CN111596324A - Non-homologous relative zero value calibration method of navigation signal source, electronic equipment and medium - Google Patents
Non-homologous relative zero value calibration method of navigation signal source, electronic equipment and medium Download PDFInfo
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- 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
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Abstract
The application relates to a non-homologous relative zero value calibration method of a navigation signal source, electronic equipment and a storage medium. The method comprises the following steps: acquiring a navigation signal of a reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, and acquiring a first group of pseudo-range information when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of a non-reference transmitting channel of the navigation signal source; acquiring a navigation signal of a non-reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, and acquiring second group of pseudo-range information when the non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the reference transmitting channel of the navigation signal source; and obtaining a relative zero value between the non-reference transmission channel and the reference transmission channel based on the first group of pseudo range information and the second group of pseudo range information. By adopting the method, the calibration of the non-homologous relative zero value of the navigation signal source can be efficiently realized.
Description
Technical Field
The present application relates to the field of radio navigation technologies, and in particular, to a non-homologous relative zero value calibration method for a navigation signal source, an electronic device, and a storage medium.
Background
With the development of scientific technology, radio navigation technology is available, and navigation and positioning of an airplane, a ship or other moving carriers can be realized by using the radio navigation technology. The navigation signal source is an important instrument for satellite navigation research and development, test and calibration, the basic elements of the radio navigation technology are angle measurement and distance measurement, and zero value calibration of the navigation signal source has important influence on the distance measurement precision.
The traditional navigation signal source zero value calibration is mainly realized by adopting a high-speed oscilloscope or a standard receiver which is arranged in a same source with a navigation signal source, under the wireless condition, particularly in a darkroom environment, each device is separately arranged, the same source is difficult to realize, a special time-frequency cable needs to be laid, and the operation is complex and time-consuming; and the high-speed oscilloscope is expensive in cost and complex in operation flow, if a standard receiver is adopted, the requirement on the standard receiver is high, the zero value of the standard receiver needs to be determined, and zero value tracing is also a problem which needs to be solved.
Disclosure of Invention
In view of the foregoing, there is a need to provide a fast and efficient non-homologous relative zero calibration method for a navigation signal source, an electronic device and a storage medium.
A method for non-homologous relative zero calibration of a navigation signal source, the method comprising:
acquiring a navigation signal of a reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, wherein a first group of pseudo-range information is acquired when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the non-reference transmitting channel of the navigation signal source, and the first group of pseudo-range information comprises 2 pseudo-range information;
acquiring a navigation signal of a non-reference transmitting channel of the navigation signal source received by a reference receiving channel of the navigation signal receiving equipment, wherein the non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the reference transmitting channel of the navigation signal source, and the second group of pseudo-range information is acquired and comprises 2 pseudo-range information;
obtaining a relative zero value between the non-reference transmit channel and the reference transmit channel based on the first set of pseudorange information and the second set of pseudorange information.
In one embodiment, said deriving a relative zero value between said non-reference transmit channel and said reference transmit channel based on said first set of pseudorange information and said second set of pseudorange information comprises:
and carrying out differential processing based on the first group of pseudo range information and the second group of pseudo range information to obtain a relative zero value between the non-reference transmission channel and the reference transmission channel.
In one embodiment, said performing a difference process based on said first set of pseudorange information and said second set of pseudorange information to obtain a relative zero value between said non-reference transmit channel and said reference transmit channel comprises:
the method comprises the following steps:
performing single difference processing on the two combined zero values based on the first group of pseudo-range information to obtain a first single difference combined zero value;
performing single difference processing on the two combined zero values based on the second group of pseudo range information to obtain a second single difference combined zero value;
and performing double-difference processing based on the first single-difference combination zero value and the second single-difference combination zero value to obtain a relative zero value between the non-reference transmitting channel to be calibrated and the reference transmitting channel.
Further, the combined zero value is a difference value between the pseudo range of each set of pseudo range information and a propagation delay from each transmission channel to the navigation signal receiving device.
In one embodiment, when the number of the navigation signal sources is one, the number of the transmitting channels of the navigation signal sources is at least two;
when the number of the navigation signal sources is at least two, the number of the transmitting channels of the single navigation signal source is at least one.
