CN108415044B - Processing system, processing method and GNSS receiving equipment - Google Patents
Processing system, processing method and GNSS receiving equipment Download PDFInfo
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- CN108415044B CN108415044B CN201810139485.0A CN201810139485A CN108415044B CN 108415044 B CN108415044 B CN 108415044B CN 201810139485 A CN201810139485 A CN 201810139485A CN 108415044 B CN108415044 B CN 108415044B
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention discloses a processing system, which is executed by a processor and comprises: the GNSS tracking logic unit is used for controlling the baseband module to track carrier waves and pseudo codes of GNSS satellite signals and extracting an observed value, navigation messages, a satellite clock and ephemeris of the GNSS satellite signals; the GNSS resolving logic unit is used for calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris; and the GNSS application logic unit is used for running the industry application software based on the GNSS position. The processing system provided by the invention can reduce the power consumption of the processing system, improve the processing efficiency and reduce the hardware volume of the GNSS receiving equipment.
Description
Technical Field
The present invention relates to the field of network security technologies, and in particular, to a processing system, a processing method, and a GNSS receiving apparatus.
Background
At present, the existing GNSS receiving device mainly comprises a GNSS receiving board card, an application CPU and other external devices, wherein the application CPU is connected with the GNSS receiving board card through interfaces such as a serial port, a USB port or an ethernet port to acquire data of the GNSS receiving board card and solve a calculation result.
The inventor finds that the prior art has at least the following disadvantages in the process of implementing the invention:
for different communication interfaces applying the CPU, the GNSS receiving board card needs to adopt corresponding communication interfaces, therefore, all communication interfaces are usually designed for the board card to enable the board card to be universal, which results in overlarge size of the board card and is not beneficial to realizing portability of the GNSS receiving equipment, and the overall data transmission rate of the system needs to be changed for switching different interfaces, thereby increasing design complexity; and the board card without generalization can only aim at one application CPU communication interface, and the flexibility is not strong.
Disclosure of Invention
The invention provides a processing system, a processing method and GNSS receiving equipment, which can reduce the power consumption of the processing system, improve the processing efficiency and reduce the hardware volume of the GNSS receiving equipment.
One aspect of the present invention provides a processing system, executed by a processor, comprising:
the GNSS tracking logic unit is used for controlling the baseband module to track carrier waves and pseudo codes of GNSS satellite signals and extracting an observed value, navigation messages, a satellite clock and ephemeris of the GNSS satellite signals;
the GNSS resolving logic unit is used for calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris;
and the GNSS application logic unit is used for running the industry application software based on the GNSS position.
In an alternative embodiment, the process priority of the GNSS tracking logic unit is higher than the process priority of the GNSS solver logic unit; the process priority of the GNSS resolving logic unit is higher than the process priority of the GNSS application logic unit.
In an alternative embodiment, the processing system is centrally operated on a processor having multiple compute cores or higher operating speeds; the GNSS tracking logic is configured for high priority execution.
In an optional implementation manner, the processing system further includes a process management unit, configured to manage process priorities and detect processing pressure values of the compute kernels during operation of the processor.
In an optional implementation manner, the GNSS tracking logic unit is further specifically configured to:
acquiring a processing pressure value of a computation kernel for executing the GNSS tracking logic unit from the process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
and when the first processing pressure value is judged to exceed the preset value, adjusting the phase of the local signal according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal.
In another aspect, the present invention further provides a processing method, which is executed by a processor, and includes:
GNSS tracking step: the control base band module tracks carrier waves and pseudo codes of GNSS satellite signals and extracts an observation value, a navigation message, a satellite clock and ephemeris of the GNSS satellite signals;
GNSS resolving step: calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris;
GNSS application steps: the GNSS location based industry application is run.
In an alternative embodiment, the process priority of the GNSS tracking step is higher than the process priority of the GNSS resolving step; the process priority of the GNSS calculating step is higher than the process priority of the GNSS applying step.
