CN112764061A - Method for realizing capture processing and receiver - Google Patents
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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Abstract
A method and a receiver for realizing acquisition processing comprise: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems; executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired; and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation. The embodiment of the invention improves the utilization rate of hardware resources of the navigation receiver and reduces the starting time of the navigation system.
Description
Technical Field
The present disclosure relates to, but not limited to, satellite navigation technologies, and more particularly, to a method and a receiver for performing an acquisition process.
Background
A Global Navigation Satellite System (GNSS) plays an increasingly irreplaceable important role in daily life of people, and is increasingly applied to the fields of Navigation, exploration, monitoring, measurement, communication time service and the like. With the rapid development of civil applications in recent years, a global satellite navigation system is gradually deepened in daily life, and the satellite navigation technology cannot be separated from mobile phones, personal computers, automobiles, civil airplanes, missiles and fighters. All major countries in the world strive to develop satellite navigation technology, a plurality of satellite navigation systems exist at present, and the countries are independent to compete to develop the satellite navigation technology and mutually compatible systems, so that a prosperous GNSS system is formed. The global satellite navigation system mainly comprises a GPS system in the United states, a Beidou (BD) system in China, a global navigation satellite positioning system in Russia (GLONASS) and a Galileo (Galileo) system in Europe, wherein the GPS and the Beidou are widely applied in China and Asia-Pacific areas, and the GPS and the GLONASS are more applied in Russia.
The navigation receiver comprises a hardware part and a software part; the hardware part comprises modules which need a large amount of calculation, such as a preprocessing module, an Acquisition Engine (AE) searching module, a Tracking Engine (TE) correlation integration module and the like. The software portion includes a position, Velocity, Timing (PVT, location, Velocity, Timing) module, an acquisition and transition tracking (A2T, AE to TE) module, and the like. In terms of signal processing flow, after a navigation receiver captures a satellite navigation signal (AE), the satellite navigation signal needs to pass through an A2T module in sequence and be switched to a tracking module (TE); therefore, the acquisition module is a key module for navigation and positioning, which not only determines the start of the subsequent module, but also affects the performance of the whole receiver. An important index for measuring the cold start of the navigation receiver is the cold start Time (TTFF, Time To First Fix); the cold start time is mainly limited by the working performance of the acquisition search module. Since at least 4 visible satellites are required to be acquired for successful positioning, any satellite information cannot be predicted by cold start, and only blind full constellation search can be performed. To obtain better initial positioning performance, it is often considered beneficial to acquire more satellites with better signal quality.
To reduce TTFF, technicians often choose to increase chip area, i.e., to set multiple acquisition channels for simultaneous acquisition of multiple satellites; for example, 32 capture channels, or 48 capture channels are provided; the multiple acquisition channels are arranged, so that multiple satellites can be acquired simultaneously, and although the hardware complexity is greatly increased, the acquisition time can be reduced for a single system such as a GPS system; however, for the multi-System navigation receiver, such as systems simultaneously supporting GPS, BD, GLONASS, etc., and even Satellite enhanced systems (SBAS); it is not possible to improve the performance brought by multiple systems by increasing the number of channels without limit; i.e. the above-described method relying only on increasing the number of channels is not feasible. In view of the above, the skilled person proposes an improvement, namely, the satellites of each system are implicitly divided into a set with better signal quality and a set with poorer signal quality without increasing the number of acquisition channels. For a set of satellites with better signal quality, a longer integration time is not needed for capturing the satellites, so that the time for capturing one satellite is shorter; for a set of satellites with poor signal quality, a long integration time is required to acquire the satellites. Then, a rotating acquisition is performed for each satellite navigation system. This improvement reduces start-up time, but hardware resources are not fully utilized; this is because without any a priori information about a satellite before it is acquired, it is possible that the satellite is not visible at all, which if it is still attempted to acquire it, will result in the start-up time still being long; that is, the above improvement still cannot fully utilize hardware resources, resulting in a long system startup time. Fig. 1 is a flowchart of a method for multi-system acquisition in the related art, as shown in fig. 1, including:
102, setting a list of satellites to be acquired of a current system;
103, judging whether the current list to be captured is empty;
when the current to-be-acquired list has a to-be-acquired satellite, executing step 1041; when the current list to be captured is empty, executing step 1051;
step 1041, capturing integration in short time by using hardware resources; here, the accumulated coherent integration time and non-coherent integration time used for short-time acquisition integration are short, and are mainly oriented to satellites with good signal quality;
1042, updating a satellite list to be acquired by using the short-time acquisition integration result; when the to-be-acquired satellite list is updated, removing the determined satellite from the to-be-acquired list; the determined satellites include satellites that have been determined to be visible and satellites that have been determined to be invisible.
