CN114675308A - Satellite signal capturing method, device, equipment and storage medium - Google Patents
Satellite signal capturing method, device, equipment and storage medium Download PDFInfo
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- CN114675308A CN114675308A CN202210102785.8A CN202210102785A CN114675308A CN 114675308 A CN114675308 A CN 114675308A CN 202210102785 A CN202210102785 A CN 202210102785A CN 114675308 A CN114675308 A CN 114675308A
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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
The invention relates to the technical field of satellite communication, in particular to a method, a device, equipment and a storage medium for capturing satellite signals. Closing a tracking channel and latching prior information before the loss of the satellite signal when the condition that the satellite signal is lost is detected; acquiring the movement data of the satellite signal receiver in real time, and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric; determining real-time speed information and position information of the unlocked satellite relative to the geocentric according to the ephemeris of the unlocked satellite; calculating to obtain a real-time Doppler frequency predicted value and a real-time code phase predicted value; and re-capturing the satellite signals of the unlocked satellite according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking. The invention can predict the corresponding capturing parameters in real time to rapidly and efficiently complete the re-capturing of the out-of-lock satellite signals.
Description
Technical Field
The invention relates to the technical field of satellite communication, in particular to a method, a device, equipment and a storage medium for capturing satellite signals.
Background
With the continuous development of satellite navigation and application technologies thereof, satellite navigation, internet and mobile communication have become three major industries in the information technology field. The satellite navigation system can provide global navigation positioning and time service as a basic information system, and the application of satellite navigation has penetrated the aspects of daily life of people and will have more and more influence. Existing Global Navigation Satellite Systems (GNSS) include the beidou satellite navigation system, the GPS system, the GLONASS system and the galileo system. The satellite navigation process is realized by the butt joint of a navigation satellite and ground receiving equipment, the ground receiving equipment generally consists of a receiver, an antenna, a data processing part and a control display part, and the positioning, navigation, time service and other functions of the satellite navigation system are realized by the processing of the ground receiving equipment.
In the environments of urban high buildings, tunnels, mountains and the like, satellite signals are blocked and blocked frequently to generate intermittent conditions, so that a tracking loop of satellite navigation receiving equipment is unlocked, and effective positioning information cannot be generated. Currently, there are two reacquisition methods after a satellite signal is out of lock: one is reacquisition, generally used for the situation that the lock losing time is too long, which leads to the unpredictable related tracking information, the existing reacquisition mode is to search the satellite signal again in a large range and a wide-spread network to acquire and track, the workload is large, and the time consumption is long; one is quick recovery, if the lock losing time is short, corresponding tracking information can still be predicted through iterative operation of a tracking channel, so that the tracking state of the original satellite signal is quickly switched to after the satellite signal is recovered, but the method has higher resource consumption on the tracking channel, is only suitable for the condition of short lock losing time, and can fail if the lock losing time is too long. Therefore, a technical means for rapidly and efficiently completing the reacquisition of the satellite signal after the lock of the satellite signal is lost is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method, a device, equipment and a storage medium for capturing satellite signals, which can predict corresponding capturing parameters in real time to rapidly and efficiently complete the re-capturing of out-of-lock satellite signals during application.
In a first aspect, the present invention provides a method for acquiring satellite signals, including:
when the condition that the satellite signal is unlocked is detected by the satellite signal receiver, closing a corresponding tracking channel and latching prior information before the satellite signal is unlocked;
acquiring the movement data of the satellite signal receiver in real time, and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the movement data of the satellite signal receiver;
determining a corresponding out-of-lock satellite according to the prior information, and determining real-time speed information and position information of the out-of-lock satellite relative to the geocenter according to ephemeris of the out-of-lock satellite;
calculating to obtain a real-time Doppler frequency predicted value according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the out-of-lock satellite relative to the geocenter; calculating to obtain a real-time code phase predicted value according to the real-time Doppler frequency predicted value and clock counting from the moment of losing lock of the satellite signal to the current moment;
And searching the satellite signal of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking after the satellite signal of the unlocked satellite is acquired again.
