CN111381260A - Method and device for processing satellite navigation positioning signal and receiver - Google Patents
Method and device for processing satellite navigation positioning signal and receiver Download PDFInfo
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- CN111381260A CN111381260A CN201811630053.6A CN201811630053A CN111381260A CN 111381260 A CN111381260 A CN 111381260A CN 201811630053 A CN201811630053 A CN 201811630053A CN 111381260 A CN111381260 A CN 111381260A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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 embodiment of the invention is suitable for the technical field of satellite navigation positioning, and provides a method, a device and a receiver for processing satellite navigation positioning signals, wherein the method comprises the following steps: receiving a satellite navigation positioning signal; identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal; performing a first stage of processing on the first type of signal; determining whether the processing result of the first type of signal meets the current requirement; and if not, executing second-stage processing on the second-class signals. According to the method and the device, the satellite navigation positioning signals are divided into different categories according to the characteristics of the QMBOC signals, and are respectively processed according to a certain priority order, so that the processing efficiency can be improved, and the precision and the accuracy of subsequent positioning can be improved.
Description
Technical Field
The invention belongs to the technical field of satellite navigation positioning, and particularly relates to a method for processing a satellite navigation positioning signal, a device for processing the satellite navigation positioning signal, a satellite navigation receiver and a computer readable storage medium.
Background
The Beidou Satellite Navigation System (BeiDou Navigation Satellite System, BDS for short) is a global Satellite Navigation System developed by China. The Beidou satellite navigation system consists of a space section, a ground section and a user section, and can provide high-precision, high-reliability positioning, navigation and time service for various users all day long in the world.
When the Beidou satellite navigation system is used for positioning, satellite signals can be received through the satellite navigation receiver, and positioning is completed through a series of processing. In the above process, RAIM (Receiver autonomous integrity Monitoring) detection and Cycle Slip (Cycle Slip) detection are important links.
However, different types of satellite navigation positioning (GNSS) signals are different, and when RAIM detection or cycle slip detection is performed on the GNSS positioning signals in the prior art, positioning accuracy is easily affected, resulting in a serious error in a final positioning result.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a receiver for processing a satellite navigation positioning signal, so as to solve the problem of low positioning accuracy in performing satellite navigation positioning in the prior art.
A first aspect of an embodiment of the present invention provides a method for processing a satellite navigation positioning signal, including:
receiving a satellite navigation positioning signal;
identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
performing a first stage of processing on the first type of signal;
determining whether the processing result of the first type of signal meets the current requirement;
and if not, executing second-stage processing on the second-class signals.
A second aspect of the embodiments of the present invention provides a processing apparatus for satellite navigation positioning signals, including:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
the first processing module is used for executing first-stage processing on the first-class signals;
the determining module is used for determining whether the processing result of the first type of signals meets the current requirement;
and the second processing module is used for executing second-stage processing on the second-class signals when the processing result of the first-class signals does not meet the current requirement.
A third aspect of the embodiments of the present invention provides a satellite navigation receiver, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for processing satellite navigation positioning signals when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the above method for processing satellite navigation positioning signals.
Compared with the prior art, the embodiment of the invention has the following advantages:
according to the embodiment of the invention, the first type of signals can be processed preferentially by identifying the first type of signals and the second type of signals contained in the received satellite navigation positioning signals, and then, by determining whether the processing result of the first type of signals meets the current requirement or not, the subsequent processing is continued only when the processing result of the first type of signals does not meet the current requirement. According to the method and the device, the satellite navigation positioning signals are divided into different categories according to the characteristics of the QMBOC signals, and are respectively processed according to a certain priority order, so that the processing efficiency can be improved, and the precision and the accuracy of subsequent positioning can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flowchart illustrating a method for processing a satellite navigation positioning signal according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for processing a satellite navigation positioning signal according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of the RAIM detection process of one embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for processing a satellite navigation positioning signal according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a cycle slip detection process according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of an apparatus for processing satellite navigation positioning signals according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a satellite navigation receiver according to an embodiment of the invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The technical solution of the present invention will be described below by way of specific examples.