In an optional implementation, the processing method further includes: managing process priority and detecting and calculating processing pressure value of a kernel in the running process of the processor.
In an optional implementation, the processing method further includes:
acquiring a processing pressure value of a calculation kernel for executing the GNSS tracking step from the process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
when the first processing pressure value is judged to exceed the preset value, the phase of the local signal is adjusted according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal
Another aspect of the present invention further provides a GNSS receiving apparatus, including a baseband module, a radio frequency module, and the processing system according to any of the above embodiments;
the radio frequency module is used for receiving GNSS satellite signals and sending the GNSS satellite signals to the baseband module.
Compared with the prior art, the invention has the following outstanding advantages: the invention provides a processing system, a processing method and a GNSS receiving device, wherein the processing system is executed by a processor and comprises the following steps: the GNSS tracking logic unit is used for controlling the baseband module to track carrier waves and pseudo codes of GNSS satellite signals and extracting an observed value, navigation messages, a satellite clock and ephemeris of the GNSS satellite signals; the GNSS resolving logic unit is used for calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris; and the GNSS application logic unit is used for running the industry application software based on the GNSS position. According to the invention, by integrating GNSS tracking control, resolving and application in the same processor to run, the problem of interface compatibility of different application CPUs is avoided, and through internal transmission of a chip, the data processing efficiency is improved, thereby being beneficial to unified management of software, reducing the volume of GNSS receiving equipment, being beneficial to realizing portability of the GNSS receiving equipment, avoiding the need of adopting different processors to execute the processing method, and reducing the material cost and the hardware power consumption.
Drawings
FIG. 1 is a schematic block diagram of a first embodiment of a processing system provided by the present invention;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a processing method provided by the present invention;
FIG. 3 is a schematic structural diagram of a GNSS receiving apparatus according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a GNSS receiving apparatus according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a first embodiment of a processing system according to the present invention is shown in fig. 1, where the processing system is executed by a processor; the processing system 1 comprises a GNSS tracking logic unit 201, a GNSS resolving logic unit 202 and a GNSS application logic unit 203;
the GNSS tracking logic unit 201 is configured to control a baseband module to track a carrier and a pseudo code of a GNSS satellite signal, and extract an observed value, a navigation message, a satellite clock, and an ephemeris of the GNSS satellite signal;
the GNSS calculation logic unit 202 is configured to calculate GNSS positioning, fixed speed, and timing results according to the observation value, the navigation message, the satellite clock, and the ephemeris;
the GNSS application logic unit 203 is configured to run an industrial application software based on GNSS location.
It should be noted that GNSS (Global Navigation Satellite System) refers to all Satellite Navigation systems in general, including Global, regional, and enhanced. Such as GPS in the united states, Glonass in russia, Galileo in europe, beidou satellite navigation system in china; the related augmentation systems include WAAS (wide area augmentation system) in the united states, EGNOS (european geostationary navigation overlay system) in europe, MSAS (multi-function transportation satellite augmentation system) in japan, and the like; in addition, the GNSS also covers other satellite navigation systems to be built later.
The observed values comprise observed values of pseudo range, Doppler frequency shift, carrier phase and the like of satellite signals.
The GNSS tracking control, the resolving and the application are integrated to run in the same processor, so that the problem of interface compatibility of CPUs (central processing units) of different applications is solved, the data processing efficiency is improved through internal transmission of a chip, the unified management of software is facilitated, the size of GNSS receiving equipment is reduced, the portability of the GNSS receiving equipment is facilitated, the processing method does not need to be executed by different processors, and the material cost and the hardware power consumption are reduced.
In an alternative embodiment, the GNSS location based industry application is a mapping industry application; when the industry application software runs, the data acquisition, lofting and GIS attribute acquisition of the surveying and mapping industry can be realized.
In an alternative embodiment, the process priority of the GNSS tracking logic unit is higher than the process priority of the GNSS solver logic unit; the process priority of the GNSS resolving logic unit is higher than the process priority of the GNSS application logic unit.