Based on the content of the invention, the corresponding tracking channel can be closed when the satellite signal is unlocked, the resource of the tracking channel is saved, the corresponding Doppler frequency predicted value and the code phase predicted value are calculated and obtained by acquiring the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the unlocked satellite relative to the geocenter in real time, and the satellite signal of the unlocked satellite is recaptured according to the calculated Doppler frequency predicted value and the calculated code phase predicted value and the preset error range. By the method, the problems that the traditional quick recovery method consumes more resources for tracking channels and can not track corresponding satellite signals due to larger deviation of carrier Doppler frequency and code phase when the lock losing time is too long can be solved; the method can replace the traditional wide-range and wide-spread type recapture method, reduces the capture workload, and obtains the real-time Doppler frequency predicted value and the code phase predicted value to rapidly and accurately recapture the out-of-lock satellite signal.
In one possible design, the process of detecting a satellite signal out-of-lock condition by a satellite signal receiver includes:
acquiring signal power and a noise substrate of a satellite signal through a satellite signal receiver;
and comparing the obtained times that the signal power is continuously smaller than the noise base, and judging that the satellite signal is unlocked when the times are larger than a preset threshold value.
Based on the invention, the condition that the satellite signal is unlocked at the current moment can be quickly and accurately judged, and the corresponding treatment can be conveniently and quickly carried out subsequently.
In one possible design, the movement data includes a movement rate, a movement direction, and an altitude, and the method includes:
constructing a three-dimensional map containing a ground-fixed coordinate system, and marking the origin of coordinates of the ground-fixed coordinate system as a geocentric;
determining positioning information of a satellite signal receiver at the moment of losing lock of a satellite signal, and marking on a three-dimensional map;
according to the positioning information of the satellite signal receiver at the moment of losing the lock of the satellite signal and the real-time moving speed, moving direction and altitude of the satellite signal receiver after the lock of the signal is lost, calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocenter, determining the moving route of the satellite signal receiver relative to the geocenter according to the real-time speed information and the position information, and recording the moving route of the satellite signal receiver on the three-dimensional map.
Based on the above invention, the real-time speed information and the position information of the satellite signal receiver relative to the geocentric at the current moment can be calculated and determined by detecting the moving speed, the moving direction and the altitude of the satellite signal receiver in real time, the moving route of the satellite signal receiver relative to the geocentric can be determined according to the real-time speed information and the position information, the moving route can be conveniently evaluated subsequently by recording the corresponding moving route in the three-dimensional map, and whether the calculated and determined moving route is accurate enough or not can be determined, so that the calculation process of the real-time speed information and the position information of the satellite signal receiver can be improved by being used as a corresponding sample.
In one possible design, the a priori information includes identification information of the out-of-lock satellite, and the determining real-time velocity information and position information of the out-of-lock satellite relative to the earth's center includes:
extracting identification information of the unlocked satellite from the prior information of the latched satellite signal before unlocking;
and acquiring an ephemeris corresponding to the loss-of-lock satellite according to the identification information, and determining real-time speed information and position information of the loss-of-lock satellite relative to the earth core according to the ephemeris corresponding to the loss-of-lock satellite.
Based on the above disclosure, the real-time velocity information and the position information of the out-of-lock satellite relative to the geocenter can be determined through the local ephemeris data of the out-of-lock satellite.
In one possible design, the preset error range is a range of sliding one chip left and right; when the satellite signals of the unlocked satellites are searched again, the acquisition channel of the satellite signal receiver is used for searching the satellite signals of the unlocked satellites again according to the Doppler frequency predicted value, the code phase predicted value and the preset error range.
Based on the content of the invention, the acquisition channel of the satellite signal receiver is utilized by determining a proper error range, the satellite signal of the out-of-lock satellite is searched again according to the Doppler frequency predicted value, the code phase predicted value and the preset error range, and the corresponding out-of-lock satellite signal can be acquired quickly and accurately
In one possible design, the method further includes: detecting the recaptured out-of-lock satellite signal by an improved M-out-of-N detection algorithm based on the Tang detection, judging whether the recaptured out-of-lock satellite signal exists, and opening a tracking channel for signal tracking after judging that the recaptured out-of-lock satellite signal exists.
Based on the invention, whether the newly-acquired out-of-lock satellite signal exists can be quickly judged through an improved M-out-of-N detection algorithm based on the Tang detection, so that the out-of-lock satellite signal can be tracked again in the following process.