In one embodiment, one of the first set of pseudo-range information is a reference pseudo-range output by the reference receiving channel receiving the navigation signal of the reference transmitting channel, and the other is a pseudo-range obtained by the non-reference receiving channel receiving the navigation signal of the non-reference transmitting channel.
In one embodiment, one of the second set of pseudo-range information is a pseudo-range obtained by the reference receiving channel receiving the navigation signal of the non-reference transmitting channel, and the other is a pseudo-range obtained by the non-reference receiving channel receiving the navigation signal of the reference transmitting channel.
An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a navigation signal of a reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, wherein a first group of pseudo-range information is acquired when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the non-reference transmitting channel of the navigation signal source, and the first group of pseudo-range information comprises 2 pseudo-range information;
acquiring a navigation signal of a non-reference transmitting channel of the navigation signal source received by a reference receiving channel of the navigation signal receiving equipment, wherein the non-reference receiving channel of the navigation signal receiving equipment receives a navigation signal of the reference transmitting channel of the navigation signal source, and the second group of pseudo-range information is acquired and comprises 2 pseudo-range information;
obtaining a relative zero value between the non-reference transmit channel and the reference transmit channel based on the first set of pseudorange information and the second set of pseudorange information.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a navigation signal of a reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, wherein a first group of pseudo-range information is acquired when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the non-reference transmitting channel of the navigation signal source, and the first group of pseudo-range information comprises 2 pseudo-range information;
acquiring a navigation signal of a non-reference transmitting channel of the navigation signal source received by a reference receiving channel of the navigation signal receiving equipment, wherein the non-reference receiving channel of the navigation signal receiving equipment receives a navigation signal of the reference transmitting channel of the navigation signal source, and the second group of pseudo-range information is acquired and comprises 2 pseudo-range information;
obtaining a relative zero value between the non-reference transmit channel and the reference transmit channel based on the first set of pseudorange information and the second set of pseudorange information.
According to the non-homologous relative zero value calibration method of the navigation signal source, the electronic device and the storage medium, the navigation signal of the reference transmitting channel of the navigation signal source is received by the reference receiving channel of the navigation signal receiving device, and the first group of pseudo-range information is obtained when the non-reference receiving channel of the navigation signal receiving device receives the navigation signal of the non-reference transmitting channel of the navigation signal source; exchanging a receiving and processing channel, receiving the navigation signal of the non-reference transmitting channel of the navigation signal source through the reference receiving channel of the navigation signal receiving equipment, and receiving the navigation signal of the reference transmitting channel of the navigation signal source through the non-reference receiving channel of the navigation signal receiving equipment to obtain a second group of pseudo-range information; based on the first group of pseudo range information and the second group of pseudo range information, a relative zero value between the non-reference transmitting channel and the reference transmitting channel is obtained, the result of the calibration of the high-speed oscilloscope or the standard receiver in the traditional zero value calibration scheme is an absolute zero value, most of test items of the satellite navigation signal receiving equipment do not care about the absolute zero value, and more care about the relative zero values among different channels of the navigation information source, among a plurality of navigation signal sources and among a plurality of transmitting antennas.
Drawings
FIG. 1 is a schematic flow chart illustrating a non-homologous relative zero calibration method for a navigation signal source according to an embodiment;
FIG. 2 is a schematic diagram of a wired connection between multiple channels of a navigation signal source in one embodiment;
FIG. 3 is a schematic diagram of a wireless connection between multiple channels of a navigation signal source in one embodiment;
FIG. 4 is a block diagram illustrating a wired connection of multiple channels of multiple navigation signal sources according to one embodiment;
FIG. 5 is a block diagram illustrating a wireless connection of multiple channels for multiple navigation signals in one embodiment;
FIG. 6 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in FIG. 1, a method for non-homologous relative zero calibration of a navigation signal source is provided, the method comprising the steps of:
102, acquiring a navigation signal of a reference receiving channel receiving reference transmitting channel of the navigation signal receiving equipment, and acquiring a first group of pseudo-range information when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the non-reference transmitting channel, wherein the first group of pseudo-range information comprises 2 pseudo-range information.