Updating a satellite list to be acquired by using the long-term acquisition integration result, and executing the step 103 again;
1051, judging whether all systems complete capturing;
when the systems do not finish capturing, executing step 1061; and when all the systems finish the acquisition, ending the acquisition.
Referring to fig. 1, each time a capture operation is performed, one of the navigation systems will fully occupy the existing hardware resources; assuming that the hardware resources include 32 hardware channels (which can capture 32 satellites at most at the same time), by adopting the above scheme, even if the current system has only 1 satellite to be captured, the remaining 31 hardware channels cannot be used for other navigation systems; in summary, when the current navigation receiver performs acquisition, hardware resources cannot be fully utilized, which results in long system startup time.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a method for realizing capture processing and a receiver, which can improve the hardware resource utilization rate of a navigation receiver and reduce the starting time of a navigation system.
The embodiment of the invention provides a method for realizing capture processing, which comprises the following steps:
setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems;
executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired;
and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation.
Optionally, after determining an acquisition order for acquiring the satellites to be acquired, the method further includes:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
Optionally, after determining an acquisition order for acquiring the satellites to be acquired, the method further includes:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
Optionally, after determining an acquisition order for acquiring the satellites to be acquired, the method further includes:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
Optionally, the determining an acquisition order for acquiring the satellites to be acquired includes:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
In another aspect, an embodiment of the present invention further provides a receiver, including: the device comprises a setting unit, an instantaneous operation unit and a sequence determining unit; wherein the content of the first and second substances,
the setting unit is used for: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems;
the instantaneous operation unit is used for: executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired;
the order-determining unit is configured to: and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation.
Optionally, the receiver further includes a first processing unit, configured to:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
Optionally, the receiver further includes a second processing unit, configured to:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
Optionally, the second processing unit is further configured to:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
Optionally, the determining order unit is specifically configured to:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
In still another aspect, an embodiment of the present invention further provides a computer storage medium, where computer-executable instructions are stored in the computer storage medium, and the computer-executable instructions are configured to perform the foregoing method.
Compared with the related art, the technical scheme of the application comprises the following steps: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems; executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired; and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation. The embodiment of the invention improves the utilization rate of hardware resources of the navigation receiver and reduces the starting time of the navigation system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of a method of multi-system acquisition in the related art;
FIG. 2 is a flow chart of a method for implementing the capture process according to an embodiment of the present invention;
fig. 3 is a block diagram of a receiver according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 2 is a flowchart of a method for implementing the capture process according to an embodiment of the present invention, as shown in fig. 2, including:
the embodiment of the invention determines all navigation systems to be captured and satellites to be captured corresponding to all the navigation systems. And if the satellite is in cold start, all the satellites of all the navigation systems are the satellites to be acquired. If in other start-up modes, the satellites to be acquired may be determined based on known ephemeris or almanac or other information.
the embodiment of the invention utilizes the existing hardware channel resources to carry out the acquisition and integration operation with the first preset time length on all the satellites to be acquired, wherein the acquisition and integration operation comprises coherent integration operation and non-coherent integration operation. Each satellite obtains an integration result, which is in complex or real form.
optionally, the determining the acquisition sequence for acquiring the satellite to be acquired in the embodiment of the present invention includes:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
Optionally, the method according to the embodiment of the present invention further includes performing capture processing according to the determined capture sequence.
Optionally, the capturing process performed in the embodiment of the present invention may include two schemes:
optionally, the first scheme:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
It should be noted that, in the above embodiment of the present invention, only the first to-be-captured satellite list is set once, and after the short-time capturing integration operation and the long-time capturing integration operation are completed according to the determined capturing sequence, visible satellites and invisible satellites in the first to-be-captured satellite list are determined; at this time, the required number of the satellites to be acquired of all the navigation systems changes in the process of acquisition processing, and in order to realize satellite acquisition, the first satellite list to be acquired may be reset by referring to the above method to continue subsequent acquisition processing.
In addition, the first preset time duration is used for rapidly determining the capturing sequence, so that the first preset time duration can be set to be 1-3 milliseconds; the short-time capturing integral operation can be implemented by referring to the related technology, and the second preset time can be about 10 milliseconds; the long-time capture integration operation may be implemented with reference to the related art, and the third preset time period may take a value of about 100 milliseconds. The setting of the second preset duration and the third preset duration is mainly based on bit characteristics and sensitivity considerations, and is a conventional technical means for those skilled in the art, and is not described herein again.
Optionally, scheme two:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
Optionally, as for the second scheme, the performing of the capture processing in the embodiment of the present invention further includes:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
It should be noted that, according to the above-mentioned embodiment of the present invention, according to the capturing order, the capturing process is performed only on the top-ranked part of the satellites to be captured, which are easy to implement the capturing process; for the sequenced satellites to be captured, the embodiment of the invention can obtain an updated first satellite list to be captured according to the redetermination of the satellites to be captured of all navigation systems in real time; the reset first to-be-captured satellite list can complete the capturing process of all to-be-captured satellites according to the determined capturing sequence; the previous part of the satellites to be acquired can be selected again for acquisition processing with reference to the above embodiment.