In one possible design, the process of performing signal tracking on the reacquired out-of-lock satellite signal further includes:
determining a real-time pseudo range of a satellite signal receiver and an out-of-lock satellite;
calculating the frame count and the data bit count of the current frame according to the real-time pseudo range of the satellite signal receiver and the unlocked satellite;
and carrying out data bit synchronization and frame synchronization on the recaptured out-of-lock satellite signal according to the frame count and the data bit count of the current frame.
Based on the content of the invention, the frame count and the data bit count of the current frame are calculated through the real-time pseudo range of the satellite signal receiver and the unlocked satellite, and then the data bit synchronization and the frame synchronization are carried out on the newly captured unlocked satellite signal, so that the positioning calculation of the newly captured unlocked satellite signal can be quickly completed, the corresponding positioning information is obtained, and the time consumed by the satellite signal receiver for the repositioning is further shortened.
In a second aspect, the present invention provides a satellite signal acquisition apparatus, comprising:
the locking unit is used for closing a corresponding tracking channel and latching prior information before the loss of the satellite signal when the satellite signal receiver detects that the satellite signal is out of lock;
the first determining unit is used for acquiring the movement data of the satellite signal receiver in real time and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the movement data of the satellite signal receiver;
The second determining unit is used for determining the corresponding unlocked satellite according to the prior information and determining the real-time speed information and the position information of the unlocked satellite relative to the geocentric according to the ephemeris of the unlocked satellite;
the computing unit is used for computing to obtain a real-time Doppler frequency predicted value according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the unlocked satellite relative to the geocenter, and computing to obtain a real-time code phase predicted value according to the real-time Doppler frequency predicted value and the clock count from the time of the satellite signal unlocking to the current time;
and the capturing unit is used for searching the satellite signals of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and the preset error range, and opening a tracking channel for signal tracking after the satellite signals of the unlocked satellite are captured again.
In a third aspect, the present invention provides a satellite signal acquisition apparatus comprising:
a satellite signal receiver for receiving a satellite signal;
a memory to store instructions;
a signal processor configured to read the instructions stored in the memory and execute the method of any one of the first aspect according to the instructions.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects described above.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects above.
The invention has the beneficial effects that:
the method can close the corresponding tracking channel when the satellite signal is unlocked, saves the resources of the tracking channel, calculates and obtains the corresponding Doppler frequency predicted value and code phase predicted value by acquiring the real-time speed information and position information of the satellite signal receiver relative to the geocenter and the real-time speed information and position information of the unlocked satellite relative to the geocenter in real time, and recaptures the satellite signal of the unlocked satellite according to the calculated Doppler frequency predicted value and code phase predicted value and the preset error range. By the method, the problems that the traditional quick recovery method consumes more resources for tracking channels and can not track corresponding satellite signals due to larger deviation of carrier Doppler frequency and code phase when the lock losing time is too long can be solved; the method can replace the traditional wide-range and wide-spread type recapture method, reduces the capture workload, and obtains the real-time Doppler frequency predicted value and the code phase predicted value to rapidly and accurately recapture the out-of-lock satellite signal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram illustrating a process for determining a loss of lock of a satellite signal;
FIG. 3 is a schematic flow chart of synchronous solution of the reacquired out-of-lock satellite signal;
FIG. 4 is a schematic structural diagram of the apparatus of the present invention;
FIG. 5 is a schematic diagram of the apparatus of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It should be understood that the terms first, second, etc. are used solely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: the three cases of A alone, B alone and A and B together exist, and the term "/and" in this document describes another associated object relationship, which means that two relationships may exist, for example, A/and B, which may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It is to be understood that in the description of the present invention, the terms "upper", "vertical", "inside", "outside", and the like, refer to an orientation or positional relationship that is conventionally used for placing the product of the present invention, or that is conventionally understood by those skilled in the art, and are used merely for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present invention.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1:
the present embodiment provides a method for acquiring satellite signals, as shown in fig. 1, including:
s101, when the condition that the satellite signal is unlocked is detected through the satellite signal receiver, closing a corresponding tracking channel, and latching prior information before the satellite signal is unlocked.