In satellite navigation Positioning, in order to provide better interoperability with other systems, the civil signal B1C of the beidou satellite navigation System adopts the QMBOC technology in the design process, which can not only meet the requirement of radio frequency compatibility with other signals of the same frequency point, but also ensure the interoperability with the GPS (Global Positioning System) L1C signal and Galileo (Galileo satellite navigation System) E1 signal, and has higher ranging accuracy and robustness.
QMBOC modulates two component signals of BOC (Binary Offset Carrier), i.e., a BOC (1,1) component and a BOC (6,1) component, on two mutually orthogonal phases of a Carrier, respectively. Generally denoted BOC (sf, cf), where sf represents the subcarrier frequency and cf represents the pseudo code rate. Since sf and cf are both integer multiples of 1.023MHz, they can be expressed in literature as BOC (m, n), where m denotes the subcarrier frequency and n denotes the spreading code rate, which respectively denote m and n times 1.023 MHz.
Generally, a navigation-type receiver can process only the BOC (1,1) component, and obtain high interoperability with GPS L1C and Galileo E1 signals; the high-precision receiver may additionally receive the BOC (6,1) component to improve multipath immunity. Therefore, based on the QMBOC characteristics, the core concept of the embodiment of the present invention is to perform joint positioning solution by using the high interoperability of the BOC (1,1) component of QMBOC and the GPS L1C and Galileo E1 signals, preferentially screen the non-QMBOC signals during RAIM detection, and preferentially detect the QMBOC signals during cycle slip detection, so as to improve the accuracy and precision of satellite positioning.
Referring to fig. 1, a schematic flow chart illustrating steps of a method for processing a satellite navigation positioning signal according to an embodiment of the present invention may specifically include the following steps:
s101, receiving a satellite navigation positioning signal;
it should be noted that the main body for implementing the method may be a satellite navigation receiver. After receiving the satellite navigation positioning signal, the satellite navigation receiver can process the satellite navigation positioning signal by adopting different algorithms, and completes positioning based on the processing result.
In the embodiment of the present invention, the satellite navigation system may be a beidou satellite navigation system with a broadcast QMBOC signal.
S102, identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
in general, the QMBOC signals have an improvement effect on pseudoranges, and the characteristics of the QMBOC signals can be utilized to improve the accuracy and precision of positioning.
In general, a QMBOC signal refers to a signal type in which two component signals of BOC, i.e., a BOC (1,1) component and a BOC (6,1) component, are modulated on two mutually orthogonal phases of a carrier, respectively.
Therefore, the received satellite navigation positioning signals can be divided into the first type signals and the second type signals according to whether the satellite navigation positioning signals contain the QMBOC signals and what type of the QMBOC signals contain the QMBOC signals.
It should be noted that the divided first type signal and the divided second type signal may be different according to different specific processing manners of the satellite navigation positioning signal.
In the embodiment of the present invention, the processing of the satellite navigation positioning signals may be RAIM detection or cycle slip detection.
RAIM detection refers to monitoring the integrity of a user positioning result according to redundant observed values of a user receiver, and aims to detect a failed satellite in a navigation process and guarantee navigation positioning accuracy.
Cycle slip refers to the jump or interruption of the full cycle count in the carrier phase measurement of satellite navigation system technology due to loss of lock on the satellite signal. Correctly detecting and recovering cycle slip is one of the very important and problematic issues in carrier phase measurement.
In the embodiment of the present invention, if RAIM detection is required, the identified first type signal may be a non-QMBOC signal, and the second type signal is a QMBOC signal without a specific component, where the specific component is a BOC (6,1) component, that is, the second type signal is a QMBOC signal without a BOC (6,1) component. Correspondingly, the first-stage processing and the second-stage processing are respectively the first-stage RAIM detection and the second-stage RAIM detection.
If cycle slip detection is required, the identified first type of signal may be a QMBOC signal with a specific component, which may also be a BOC (6,1) component, and the second type of signal may be a QMBOC signal without a BOC (6,1) component. Correspondingly, the first-stage processing and the second-stage processing are respectively first-stage cycle slip detection and second-stage cycle slip detection.
S103, performing first-stage processing on the first-class signals;
in the embodiment of the present invention, after the first type signal and the second type signal included in the satellite navigation positioning signal are identified, the first type signal may be preferentially processed according to the characteristics of the QMBOC signal.