Compared with the related art, the technical scheme of the application comprises the following steps: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems; executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired; determining a capturing sequence for capturing the satellite to be captured according to the result of the first capturing integral operation; and performing capturing processing according to the determined capturing sequence. The embodiment of the invention improves the utilization rate of hardware resources of the navigation receiver and reduces the starting time of the navigation system.
Fig. 3 is a block diagram of a receiver according to an embodiment of the present invention, as shown in fig. 3, including: the device comprises a setting unit, an instantaneous operation unit and a sequence determining unit; wherein the content of the first and second substances,
the setting unit is used for: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems;
the instantaneous operation unit is used for: executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired;
the order-determining unit is configured to: and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation.
Optionally, the receiver in the embodiment of the present invention further includes a first processing unit, configured to:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
It should be noted that, in the above embodiment of the present invention, only the first to-be-captured satellite list is set once, and after the short-time capturing integration operation and the long-time capturing integration operation are completed according to the determined capturing sequence, visible satellites and invisible satellites in the first to-be-captured satellite list are determined; at this time, the required number of the satellites to be acquired of all the navigation systems changes in the process of acquisition processing, and in order to realize satellite acquisition, the first satellite list to be acquired may be reset by referring to the above method to continue subsequent acquisition processing.
Optionally, the receiver in the embodiment of the present invention further includes a second processing unit, configured to:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
Optionally, the second processing unit in the embodiment of the present invention is further configured to:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
It should be noted that, according to the above-mentioned embodiment of the present invention, according to the capturing order, the capturing process is performed only on the top-ranked part of the satellites to be captured, which are easy to implement the capturing process; for the sequenced satellites to be captured, the embodiment of the invention can obtain an updated first satellite list to be captured according to the redetermination of the satellites to be captured of all navigation systems in real time; the reset first to-be-captured satellite list can complete the capturing process of all to-be-captured satellites according to the determined capturing sequence; the previous part of the satellites to be acquired can be selected again for acquisition processing with reference to the above embodiment.
Optionally, the determining order unit in the embodiment of the present invention is specifically configured to:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
Compared with the related art, the technical scheme of the application comprises the following steps: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems; executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired; determining a capturing sequence for capturing the satellite to be captured according to the result of the first capturing integral operation; and performing capturing processing according to the determined capturing sequence. The embodiment of the invention improves the utilization rate of hardware resources of the navigation receiver and reduces the starting time of the navigation system.
The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are used for executing the method.
The method of the embodiment of the present invention is described below by using application examples, which are only used for illustrating the present invention and are not used for limiting the protection scope of the present invention.
Assuming that the navigation system of the present application example includes GPS, BD and GLONASS, the satellites to be acquired at the time of cold start include: the number of the satellites is 70, including 32 satellites of GPS, 14 satellites of BD and 24 satellites of GLONASS; the BD system includes 5 geostationary orbit (GEO) satellites to be acquired and 9 non-geostationary orbit (NGEO) satellites. It should be noted that, a navigation signal transmitted by an NGEO satellite adopts a 20-bit long code, and in actual acquisition, 20 hardware channels are usually required to support the acquisition of one NGEO satellite (different start bits); therefore, the 3-system satellite is actually equivalent to 70+19 × 9-241 satellites. Assume that the present application example sets up 32 hardware channels. This application example requires 32 hardware channels to quickly acquire these 241 satellites.
First capture integration operation is performed for a first preset duration. The application example can select the time length of integration to be 1ms (only coherent integration operation is performed), that is, only about 1ms is needed to complete one transient integration. Thus, it may take approximately 8ms to complete all transient integration operations, which is a very short period of time, which is essentially negligible.
And after an integration result is obtained, solving an amplitude value of the integration result. Recording the integration result as D _ i + j × D _ q, and the integrated amplitude value as a, the calculation method may use Robertson (Robertson) approximation formula:
A＝max(|D_i|+|D_q|/2,|D_q|+|D_i|/2)
referring to the related art, the code rate of the GPS coarse acquisition (C/a) code is 1.023 megahertz (MHz), while the code rate of the BD system is 2.046MHz, and the code rate of the GLONASS system is 511 kilohertz (kHz); the resulting amplitude values of the 1ms integration are different due to different code rates, and in order to make these amplitude values comparable, the embodiment of the present invention may weight the resulting amplitude values of different systems. Alternatively to the present application example, the integrated amplitude values for GPS satellites are multiplied by 1 (i.e., constant), the integrated amplitude values for BD satellites are multiplied by 0.5, and the integrated amplitude values for GLONASS satellites are multiplied by 2.