Specifically, as shown in fig. 2, the process of detecting a satellite signal out-of-lock condition by a satellite signal receiver includes:
Tracking and acquiring the signal power and the noise substrate of the satellite signal through a satellite signal receiver;
and comparing to obtain the times M of the signal power being continuously smaller than the noise substrate, and judging that the satellite signal is unlocked when the times M are larger than a preset threshold value N. For example, if the signal power for the first time is smaller than the noise floor, the number of counts is 1; if the signal power of the second time is smaller than the noise floor, counting 2; if the signal power of the third time is larger than the noise substrate, counting again; and judging that the satellite signal is unlocked until the counted signal power is continuously smaller than the noise substrate for M and M is larger than N.
S102, acquiring the mobile data of the satellite signal receiver in real time, and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the mobile data of the satellite signal receiver.
Specifically, the movement data in this step includes a movement speed, a movement direction, and an altitude; the moving speed can be detected and obtained by binding a corresponding speed sensor; the moving direction can be detected and obtained by binding a corresponding magnetic sensor (electronic compass); the altitude can obtain atmospheric pressure data and humiture meteorological data through binding corresponding baroceptor and humiture sensor, then carry out analysis processes to atmospheric pressure data and humiture meteorological data and obtain, the step can also include:
Constructing a three-dimensional map containing a ground-fixed coordinate system, and marking the origin of coordinates of the ground-fixed coordinate system as a geocenter;
determining positioning information of a satellite signal receiver at the moment of losing lock of a satellite signal, and marking on a three-dimensional map;
according to the positioning information of the satellite signal receiver at the moment of losing the lock of the satellite signal and the real-time moving speed, moving direction and altitude of the satellite signal receiver after the lock of the signal is lost, calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocenter, determining the moving route of the satellite signal receiver relative to the geocenter according to the real-time speed information and the position information, and recording the moving route of the satellite signal receiver on the three-dimensional map.
The method comprises the steps of calculating and determining real-time speed information and position information of the satellite signal receiver relative to the geocentric at the current moment by detecting the moving speed, the moving direction and the altitude of the satellite signal receiver in real time, determining a moving route of the satellite signal receiver relative to the geocentric according to the real-time speed information and the position information, conveniently and subsequently evaluating the moving route by recording the corresponding moving route in a three-dimensional map, and judging whether the calculated and determined moving route is accurate enough or not so as to serve as a corresponding sample to improve the calculation process of the real-time speed information and the position information of the satellite signal receiver.
And S103, determining a corresponding out-of-lock satellite according to the prior information, and determining real-time speed information and position information of the out-of-lock satellite relative to the geocenter according to an ephemeris of the out-of-lock satellite.
Specifically, the prior information includes identification information of an out-of-lock satellite, and the step specifically includes:
extracting identification information of the unlocked satellite from the prior information of the latched satellite signal before unlocking;
and acquiring an ephemeris corresponding to the unlocked satellite according to the identification information, and determining the real-time speed information and the position information of the unlocked satellite relative to the geocenter according to the ephemeris corresponding to the unlocked satellite.
Once in space, the satellite, spacecraft or flight object is listed in the satellite ephemeris number directory. Space flights that are listed in the satellite ephemeris number directory will be tracked throughout the life. The satellite ephemeris determines various parameters such as time, coordinates, azimuth, speed and the like of a flight body according to the mathematical relation among 6 orbit parameters of Kepler's law, and has extremely high precision. The satellite ephemeris can accurately calculate, predict, describe and track the running states of the satellite, the flight object, such as time, position, speed and the like; the precise parameters of flying objects such as celestial bodies, satellites, spacecrafts, missiles, space debris and the like can be expressed; the flying body can be arranged in a three-dimensional space; depicting past, present and future celestial bodies in time stereo. The time of the satellite ephemeris is calculated as Universal Time (UTC).
S104, calculating to obtain a real-time Doppler frequency predicted value according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the unlocked satellite relative to the geocenter; and calculating to obtain a real-time code phase predicted value according to the real-time Doppler frequency predicted value and the clock count from the moment of losing lock of the satellite signal to the current moment.