The navigation signal source generates and transmits satellite navigation signals, and in one embodiment, when the number of the navigation signal sources is one, the number of transmission channels of the navigation signal sources is at least two; when the number of navigation signal sources is at least two, the number of transmit channels of a single navigation signal source is at least one. The navigation signal source includes at least two transmitting channels, the reference transmitting channel and the non-reference transmitting channel are relative concepts, for example, the navigation signal source includes two transmitting channels of S1 and S2, with S1 as the reference transmitting channel, then S2 is the non-reference transmitting channel; with S2 as the reference transmit channel, S1 is the non-reference transmit channel. The navigation signal receiving apparatus includes at least two receiving channels, and like the transmitting channel of the navigation signal source, a reference receiving channel and a non-reference receiving channel are also relative concepts.
Different transmitting channels/receiving channels can be identified through technical means such as frequency division multiple access or code division multiple access, so that the navigation signals of the reference transmitting channel are received by the reference receiving channel, and the navigation signals of the non-reference transmitting channel are received by the non-reference receiving channel. The fdma refers to dividing a total frequency band into a plurality of equally spaced frequency channels/channels in a communication system, and allocating the frequency channels/channels to different users for use. Code division multiple access refers to a communication system in which signals used by different users to transmit information are distinguished by different code sequences. The first group of pseudo-range information comprises 2 pseudo-ranges, wherein one pseudo-range is obtained by receiving the navigation signals of the reference transmitting channel by the reference receiving channel and outputting the reference pseudo-range, and the other pseudo-range is obtained by receiving the navigation signals of the non-reference transmitting channel by the non-reference receiving channel.
In one embodiment, pseudoranges between transmit and receive channels
Wherein, in the step (A),
，
a pseudo range obtained by processing the navigation signal of the ijth transmitting channel received by the kth receiving channel,
a device common component zero value for the ith navigation signal source,
for the ith navigation messageThe signal source jth transmit channel section null,
the propagation delay of the path from the navigation signal transmitted by the jth transmitting channel of the ith navigation signal source to the navigation signal receiving equipment is delayed,
and processing the channel zero value of the jth transmitting channel signal of the ith navigation signal source for the navigation signal receiving equipment. When the navigation signal source is calibrated to zero value, the propagation path is known in both wired condition and wireless condition, i.e. the propagation path is known
As is known, therefore, the combined zero value between the transmit and receive channels can be represented as
=
. Without loss of generality, let the first channel of the first navigation signal source
For reference to the transmitting channel, a first receiving channel of the navigation signal receiving device
For reference to a receiving channel, receiving and processing the channel
The reference combined zero value of the reference transmitting channel and the reference receiving channel
。
And 104, acquiring a navigation signal of a non-reference transmitting channel of the navigation signal source received through a reference receiving channel of the navigation signal receiving equipment, and acquiring a second group of pseudo-range information when the non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the reference transmitting channel of the navigation signal source, wherein the second group of pseudo-range information comprises 2 pseudo-range information.
The second group of pseudo-range information comprises 2 pseudo-ranges, wherein one pseudo-range is obtained by receiving the navigation signals of the non-reference transmitting channel by the reference receiving channel, and the other pseudo-range is obtained by receiving the navigation signals of the reference transmitting channel by the non-reference receiving channel. Bearing the above-mentioned order channel
Receive processing channel
Transmitted navigation signals, channels
Receive processing channel
Respectively to obtain combined zero values
And
，
，
。
and 106, obtaining a relative zero value between the non-reference transmitting channel and the reference transmitting channel based on the first group of pseudo-range information and the second group of pseudo-range information.
The method specifically comprises the following steps: and performing single difference processing on the combined zero value to obtain a first single difference combined zero value and a second single difference combined zero value: wherein the combined zero value refers to the combined zero value calculation in step S102.
Double difference step: subtracting the two single-difference combined zero values to obtain a double-difference zero value:
then the navigation signal source transmitting channel
And a reference transmit channel
The relative zero value in between can be expressed as:
and enabling the receiving channel to process different transmitting channel signals, exchanging the transmitting channels for N-1 times, repeating the steps to obtain relative zero values between all non-homologous transmitting channels of all navigation signal sources and the reference transmitting channel, and calibrating.
In actual operation, the distance measurement jitter of the navigation signal receiving equipment also exists, and in order to improve the calibration precision, the distance measurement jitter error can be reduced by improving the distance measurement times of each transmitting channel by utilizing the statistical principle.