For example, when RAIM detection is performed, first-stage RAIM detection may be preferentially performed on the screened non-QMBOC signals; when cycle slip detection is performed, the first-stage cycle slip detection can be preferentially performed on the screened QMBOC signal containing the BOC (6,1) component.
S104, determining whether the processing result of the first type of signals meets the current requirement;
in the embodiment of the present invention, whether the processing result of the first-stage RAIM detection meets the current requirement may refer to whether the processing result of the first-class signal meets the current positioning error requirement, that is, whether the detection result meets the current positioning error requirement after RAIM detection is performed on the non-QMBOC signal.
Whether the processing result of the first-stage cycle slip detection meets the current requirement or not can mean whether the processing result of the first-stage signal meets the current cycle slip detection threshold or not, namely whether the processing result of the first-stage cycle slip detection meets the current cycle slip detection threshold or not when the cycle slip detection is performed on the QMBOC signal containing the BOC (6,1) component.
If the processing result for the first type of signal does not satisfy the current requirement, step S105 needs to be executed to continue processing the second type of signal.
And S105, executing second-stage processing on the second-class signals.
In the embodiment of the invention, the first-class signals can be processed preferentially by identifying the first-class signals and the second-class signals contained in the received satellite navigation positioning signals, and then, by determining whether the processing result of the first-class signals meets the current requirement, the subsequent processing is continued only when the processing result of the first-class signals does not meet the current requirement. According to the method and the device, the satellite navigation positioning signals are divided into different categories according to the characteristics of the QMBOC signals, and are respectively processed according to a certain priority order, so that the processing efficiency can be improved, and the precision and the accuracy of subsequent positioning can be improved.
Referring to fig. 2, a schematic flow chart illustrating steps of another method for processing a satellite navigation positioning signal according to an embodiment of the present invention is shown, which may specifically include the following steps:
s201, receiving a satellite navigation positioning signal;
it should be noted that the main implementation of the method may be a satellite navigation receiver, and the satellite navigation system may be a beidou satellite navigation system with a broadcast QMBOC signal.
S202, identifying non-QMBOC signals, QMBOC signals without BOC (6,1) component and QMBOC signals with BOC (6,1) component signals contained in the satellite navigation positioning signals;
in general, the QMBOC signals have an improvement effect on pseudoranges, and the characteristics of the QMBOC signals can be utilized to improve the accuracy and precision of positioning. In general, the QMBOC signal includes both a QMBOC signal including a BOC (6,1) component signal and a QMBOC signal not including a BOC (6,1) component signal.
Generally, different acquisition and tracking methods are used in the baseband algorithm, and a corresponding signal is output after tracking is successful. According to the method, various types of signals in the satellite navigation positioning signals can be screened and identified.
S203, performing first-stage RAIM detection on the non-QMBOC signal;
generally, in the RAIM algorithm, the QMBOC signal containing a BOC (6,1) component is an anti-multipath signal. Therefore, when RAIM detection is performed, non-QMBOC signals and QMBOC signals containing no BOC (6,1) component can be preferentially screened.
In embodiments of the present invention, when performing RAIM detection, a first level RAIM detection may be preferentially performed on non-QMBOC signals.
S204, determining whether the processing result of the non-QMBOC signal meets the current positioning error requirement or not;
after the first-stage RAIM detection is completed, the result of the detection can be judged to determine whether the result meets the current positioning error requirement. If the result of the current detection does not meet the current positioning error requirement, step S205 needs to be executed to continue the second-stage RAIM detection.
S205, performing second-stage RAIM detection on the QMBOC signal without the BOC (6,1) component;
in an embodiment of the present invention, the object of the second stage RAIM detection may be a QMBOC signal without a BOC (6,1) component.
S206, determining whether the processing result of the QMBOC signal without the BOC (6,1) component meets the current positioning error requirement or not;
similarly, after the second-stage RAIM detection is completed, the result of the current detection may be judged again to determine whether the result meets the current requirement for positioning error. If the result of the current detection still does not meet the current positioning error requirement, step S207 needs to be executed to continue the third-stage RAIM detection.