In an alternative embodiment, the thread priority of the GNSS tracking logic unit is higher than the thread priority of the GNSS solver logic unit; the thread priority of the GNSS resolving logic unit is higher than the thread priority of the GNSS application logic unit.
It should be noted that a thread, sometimes referred to as a Lightweight Process (LWP), is the smallest unit of a program execution flow.
The priority of the GNSS tracking logic unit is higher than that of the GNSS resolving logic unit and that of the GNSS application logic unit, so that the real-time performance of GNSS tracking is guaranteed; by setting the priority of the GNSS application logic unit to be lower than that of the GNSS resolving logic unit, the GNSS resolving is prior to the GNSS application, and the GNSS resolving efficiency is improved.
In an optional implementation manner, the GNSS tracking logic unit is further specifically configured to control the baseband module to perform carrier demodulation and pseudo code despreading on the GNSS satellite signal to obtain a carrier and a pseudo code of the GNSS satellite signal.
In an alternative embodiment, the processing system is centrally operated on a processor having multiple compute cores or higher operating speeds; the GNSS tracking logic is configured for high priority execution.
Namely, the GNSS tracking logic unit is configured to execute with high priority, so that the processing efficiency of the GNSS tracking logic unit is improved, and the real-time performance of GNSS tracking is improved.
In an optional implementation manner, the processing system further includes a process management unit, configured to manage process priorities and detect processing pressure values of the compute kernels during operation of the processor.
In an optional implementation manner, the GNSS tracking logic unit is further specifically configured to:
acquiring a processing pressure value of a computation kernel for executing the GNSS tracking logic unit from the process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
and when the first processing pressure value is judged to exceed the preset value, adjusting the phase of the local signal according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal.
It should be noted that, the processing pressure value of the computation core is used to indicate whether the computation core is idle; the lower the processing pressure value, the more idle the computation core.
Determining a loop tracking mode of carrier waves and pseudo codes of the GNSS satellite signals according to the processing pressure value of the calculation kernel, and adjusting the phase of the local signal according to a prediction error value when the first processing pressure value is judged to exceed a preset value, so that the rapid tracking can be realized when the pressure of the calculation kernel is high; when the first processing pressure value is judged to be smaller than or equal to the preset value, the phase of the local signal is adjusted according to the carrier phase difference and the pseudo code phase difference by calculating the carrier phase difference and the pseudo code phase difference, processing resources are fully utilized, and the tracking accuracy is improved.
In an optional implementation manner, the GNSS tracking logic unit is further specifically configured to: and after the carrier phase difference and the pseudo code phase difference between the GNSS satellite signal and the local signal are obtained, updating the prediction error value by using the carrier phase difference and the pseudo code phase difference.
Namely, the carrier phase difference and the pseudo code phase difference are used for updating the prediction error value, the prediction error value is continuously adjusted, and the deviation between the prediction error value and an actual error value (the current carrier phase difference and the current pseudo code phase difference) is reduced, so that when the first processing pressure value is judged to exceed the preset value, the phase of the local signal can still be rapidly adjusted according to the prediction error value.
Referring to fig. 2, it is a schematic flow chart of a first embodiment of the processing method provided by the present invention; as shown in fig. 2, the processing method is executed by a processor, and includes:
s401: GNSS tracking step: the control base band module tracks carrier waves and pseudo codes of GNSS satellite signals and extracts an observation value, a navigation message, a satellite clock and ephemeris of the GNSS satellite signals;
s402: GNSS resolving step: calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris;
s403: GNSS application steps: the GNSS location based industry application is run.
In an alternative embodiment, the process priority of the GNSS tracking step is higher than the process priority of the GNSS resolving step; the process priority of the GNSS calculating step is higher than the process priority of the GNSS applying step.
In an optional implementation, the processing method further includes: managing process priority and detecting and calculating processing pressure value of a kernel in the running process of the processor.