In summary, in the above method for calibrating a non-homologous relative zero value of a navigation signal source, by obtaining a navigation signal of a reference transmission channel of the navigation signal receiving device received by a reference receiving channel of the navigation signal receiving device, when the non-reference receiving channel of the navigation signal receiving device receives the navigation signal of the non-reference transmission channel of the navigation signal source, a first set of pseudo-range information is obtained; exchanging a receiving and processing channel, receiving the navigation signal of the non-reference transmitting channel of the navigation signal source through the reference receiving channel of the navigation signal receiving equipment, and receiving the navigation signal of the reference transmitting channel of the navigation signal source through the non-reference receiving channel of the navigation signal receiving equipment to obtain a second group of pseudo-range information; based on the first group of pseudo range information and the second group of pseudo range information, a relative zero value between a non-reference emission channel and a reference emission channel is obtained, the result of calibration of a high-speed oscilloscope or a standard receiver in the traditional zero value calibration scheme is an absolute zero value, most of test items of satellite navigation signal receiving equipment do not care about the absolute zero value, and more care about the relative zero values among different channels of a navigation information source, a plurality of navigation signal sources and a plurality of emission antennas.
In one embodiment, the transmit channels include three transmit channels S1, S2, and S3, with S1 being the reference transmit channel, then S2 and S3 are the non-reference transmit channels. The receiving channel comprises two receiving channels r1 and r2, and r1 is taken as a reference receiving channel, so that r2 is taken as a non-reference receiving channel. At this time, based on the non-homologous relative zero calibration method of the navigation signal source in the present application,
the receiving channel r1 receives the navigation signal of the transmitting channel S1, and the receiving channel r2 receives the navigation signal of the transmitting channel S2 to obtain a first group of pseudo range information;
exchanging processing channels, namely a receiving channel r2 receives the navigation signal of the transmitting channel S1, and a receiving channel r1 receives the navigation signal of the transmitting channel S2 to obtain a second group of pseudo range information;
and based on the two sets of pseudo-range information, performing single difference and double difference processing on the combined zero value to obtain a first relative zero value between the transmitting channel S2 and the transmitting channel S1, and calibrating.
The receiving channel r1 receives the navigation signal of the transmitting channel S1, the receiving channel r2 receives the navigation signal of the transmitting channel S3, and the third set of pseudo range information;
exchanging processing channels, wherein a receiving channel r2 receives the navigation signal of the transmitting channel S1, and a receiving channel r1 receives the navigation signal of the transmitting channel S3 to obtain a fourth group of pseudo-range information;
and based on the two sets of pseudo-range information, performing single difference and double difference processing on the combined zero value to obtain a second relative zero value between the transmitting channel S3 and the transmitting channel S1, and calibrating.
And the combined zero value is the difference value between the pseudo range of each group of pseudo range information and the propagation delay from each transmitting channel to the navigation signal receiving equipment.
In order to reduce the distance measurement jitter error, multiple tests can be performed, for example, the receiving channel r1 receives the navigation signal of the transmitting channel S1, the receiving channel r2 receives the navigation signal of the transmitting channel S2, and the tests are performed for N times;
the exchange processing channel, that is, the receiving channel r2 receives the navigation signal of the transmitting channel S1, the receiving channel r1 receives the navigation signal of the transmitting channel S2, the N times of tests are performed, N first relative zero values are obtained, and then the N first relative zero values are weighted and averaged to obtain a calibrated relative zero value for calibration.
By analogy, a second relative zero value may be used as such.