And S207, performing third-stage RAIM detection on the QMBOC signal containing the BOC (6,1) component signal.
In the embodiment of the present invention, the object of the third-stage RAIM detection may be a QMBOC signal containing a BOC (6,1) component. Since the QMBOC signal containing the BOC (6,1) component is an anti-multipath signal. Therefore, when RAIM detection is performed, RAIM detection on the QMBOC signal having a BOC (6,1) component may be arranged to be performed last.
Fig. 3 is a schematic diagram of a RAIM detection process according to an embodiment of the present invention. According to the detection flow in fig. 3, when the RAIM detection is started, the non-QMBOC signal may be first screened out to perform the first-level RAIM detection, and then it is determined whether the detection needs to be continued. If yes, second-stage RAIM detection is performed on the QMBOC signal without the BOC (6,1) component. After the second-stage RAIM detection is completed, if the detection result still cannot meet the current positioning error requirement, the detection needs to be performed again, that is, the third-stage RAIM detection is performed on the QMBOC signal containing the BOC (6,1) component.
In the embodiment of the invention, because the QMBOC signal has the characteristics of high pseudo range precision and multipath resistance, the non-QMBOC signal with poor quality is preferentially checked during RAIM detection, thereby being capable of rapidly positioning the abnormal pseudo range and being beneficial to improving the positioning accuracy and success rate.
Referring to fig. 4, a schematic flow chart illustrating steps of a method for processing a satellite navigation positioning signal according to another embodiment of the present invention may specifically include the following steps:
s401, receiving a satellite navigation positioning signal;
it should be noted that the main implementation of the method may be a satellite navigation receiver, and the satellite navigation system is a beidou satellite navigation system with a broadcast QMBOC signal.
S402, identifying QMBOC signals containing BOC (6,1) components, QMBOC signals without BOC (6,1) components and non-QMBOC signals contained in the satellite navigation and positioning signals;
in general, the QMBOC signals have an improvement effect on pseudoranges, and the characteristics of the QMBOC signals can be utilized to improve the accuracy and precision of positioning. In general, the QMBOC signal includes both a QMBOC signal including a BOC (6,1) component signal and a QMBOC signal not including a BOC (6,1) component signal.
Generally, different acquisition and tracking methods are used in the baseband algorithm, and a corresponding signal is output after tracking is successful. According to the method, various types of signals in the positioning signals can be screened and identified.
S403, performing first-stage cycle slip detection on the QMBOC signal containing the BOC (6,1) component;
in general, cycle slip is the complete cycle slip of a carrier phase, and a satellite with cycle slip can be quickly determined by preferentially detecting good-quality observation quantities.
Therefore, in cycle slip detection, the QMBOC signals may be screened preferentially. Of the two QMBOC signals, the QMBOC signal with the BOC (6,1) component is again better quality than the QMBOC signal without the BOC (6,1) component. The first stage cycle slip detection may be performed first on the QMBOC signal with a BOC (6,1) component.
S404, determining whether the processing result of the QMBOC signal containing the BOC (6,1) component meets the current cycle slip detection threshold value;
after the first-stage cycle slip detection is completed, the result of the current detection can be judged to determine whether the result meets the current cycle slip detection threshold value. If the result of this detection does not satisfy the current cycle slip detection threshold, step S305 needs to be executed to continue the second-stage cycle slip detection.
S405, performing second-stage cycle slip detection on the QMBOC signal without the BOC (6,1) component;
in the embodiment of the present invention, the object of the second-stage cycle-slip detection may be a QMBOC signal without BOC (6,1) component.
S406, determining whether the processing result of the QMBOC signal without the BOC (6,1) component meets the current cycle slip detection threshold value;
similarly, after the second-stage cycle slip detection is completed, the result of the current detection may be judged again to determine whether the result meets the current cycle slip detection threshold. If the current cycle slip detection result still does not satisfy the current cycle slip detection threshold, step S407 needs to be executed to continue the third-stage cycle slip detection.
And S407, performing third-stage cycle slip detection on the non-QMBOC signal.
In the embodiment of the present invention, the object of the third-stage cycle slip detection may be a non-QMBOC signal.