Specifically, the real-time velocity information of the satellite signal receiver relative to the geocentric includes a velocity vector v1 of the satellite signal receiver relative to the geocentric, the real-time velocity information of the unlocked satellite relative to the geocentric includes a velocity vector v2 of the unlocked satellite relative to the geocentric, and a real-time relative position vector r of the satellite signal receiver and the unlocked satellite can be estimated through the real-time position information of the satellite signal receiver relative to the geocentric and the real-time position information of the unlocked satellite relative to the geocentric, and can be known according to the doppler effect principle:
wherein, F is Doppler frequency, V is a velocity vector of the satellite signal receiver relative to the unlocked satellite, theta is an included angle between the velocity vector V and a connecting line between the satellite signal receiver and the unlocked satellite, and lambda is the carrier wave wavelength of the unlocked satellite signal. From the above equation it can be deduced:
Substituting v1, v2 and r into the formula for calculation to obtain a Doppler frequency predicted value;
the real-time prediction of the code phase mainly predicts the number of chips at the current time, and can be specifically obtained by the following calculation:
wherein, S is the number of current time-scale chips to be predicted; c is the clock count from the moment the satellite signal is out of lock to the current moment (which can be obtained by the satellite signal receiver); f1 is the code frequency; f2 is code Doppler frequency, which can be obtained by calculating Doppler frequency predicted value F; f3 is the clock frequency obtained from clock count c; s1 is the number of chips at the time of losing lock of satellite signal, which can be obtained from the prior information; % represents the remainder operation; s2 is the number of chips in a code period.
And S105, re-searching the satellite signal of the unlocked satellite according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking after re-capturing the satellite signal of the unlocked satellite.
The preset error range slides left and right by a range of one chip by taking the code phase predicted value as a center to form a search interval of three code phases, which is only an optimization design, and different error ranges can be preset according to actual conditions, so that the search efficiency is improved; when the satellite signals of the unlocked satellite are searched again, the acquisition channel of the satellite signal receiver can be used for searching the satellite signals of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and the preset error range, and other satellite signal acquisition tools can be preset for acquiring the unlocked satellite signals again.
After the out-of-lock satellite signal is searched again, the newly acquired out-of-lock satellite signal can be detected through an improved N-out-of-M detection algorithm based on the Down detection (the idea of the Down detection is used, namely the signal can be judged to exist and jump out of the detection only when the signal is detected for M times in N times), whether the newly acquired out-of-lock satellite signal exists is judged rapidly, and a tracking channel is opened for signal tracking after the newly acquired out-of-lock satellite signal is judged to exist.
As shown in fig. 3, the process of performing signal tracking on the reacquired out-of-lock satellite signal further includes:
determining a real-time pseudo range of a satellite signal receiver and an out-of-lock satellite;
calculating the frame count and the data bit count of the current frame according to the real-time pseudo range of the satellite signal receiver and the unlocked satellite;
and carrying out data bit synchronization and frame synchronization on the recaptured out-of-lock satellite signal according to the frame count and the data bit count of the current frame.
When the real-time pseudo range of the satellite signal receiver and the unlocked satellite is determined, the local clock offset and the satellite clock offset can be determined according to the prior information before the satellite signal is unlocked and the local clock of the satellite signal receiver, the distance between the satellite signal receiver and the unlocked satellite is determined according to the real-time position information of the satellite signal receiver relative to the earth's center and the real-time position information of the unlocked satellite relative to the earth's center, and the real-time pseudo range of the satellite signal receiver and the unlocked satellite is obtained through calculation by utilizing the local clock offset, the satellite clock offset and the distance between the satellite signal receiver and the unlocked satellite.
The frame count and the data bit count of the current frame are calculated through the real-time pseudo range of the satellite signal receiver and the unlocked satellite, and then the data bit synchronization and the frame synchronization are carried out on the newly captured unlocked satellite signal, so that the positioning calculation of the newly captured unlocked satellite signal can be quickly completed, the corresponding positioning information is obtained, and the time consumed by the satellite signal receiver for the repositioning is further shortened.
Example 2:
the present embodiment provides a satellite signal capturing apparatus, as shown in fig. 4, including:
the locking unit is used for closing a corresponding tracking channel and latching prior information before the loss of the satellite signal when the satellite signal receiver detects that the satellite signal is out of lock;
the first determining unit is used for acquiring the movement data of the satellite signal receiver in real time and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the movement data of the satellite signal receiver;
the second determining unit is used for determining the corresponding unlocked satellite according to the prior information and determining the real-time speed information and the position information of the unlocked satellite relative to the geocentric according to the ephemeris of the unlocked satellite;
the computing unit is used for computing to obtain a real-time Doppler frequency predicted value according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the unlocked satellite relative to the geocenter, and computing to obtain a real-time code phase predicted value according to the real-time Doppler frequency predicted value and the clock count from the time of the satellite signal unlocking to the current time;
And the acquisition unit is used for searching the satellite signal of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking after the satellite signal of the unlocked satellite is acquired again.