Next, the weighted integrated amplitude values corresponding to all satellites are arranged in descending order. After the sorting is completed, the order of the satellites corresponding to the amplitude values is the first list to be acquired, which is then subjected to the acquisition operation.
Since there are only 32 hardware channels, 32 satellites are selected from the first to-be-acquired list in sequence for acquisition. In the application example, the short-time acquisition integration can select the integration duration to be 10ms, and only coherent integration is carried out; the long-time acquisition integral can select the integral duration to be 100 ms; wherein, the coherent integration time length is 10ms, and the non-coherent integration time length is 10 times.
And firstly, short-time capturing integration is carried out, and a short-time capturing integration result is judged according to a large threshold value and a small threshold value preset in the related technology. If the amplitude value of the short-time acquisition integration result is larger than the large threshold, the satellite is acquired, if the amplitude value is smaller than the small threshold, the satellite is invisible, and if the amplitude value is larger than the small threshold and smaller than the large threshold, the satellite cannot be judged at present (called as a satellite to be determined), and the next acquisition processing needs to be performed.
And updating the current 32 satellite list according to the acquisition processing, removing visible stars and invisible stars, and only remaining undetermined stars. Assuming that only 5 pending satellites remain, 27 satellites are sequentially selected from the large list to form a new 32 satellites to be captured, and the next capturing, namely long-term capturing integration, is performed.
The principle of long acquisition integration is the same as short acquisition, but longer time, which can acquire the satellite with worse signal quality. And after the long-time acquisition integration is completed, similarly updating the list of the satellites to be acquired, and performing the next acquisition operation.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) to perform the steps, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in hardware, for example, by an integrated circuit to implement its corresponding function, or in software, for example, by a processor executing a program/instruction stored in a memory to implement its corresponding function. The present invention is not limited to any specific form of combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. A method of implementing an acquisition process, comprising:
setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems;
executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired;
and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation.
2. The method of claim 1, wherein after determining an acquisition order for acquiring the satellites to be acquired, the method further comprises:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
3. The method of claim 1, wherein after determining an acquisition order for acquiring the satellites to be acquired, the method further comprises:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
4. The method of claim 3, wherein after determining an acquisition order for acquiring the satellites to be acquired, the method further comprises:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
5. The method according to any of claims 1 to 4, wherein determining an acquisition order for acquiring the satellites to be acquired comprises:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
6. A receiver, comprising: the device comprises a setting unit, an instantaneous operation unit and a sequence determining unit; wherein the content of the first and second substances,
the setting unit is used for: setting a first satellite list to be acquired according to the satellites to be acquired of all navigation systems;
the instantaneous operation unit is used for: executing a first acquisition integral operation with a first preset time length on the first satellite list to be acquired;
the order-determining unit is configured to: and determining the acquisition sequence of the satellites to be acquired according to the result of the first acquisition integration operation.
7. The receiver of claim 6, further comprising a first processing unit configured to:
according to the determined acquisition sequence, successively selecting satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
updating a second list of satellites to be acquired based on the long-term acquisition integration result;
the second preset time length is longer than the first preset time length; the third preset time is longer than the second preset time.
8. The receiver of claim 6, further comprising a second processing unit configured to:
according to the determined acquisition sequence, selecting one or more satellites to be acquired with the same number as the acquisition channels from the first satellite list to be acquired as a second satellite list to be acquired;
respectively carrying out the following processing according to each second to-be-acquired satellite list obtained by selection:
performing short-time acquisition integration operation with a second preset time length according to the selected second satellite list to be acquired;
updating the second list of satellites to be acquired based on the result of the short-time acquisition integration operation;
performing long-time acquisition integration operation with a third preset time length according to the updated second satellite list to be acquired;
and updating a second list of satellites to be acquired based on the long-term acquisition integration result.
9. The receiver of claim 8, wherein the second processing unit is further configured to:
after completing the acquisition process of the second to-be-acquired satellite list of the selected one or more to-be-acquired satellites with the same number as the number of the acquisition channels:
re-determining satellites to be acquired of all navigation systems;
resetting the first satellite list to be acquired according to the re-determined satellites to be acquired of all the navigation systems;
and performing acquisition processing according to the reset first satellite list to be acquired.
10. The receiver according to any of claims 6 to 9, wherein the determining order unit is specifically configured to:
determining an amplitude value of an integration result of each satellite to be acquired according to a result of the first acquisition integration operation;
determining a weighting coefficient for weighting the amplitude value of the satellite to be captured of each navigation system based on the fact that the amplitude values of the integration results of each navigation system in unit time length are equal;
and after weighting the determined amplitude values of the satellites to be captured of each navigation system through the determined weighting coefficients, capturing the satellites to be captured in sequence according to the values weighted by the amplitude values.
11. A computer storage medium having computer-executable instructions stored therein for performing the method of any one of claims 1-5.
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