In an optional implementation, the processing method further includes:
acquiring a processing pressure value of a calculation kernel for executing the GNSS tracking step from the process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
and when the first processing pressure value is judged to exceed the preset value, adjusting the phase of the local signal according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal.
Referring to fig. 3, it is a schematic structural diagram of a first embodiment of a GNSS receiving apparatus provided in the present invention; as shown in fig. 3, the present invention further provides a first embodiment of a GNSS receiving apparatus; the GNSS receiving device comprises a baseband module 6, a radio frequency module 2 and a processing system 1 as described in any of the above embodiments;
the radio frequency module is used for receiving GNSS satellite signals and sending the GNSS satellite signals to the baseband module.
The GNSS tracking control, the resolving and the application are integrated to run in the same processor, so that the problem of interface compatibility of CPUs (central processing units) of different applications is solved, the data processing efficiency is improved through internal transmission of a chip, the unified management of software is facilitated, the size of GNSS receiving equipment is reduced, the portability of the GNSS receiving equipment is facilitated, the processing method does not need to be executed by different processors, and the material cost and the hardware power consumption are reduced.
Specifically, the radio frequency module is configured to separate a digital intermediate frequency signal from the GNSS satellite signal and send the digital intermediate frequency signal to the baseband module; the GNSS tracking logic unit is specifically configured to control a baseband module to track a carrier and a pseudo code of the digital intermediate frequency signal, and extract an observed value, a navigation message, a satellite clock, and an ephemeris of the digital intermediate frequency signal.
In an alternative embodiment, the radio frequency module includes an antenna; the antenna is a multi-frequency antenna.
In an optional embodiment, the GNSS receiving apparatus further includes a bluetooth module and a WiFi module; the processing system further comprises a first data interface and a second data interface;
the first data interface is connected with the Bluetooth module; the second data interface is connected with the WiFi module.
In an optional embodiment, the GNSS receiving apparatus further includes a memory; the processing system further comprises a third data interface; the third data interface is connected with the memory.
In an optional embodiment, the GNSS receiving apparatus further includes a power supply module; the power module includes a battery.
Referring to fig. 4, it is a schematic structural diagram of a preferred embodiment of a GNSS receiving apparatus provided in the present invention; as shown in fig. 4, the GNSS receiving apparatus includes a memory 3, a radio frequency module 2, a Bluetooth (BT) module 4, a WiFi (Wireless Fidelity, Wireless local area network based on IEEE 802.11b standard) module 5, a baseband module 6, and the processing system 1 according to any of the above embodiments; the processing system 1 further comprises a first data interface (not shown in fig. 2), a second data interface (not shown in fig. 2), a third data interface (not shown in fig. 2);
the radio frequency module 2 is used for receiving a GNSS satellite signal, separating a digital intermediate frequency signal from the GNSS satellite signal, and sending the digital intermediate frequency signal to the baseband module;
the first data interface is connected with the Bluetooth module; the second data interface is connected with the WiFi module; the third data interface is connected with the memory.
The processing system integrating GNSS tracking control, resolving and application is adopted, the problem of interface compatibility of different application CPUs is solved, data processing efficiency is improved through internal transmission of a chip, unified management of software is facilitated, the size of GNSS equipment is reduced, portability of GNSS receiving equipment is facilitated, and material cost and hardware power consumption are reduced.
In an optional embodiment, the bluetooth module is a pluggable bluetooth module; the first data interface is a USB data interface.
Through pluggable bluetooth module promptly, be convenient for realize GNSS receiving equipment's miniaturization.
In an alternative embodiment, the WiFi module is a pluggable WiFi module; the second data interface is a USB data interface.
The miniaturization of the GNSS receiving equipment is facilitated through the pluggable WiFi module.