In one possible design, the locking unit is configured to, when detecting a satellite signal out-of-lock condition, specifically, obtain a signal power and a noise floor of the satellite signal through the satellite signal receiver; and comparing the obtained times that the signal power is continuously smaller than the noise base, and judging that the satellite signal is unlocked when the times are larger than a preset threshold value.
In one possible design, the movement data includes a movement rate, a movement direction, and an altitude, and the apparatus further includes:
the construction unit is used for constructing a three-dimensional map containing a ground-fixed coordinate system and marking the origin of coordinates of the ground-fixed coordinate system as the geocentric;
the marking unit is used for determining positioning information of the satellite signal receiver at the moment of losing lock of the satellite signal and marking the positioning information on the three-dimensional map;
and the recording unit is used for determining the moving route of the satellite signal receiver relative to the geocenter according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and recording the moving route of the satellite signal receiver on the three-dimensional map.
In one possible design, the apparatus further includes:
the third determining unit is used for determining the real-time pseudo range of the satellite signal receiver and the unlocked satellite;
and the synchronization unit is used for calculating the frame count and the data bit count of the current frame according to the real-time pseudo range of the satellite signal receiver and the unlocked satellite, and performing data bit synchronization and frame synchronization on the recaptured unlocked satellite signal according to the frame count and the data bit count of the current frame.
Example 3:
the present embodiment provides a satellite signal acquisition apparatus, as shown in fig. 5, including:
a satellite signal receiver for receiving a satellite signal;
a memory to store instructions;
and a signal processor for reading the instructions stored in the memory and executing the satellite signal acquisition method according to the instructions in embodiment 1.
The satellite signal receiver may be, but is not limited to, a code correlation type receiver; the Memory may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Flash Memory (Flash Memory), a First In First Out (FIFO), a First In Last Out (FILO), and/or the like; the signal processor can be but is not limited to a single chip microcomputer, an ARM processor and the like; and a corresponding tracking loop control module and a corresponding acquisition control module can be arranged to be in butt joint with the signal processor, the acquisition control module is used for carrying out reacquisition control on the out-of-lock satellite signal, and the tracking loop control module is used for carrying out tracking hole on the satellite signal.
Example 4:
the present embodiment provides a computer-readable storage medium having stored thereon instructions that, when executed on a computer, cause the computer to execute the satellite signal acquisition method of embodiment 1. The computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, floppy disks, optical disks, hard disks, flash memories, flash disks and/or Memory sticks (Memory sticks), etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
Example 5:
the present embodiment provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the satellite signal acquisition method of embodiment 1. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the embodiments of the method may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the embodiments of the method, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, devices and computer program products of the embodiments. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above alternative embodiments, and other various forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A method for acquiring satellite signals, comprising:
when the condition that the satellite signal is unlocked is detected by the satellite signal receiver, closing a corresponding tracking channel and latching prior information before the satellite signal is unlocked;
acquiring the movement data of the satellite signal receiver in real time, and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the movement data of the satellite signal receiver;
determining a corresponding out-of-lock satellite according to the prior information, and determining real-time speed information and position information of the out-of-lock satellite relative to the geocenter according to ephemeris of the out-of-lock satellite;
calculating to obtain a real-time Doppler frequency predicted value according to the real-time speed information and the position information of the satellite signal receiver relative to the geocenter and the real-time speed information and the position information of the unlocked satellite relative to the geocenter; calculating to obtain a real-time code phase predicted value according to the real-time Doppler frequency predicted value and clock counting from the moment of losing lock of the satellite signal to the current moment;
And searching the satellite signal of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking after the satellite signal of the unlocked satellite is acquired again.
2. The method of claim 1, wherein detecting the out-of-lock condition of the satellite signal by the satellite signal receiver comprises:
acquiring signal power and a noise substrate of a satellite signal through a satellite signal receiver;
and comparing the obtained times that the signal power is continuously smaller than the noise base, and judging that the satellite signal is unlocked when the times are larger than a preset threshold value.