Fig. 5 is a schematic diagram of a cycle slip detection process according to an embodiment of the present invention. According to the detection flow in fig. 5, when cycle slip detection is started, a QMBOC signal containing a BOC (6,1) component may be first screened out to perform first-stage cycle slip detection, and then it is determined whether or not detection needs to be continued. If yes, the QMBOC signal without BOC (6,1) component is subjected to the second stage cycle slip detection. After the second-stage cycle slip detection is completed, if the detection result still cannot meet the current cycle slip detection threshold value, the detection needs to be performed once again, that is, the third-stage cycle slip detection is performed on the non-QMBOC signal.
In the embodiment of the invention, because the QMBOC signal has the characteristics of high pseudo-range precision and multipath resistance, the QMBOC signal with high pseudo-range precision can determine whether the cycle slip exists more easily during the cycle slip detection of high-precision positioning, and therefore, the QMBOC signal is detected preferentially, and the cycle slip can be determined more easily, rapidly and accurately.
It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Referring to fig. 6, a schematic diagram of a satellite navigation positioning signal processing apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
a receiving module 601, configured to receive a satellite navigation positioning signal;
an identifying module 602, configured to identify a first type of signal and a second type of signal included in the satellite navigation positioning signal;
a first processing module 603, configured to perform a first stage of processing on the first type of signal;
a determining module 604, configured to determine whether a processing result of the first type signal meets a current requirement;
a second processing module 605, configured to perform a second stage of processing on the second type of signal when the processing result of the first type of signal does not meet the current requirement.
In an embodiment of the present invention, the first stage processing is first stage RAIM (receiver self-integrity monitoring) detection, the first type of signal is a non-QMBOC (quadrature multiplexed binary offset carrier modulated) signal, the second type of signal is a QMBOC signal without a specific component, the specific component is a binary offset carrier BOC (6,1) component, and the second stage processing is second stage RAIM detection.
In this embodiment of the present invention, the determining module 604 may specifically include the following sub-modules:
and the first determining submodule is used for determining whether the processing result of the first type of signals meets the current positioning error requirement.
In an embodiment of the present invention, the satellite navigation positioning signal further includes a third type of signal, where the third type of signal is a QMBOC signal including a BOC (6,1) component signal, and the apparatus may further include the following modules:
the positioning error determining module is used for determining whether the processing result of the second type of signals meets the current positioning error requirement or not;
and the third-stage RAIM detection module is used for performing third-stage RAIM detection on the QMBOC signal containing the BOC (6,1) component signal if the QMBOC signal does not contain the BOC (6,1) component signal.
In an embodiment of the present invention, the first stage process is a first stage cycle slip detection, the first type signal is a QMBOC signal having a specific component, the specific component is a BOC (6,1) component, the second type signal is a QMBOC signal not having the BOC (6,1) component, and the second stage process is a second stage cycle slip detection.
In this embodiment of the present invention, the determining module 604 may further include the following sub-modules:
and the second determining submodule is used for determining whether the processing result of the first type of signals meets the current cycle slip detection threshold value.
In an embodiment of the present invention, the satellite navigation positioning signal further includes a third type of signal, where the third type of signal is a non-QMBOC signal, and the apparatus may further include:
a cycle slip detection threshold value determining module, configured to determine whether a processing result of the second type of signal meets a current cycle slip detection threshold value;
and the third-stage cycle slip detection module is used for executing third-stage cycle slip detection on the non-QMBOC signal if the non-QMBOC signal is not the QMBOC signal.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.
Referring to FIG. 7, a schematic diagram of a satellite navigation receiver according to one embodiment of the invention is shown. As shown in fig. 7, the satellite navigation receiver 700 of the present embodiment includes: a processor 710, a memory 720, and a computer program 721 stored in said memory 720 and operable on said processor 710. The processor 710, when executing the computer program 721, implements the steps of the above-mentioned method for processing satellite navigation positioning signals, such as the steps S101 to S105 shown in fig. 1. Alternatively, the processor 710, when executing the computer program 721, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 601 to 605 shown in fig. 6.