In an alternative embodiment, the processing system further comprises a first USB data interface; the GNSS receiving equipment also comprises a pluggable temperature sensor; the pluggable temperature sensor comprises a temperature probe, an analog-to-digital converter, a parallel-serial conversion interface and a second USB data interface; the output end of the temperature probe is connected with the input end of the analog-to-digital converter; the analog-to-digital converter is connected to the second USB data interface through a parallel-to-serial conversion interface; the second USB data interface is used for being connected with the first USB data interface.
Namely, the miniaturization of the GNSS receiving equipment is convenient to realize through the pluggable temperature sensor.
In an optional embodiment, the GNSS receiving apparatus further includes a power supply module; the power module includes a battery.
Namely, the GNSS receiving equipment is powered by a battery, so that the miniaturization of the GNSS receiving equipment is convenient to realize.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (6)
1. A processing system for execution by a processor, comprising:
the GNSS tracking logic unit is used for controlling the baseband module to track carrier waves and pseudo codes of GNSS satellite signals and extracting an observed value, navigation messages, a satellite clock and ephemeris of the GNSS satellite signals;
the GNSS resolving logic unit is used for calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris;
the GNSS application logic unit is used for operating the industry application software based on the GNSS position;
the process management unit is used for managing the process priority and detecting and calculating the processing pressure value of the kernel in the running process of the processor;
the GNSS tracking logic unit is further specifically configured to:
acquiring a processing pressure value of a computation kernel for executing the GNSS tracking logic unit from the process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
and when the first processing pressure value is judged to exceed the preset value, adjusting the phase of the local signal according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal.
2. The processing system of claim 1, wherein the process priority of the GNSS tracking logic unit is higher than the process priority of the GNSS resolution logic unit; the process priority of the GNSS resolving logic unit is higher than the process priority of the GNSS application logic unit.
3. The processing system of claim 2, wherein the processing system collectively operates on a processor having multiple compute cores or higher operating speed; the GNSS tracking logic is configured for high priority execution.
4. A processing method, performed by a processor, comprising:
GNSS tracking step: the control base band module tracks carrier waves and pseudo codes of GNSS satellite signals and extracts an observation value, a navigation message, a satellite clock and ephemeris of the GNSS satellite signals;
GNSS resolving step: calculating GNSS positioning, fixed speed and timing results according to the observation value, the navigation message, the satellite clock and the ephemeris;
GNSS application steps: operating industry application software based on GNSS positions;
managing process priority and detecting and calculating a processing pressure value of a kernel in the running process of the processor;
the processing method further comprises the following steps:
acquiring a processing pressure value of a calculation kernel for executing the GNSS tracking step from a process management unit as a first processing pressure value;
judging whether the first processing pressure value exceeds a preset value or not;
when the first processing pressure value is judged to be less than or equal to the preset value, multiplying the carrier of the GNSS satellite signal by the carrier of the local signal, and multiplying the pseudo code of the GNSS satellite signal by the pseudo code of the local signal to obtain a carrier difference frequency signal and a pseudo code difference frequency signal;
respectively carrying out phase discrimination operation on the carrier difference frequency signal and the pseudo code difference frequency signal to obtain a carrier phase difference and a pseudo code phase difference between the GNSS satellite signal and the local signal;
adjusting the phase of the local signal according to the carrier phase difference and the pseudo code phase difference so as to realize tracking of the carrier and the pseudo code of the GNSS satellite signal;
and when the first processing pressure value is judged to exceed the preset value, adjusting the phase of the local signal according to the prediction error value so as to realize tracking of the carrier wave and the pseudo code of the GNSS satellite signal.
5. The process of claim 4, wherein the process priority of the GNSS tracking step is higher than the process priority of the GNSS resolving step; the process priority of the GNSS calculating step is higher than the process priority of the GNSS applying step.
6. A GNSS receiving device, characterized in that the GNSS receiving device comprises a baseband module, a radio frequency module and a processing system according to any one of claims 1 to 3;
the radio frequency module is used for receiving GNSS satellite signals and sending the GNSS satellite signals to the baseband module.
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