the precision factor of the first antenna with the precision factor of the second antenna.
In one possible design, after down-converting the first rf signal to the first digital intermediate frequency and down-converting the second rf signal to the second digital intermediate frequency, the method further includes:
and outputting the first digital intermediate frequency, the second digital intermediate frequency and the corresponding sampling clock, determining a first radio frequency chip corresponding to the first antenna, and sampling the first digital intermediate frequency and the second digital intermediate frequency according to the sampling clock corresponding to the first radio frequency chip as a reference clock.
In one possible design, modifying the second observation data according to the attitude information of the carrier includes:
determining a baseline vector between a first antenna and a second antenna from attitude information of a carrier
Figure BDA0002855868580000201
From a baseline vector
Figure BDA0002855868580000202
And a radio frequency delay τ10And pseudo ranges ρ of a plurality of second satellites determined by the second antenna0 mFitting the pseudo ranges of the second satellites determined by the second antenna into the pseudo range rho of the satellite corresponding to the reception of the first antenna1 m(ii) a Carrier phases L of a plurality of second satellites determined according to the second antenna0 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the corresponding satellite received by the first antenna1 m(ii) a Receiving pseudo range rho of corresponding satellite by the first antenna1 mAccording to formula (1);
the formula (1) is:
Figure BDA0002855868580000203
wherein the content of the first and second substances,
Figure BDA0002855868580000204
is the direction vector of the satellite, c is the speed of light;
receiving carrier phase L of corresponding satellite by first antenna1 mAccording to formula (2);
the formula (2) is:
Figure BDA0002855868580000205
wherein N is01And lambda is the wavelength corresponding to the satellite frequency point.
In one possible design, the radio frequency delay τ10The delay of different frequency points and the radio frequency channel of the radio frequency module is calibrated in a preset calibration mode.
In one possible design, the first digital intermediate frequency and the second digital intermediate frequency include:
digital intermediate frequencies corresponding to GPS constellation L1 and L2 frequency points and digital intermediate frequencies corresponding to Beidou positioning system BD2 constellation B1 and B3 frequency points.
In a possible design, the calculating to obtain a positioning result according to the first observation data, the modified second observation data, and ephemeris information of a corresponding satellite includes:
according to the pseudo range and the carrier phase of the first antenna, the rho1 mAnd said L1 mAnd ephemeris information of the corresponding satellite, and the positioning result is determined through single-point positioning calculation.
Based on the same inventive concept, the embodiment of the invention also provides a satellite positioning system, which comprises the satellite receiver.
Based on the same inventive concept, the embodiment of the present invention further provides another computer device, which may specifically be a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), and the like. The computer device may include a Central Processing Unit (CPU), a memory, an input/output device, etc., the input device may include a keyboard, a mouse, a touch screen, etc., and the output device may include a Display device, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), etc.
The memory may include Read Only Memory (ROM) and Random Access Memory (RAM), and provides the processor with program instructions and data stored in the memory. In an embodiment of the present invention, the memory may be used to store a program of the above-described satellite positioning method.
The processor is used for executing the satellite positioning method according to the obtained program instructions by calling the program instructions stored in the memory.
Based on the same inventive concept, embodiments of the present invention provide a computer storage medium for storing computer program instructions for the computer apparatus, which includes a program for executing the satellite positioning method.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including, but not limited to, magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), Solid State Disks (SSDs)), etc.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit and scope of the application. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.

Claims (10)

1. A dual antenna based satellite receiver, comprising:
a first antenna for receiving first radio frequency signals of a plurality of first satellites;
a second antenna for receiving second radio frequency signals of a plurality of second satellites;
the radio frequency module is used for down-converting the first radio frequency signal into a first digital intermediate frequency and down-converting the second radio frequency signal into a second digital intermediate frequency;
a baseband processing module, configured to separate the first digital intermediate frequency from the second digital intermediate frequency, and determine a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency; generating first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals;
the main control module is used for selecting the first antenna and the second antenna by using a satellite selection algorithm and determining that the first antenna corresponding to the first observation data is a main antenna; correcting the second observation data according to the attitude information of the carrier; and resolving to obtain a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite.