Illustratively, the computer program 721 may be divided into one or more modules/units, which are stored in the memory 720 and executed by the processor 710 to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which may be used to describe the execution of the computer program 721 in the satellite navigation receiver 700. For example, the computer program 721 may be divided into a receiving module, an identifying module, a first processing module, a determining module and a second processing module, each module having the following specific functions:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
the first processing module is used for executing first-stage processing on the first-class signals;
the determining module is used for determining whether the processing result of the first type of signals meets the current requirement;
and the second processing module is used for executing second-stage processing on the second-class signals when the processing result of the first-class signals does not meet the current requirement.
The satellite navigation receiver 700 may be a desktop computer, a notebook, a palm top computer, a cloud server, or other computing devices. The satellite navigation receiver 700 may include, but is not limited to, a processor 710, a memory 720. Those skilled in the art will appreciate that fig. 7 is merely an example of a satellite navigation receiver 700 and does not constitute a limitation of the satellite navigation receiver 700 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the satellite navigation receiver 700 may also include input-output devices, network access devices, buses, etc.
The Processor 710 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 720 may be an internal storage unit of the satellite navigation receiver 700, such as a hard disk or a memory of the satellite navigation receiver 700. The memory 720 may also be an external storage device of the satellite navigation receiver 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on, provided on the satellite navigation receiver 700. Further, the memory 720 may also include both an internal storage unit and an external storage device of the satellite navigation receiver 700. The memory 720 is used for storing the computer program 721 and other programs and data required by the satellite navigation receiver 700. The memory 720 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that the foregoing division of the functional units and modules is merely illustrative for the convenience and simplicity of description. In practical applications, the above function allocation may be performed by different functional units or modules as needed, that is, the internal structure of the apparatus/terminal device is divided into different functional units or modules, so as to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for processing a satellite navigation positioning signal, comprising:
receiving a satellite navigation positioning signal;
identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
performing a first stage of processing on the first type of signal;
determining whether the processing result of the first type of signal meets the current requirement;
and if not, executing second-stage processing on the second-class signals.
2. The method of claim 1 wherein the first stage processing is first stage RAIM detection, the first class of signals is non-QMBOC signals, the second class of signals is QMBOC signals without a specific component, the specific component is a BOC (6,1) component, and the second stage processing is second stage RAIM detection.
3. The method of claim 2, wherein the step of determining whether the processing result of the first type of signal satisfies the current requirement comprises:
determining whether the processing result of the first type of signal meets the current positioning error requirement.
4. The method of claim 3, wherein the satellite navigation positioning signals further comprise a third type of signals, and wherein the third type of signals are QMBOC signals comprising BOC (6,1) component signals, the method further comprising:
determining whether the processing result of the second type of signal meets the current positioning error requirement;
if not, a third stage RAIM detection is performed on the QMBOC signal containing the BOC (6,1) component signal.
5. The method of claim 1, wherein the first stage processing is first stage cycle slip detection, the first type of signal is a QMBOC signal with a specific component, the specific component is a BOC (6,1) component, the second type of signal is a QMBOC signal without the BOC (6,1) component, and the second stage processing is second stage cycle slip detection.
6. The method of claim 5, wherein the step of determining whether the processing result of the first type of signal satisfies the current requirement comprises:
and determining whether the processing result of the first type of signal meets the current cycle slip detection threshold value.
7. The method of claim 6, wherein the satellite navigation positioning signals further comprise a third type of signals, and wherein the third type of signals is non-QMBOC signals, the method further comprising:
determining whether the processing result of the second type of signal meets the current cycle slip detection threshold value;
if not, performing third-stage cycle slip detection on the non-QMBOC signal.
8. An apparatus for processing a satellite navigation positioning signal, comprising:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying a first type of signal and a second type of signal contained in the satellite navigation positioning signal;
the first processing module is used for executing first-stage processing on the first-class signals;
the determining module is used for determining whether the processing result of the first type of signals meets the current requirement;
and the second processing module is used for executing second-stage processing on the second-class signals when the processing result of the first-class signals does not meet the current requirement.
9. A satellite navigation receiver comprising a memory, a processor and a computer program stored in said memory and operable on said processor, characterized in that said processor implements the steps of the method for processing satellite navigation positioning signals according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for processing satellite navigation positioning signals according to any one of claims 1 to 7.
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