3. A method for acquiring satellite signals according to claim 1, wherein said movement data includes movement velocity, movement direction and altitude, said method comprising:
constructing a three-dimensional map containing a ground-fixed coordinate system, and marking the origin of coordinates of the ground-fixed coordinate system as a geocenter;
determining positioning information of a satellite signal receiver at the moment of losing lock of a satellite signal, and marking on a three-dimensional map;
according to the positioning information of the satellite signal receiver at the moment of losing the lock of the satellite signal and the real-time moving speed, moving direction and altitude of the satellite signal receiver after the lock of the signal is lost, calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocenter, determining the moving route of the satellite signal receiver relative to the geocenter according to the real-time speed information and the position information, and recording the moving route of the satellite signal receiver on the three-dimensional map.
4. The method of claim 1, wherein the a priori information includes identification information of the out-of-lock satellite, and the determining real-time velocity information and position information of the out-of-lock satellite relative to the geocenter comprises:
extracting identification information of the unlocked satellite from the prior information of the latched satellite signal before unlocking;
and acquiring an ephemeris corresponding to the unlocked satellite according to the identification information, and determining the real-time speed information and the position information of the unlocked satellite relative to the geocenter according to the ephemeris corresponding to the unlocked satellite.
5. The method according to claim 1, wherein the preset error range is a range of left-right sliding by one chip; when the satellite signals of the unlocked satellites are searched again, the acquisition channel of the satellite signal receiver is used for searching the satellite signals of the unlocked satellites again according to the Doppler frequency predicted value, the code phase predicted value and the preset error range.
6. The method of claim 1, further comprising: detecting the recaptured out-of-lock satellite signal by an improved M-out-of-N detection algorithm based on the Tang detection, judging whether the recaptured out-of-lock satellite signal exists, and opening a tracking channel for signal tracking after judging that the recaptured out-of-lock satellite signal exists.
7. The method of claim 1, wherein the tracking the reacquired out-of-lock satellite signal further comprises:
determining a real-time pseudo range of a satellite signal receiver and an out-of-lock satellite;
calculating the frame count and the data bit count of the current frame according to the real-time pseudo range of the satellite signal receiver and the unlocked satellite;
and carrying out data bit synchronization and frame synchronization on the recaptured out-of-lock satellite signal according to the frame count and the data bit count of the current frame.
8. A satellite signal acquisition apparatus, comprising:
the locking unit is used for closing a corresponding tracking channel and latching prior information before the loss of the satellite signal when the satellite signal receiver detects that the satellite signal is out of lock;
the first determining unit is used for acquiring the movement data of the satellite signal receiver in real time and calculating and determining the real-time speed information and the position information of the satellite signal receiver relative to the geocentric according to the movement data of the satellite signal receiver;
the second determining unit is used for determining the corresponding unlocked satellite according to the prior information and determining the real-time speed information and the position information of the unlocked satellite relative to the geocentric according to the ephemeris of the unlocked satellite;
The computing unit is used for computing to obtain a real-time Doppler frequency predicted value according to the real-time Doppler frequency predicted value and the clock count from the satellite signal lock losing moment to the current moment;
and the acquisition unit is used for searching the satellite signal of the unlocked satellite again according to the Doppler frequency predicted value, the code phase predicted value and a preset error range, and opening a tracking channel for signal tracking after the satellite signal of the unlocked satellite is acquired again.
9. A satellite signal acquisition device, comprising:
a satellite signal receiver for receiving a satellite signal;
a memory to store instructions;
a signal processor for reading instructions stored in the memory and executing the method of any one of claims 1-7 in accordance with the instructions.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116840859A (en) * | 2023-07-05 | 2023-10-03 | 中国人民解放军92728部队 | Satellite navigation receiver channel maintaining method based on dynamic estimation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116840859A (en) * | 2023-07-05 | 2023-10-03 | 中国人民解放军92728部队 | Satellite navigation receiver channel maintaining method based on dynamic estimation |
| CN116840859B (en) * | 2023-07-05 | 2024-02-09 | 中国人民解放军92728部队 | Satellite navigation receiver channel maintaining method based on dynamic estimation |
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