2. The satellite receiver according to claim 1, wherein the main control module is specifically configured to:
respectively carrying out single-point positioning according to the first observation data and the second observation data, and determining the precision factor of the first antenna and the precision factor of the second antenna;
and comparing the precision factor of the first antenna with the precision factor of the second antenna, and determining that the first antenna is a main antenna when the precision factor of the first antenna is smaller than the precision factor of the second antenna.
3. The satellite receiver of claim 2, wherein the radio frequency module comprises a first radio frequency chip and a second radio frequency chip, and wherein the radio frequency module is further configured to:
outputting the first digital intermediate frequency and the second digital intermediate frequency and corresponding sampling clocks;
the baseband processing module is further configured to:
and determining a first radio frequency chip corresponding to the first antenna, and sampling the first digital intermediate frequency and the second digital intermediate frequency according to a sampling clock corresponding to the first radio frequency chip as a reference clock.
4. The satellite receiver according to claim 1, wherein the main control module is specifically configured to:
determining a baseline vector between the first antenna and the second antenna from attitude information of the carrier
Figure FDA0002855868570000021
From the baseline vector
Figure FDA0002855868570000022
And a radio frequency delay τ10And pseudo ranges ρ of a plurality of second satellites determined by the second antenna0 mSimulating pseudoranges of a plurality of second satellites determined by the second antennaSynthesizing a pseudo range rho of a satellite corresponding to reception of the first antenna1 m；
Carrier phases L of a plurality of second satellites determined according to the second antenna0 mThe carrier phases of a plurality of second satellites determined by the second antenna are fitted into the carrier phase L of the satellite corresponding to the reception of the first antenna1 m；
Receiving pseudo range rho of corresponding satellite by the first antenna1 mAccording to formula (1);
the formula (1) is:
Figure FDA0002855868570000023
wherein the content of the first and second substances,
Figure FDA0002855868570000024
is the direction vector of the satellite, c is the speed of light;
the first antenna receives the carrier phase L of the corresponding satellite1 mAccording to formula (2);
the formula (2) is:
Figure FDA0002855868570000025
wherein N is01And lambda is the wavelength corresponding to the satellite frequency point.
5. The satellite receiver of claim 4, wherein the radio frequency delay τ is greater than the first delay τ10The delay of different frequency points and the radio frequency channel of the radio frequency module is calibrated in a preset calibration mode.
6. The satellite receiver of claim 4, wherein the main control module is specifically configured to:
according to the pseudo range and the carrier wave of the first antennaPhase, said rho1 mAnd said L1 mAnd ephemeris information of the corresponding satellite, and the positioning result is determined through single-point positioning calculation.
7. The satellite receiver of any one of claims 1 to 6, wherein the first digital intermediate frequency and the second digital intermediate frequency comprise:
digital intermediate frequencies corresponding to global positioning system GPS constellation L1 and L2 frequency points and digital intermediate frequencies corresponding to Beidou positioning system BD constellation B1 and B3 frequency points.
8. A method of satellite positioning, comprising:
receiving first radio frequency signals of a first plurality of satellites and receiving second radio frequency signals of a second plurality of satellites;
down-converting the first radio frequency signal to a first digital intermediate frequency, and down-converting the second radio frequency signal to a second digital intermediate frequency;
separating the first digital intermediate frequency from the second digital intermediate frequency, and determining a plurality of first satellite navigation signals corresponding to the first digital intermediate frequency and a plurality of second satellite navigation signals corresponding to the second digital intermediate frequency;
generating first observation data corresponding to the first antenna and second observation data corresponding to the second antenna according to the plurality of first satellite navigation signals and the plurality of second satellite navigation signals;
selecting the first antenna and the second antenna by using a satellite selection algorithm, and determining that the first antenna corresponding to the first observation data is a main antenna;
correcting the second observation data according to the attitude information of the carrier;
and resolving to obtain a positioning result according to the first observation data, the corrected second observation data and ephemeris information of the corresponding satellite.
9. A satellite positioning system comprising a satellite receiver as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of claim 8.
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