In one embodiment, a structure of wired connection between a plurality of channels of a navigation signal source is schematically shown in fig. 2, a structure of wireless connection between a plurality of channels of a navigation signal source is schematically shown in fig. 3, a structure of wired connection between a plurality of channels of a navigation signal source is schematically shown in fig. 4, and a structure of wireless connection between a plurality of channels of a navigation signal source is schematically shown in fig. 5. Taking fig. 2 as an example, it is known that a navigation signal source has more than 2 transmitting channels, and is connected to a navigation signal receiving device through a radio frequency cable by wire, where the navigation signal receiving device has more than 2 receiving channels, and the receiving channels are capable of receiving and processing navigation signals transmitted by any transmitting channel of the navigation signal source. In particular, assume that the 2 transmission channels of the navigation signal source are respectively
And
the 2 receiving channels of the navigation signal receiving equipment are respectively
And
in order to avoid loss of generality, the first transmission channel of the navigation signal source is enabled
For reference to the transmitting channel, a first receiving channel of the navigation signal receiving device
For reference to a receiving channel, receiving and processing the channel
The reference combined zero value of the reference transmit channel and the reference receive channel can be expressed as:
second receiving channel
Receive and process channel
The combined zero value of the navigation signal of (a) may be represented as:
. Switching the receive processing path to
Channel receive processing
The transmission signal of the channel is transmitted,
channel receive processing
The transmission signals of the channels respectively obtain combined zero values
、
Specifically, the following are shown:
，
. Combined zero value
Subtracting a reference combined zero value
To obtain a single difference combined zero value:
subtracting the two single-difference combined zeros to obtain a double-difference zero value:
then transmit the channel
And a reference transmit channel
A zero value in between can be expressed as
。
In one embodiment, for example, one navigation signal source includes one transmitting channel, and the navigation signal receiving device includes two receiving channels, the first navigation signal source includes a first transmitting channel, the second navigation signal source includes a second transmitting channel, the third navigation signal source includes a third transmitting channel, and the two receiving channels of the navigation signal receiving device are the first receiving channel and the second receiving channel, respectively.
1. The navigation signal receiving equipment receives the satellite navigation signal transmitted by the second transmitting channel through the second receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the first transmitting channel through the first receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the second transmitting channel through the first receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the first transmitting channel through the second receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The relative zero between the second transmit channel and the first transmit channel is thus:
2. the navigation signal receiving equipment receives the satellite navigation signal transmitted by the third transmitting channel through the second receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the first transmitting channel through the first receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the third transmitting channel through the first receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The navigation signal receiving equipment receives the satellite navigation signal transmitted by the first transmitting channel through the second receiving channel and processes the received satellite navigation signal to obtain a combined zero value
The relative zero between the third transmit channel and the first transmit channel is thus:
and the receiving channel is enabled to process different transmitting channel signals, the transmitting channels are exchanged for N-1 times, the steps are repeated, relative zero values between all non-homologous transmitting channels of all navigation signal sources and the reference transmitting channel are obtained, and calibration is carried out.
The calibration of the non-homologous relative zero value of the navigation signal source in the application does not need a high-speed oscilloscope/a standard receiver to perform homology, does not need professional operators of the high-speed oscilloscope/the standard receiver, has strong universality, is not only suitable for zero value calibration of signals of general modulation modes, such as BPSK (Binary Phase Shift Keying) and QPSK (Quadrature Phase Shift Keying), but also suitable for navigation signals of various special modulation modes, such as BOC signals, AltBoc signals, TD-AltBoc signals and TMBOC signals, and the like. The method is also suitable for wired detection or wireless darkroom detection environments, namely, zero value calculation of multiple channels of one navigation signal source or multiple channels of multiple navigation signal sources is suitable.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, an electronic device is provided, and the calibration method for non-homologous relative zero values of a navigation signal source in the present application can be implemented manually or by an electronic device or by a combination of a manual operation and an electronic device. The internal structure of the electronic device may be as shown in fig. 6. The electronic device comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a non-homologous relative zero value calibration method for a navigation signal source. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided that includes a memory having a computer program stored therein and a processor that, when executed, performs the steps in a method for non-homologous relative zero calibration of a navigation signal source.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the non-homologous relative zero value calibration method for a navigation signal source.
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 hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A method for non-homologous relative zero calibration of a navigation signal source, the method comprising:
acquiring a navigation signal of a reference transmitting channel of a navigation signal source received through a reference receiving channel of navigation signal receiving equipment, wherein a first group of pseudo-range information is acquired when a non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the non-reference transmitting channel of the navigation signal source, and the first group of pseudo-range information comprises 2 pseudo-range information;
acquiring a navigation signal of a non-reference transmitting channel of the navigation signal source received by a reference receiving channel of the navigation signal receiving equipment, wherein the non-reference receiving channel of the navigation signal receiving equipment receives the navigation signal of the reference transmitting channel of the navigation signal source, and the second group of pseudo-range information is acquired and comprises 2 pseudo-range information;
obtaining a relative zero value between the non-reference transmit channel and the reference transmit channel based on the first set of pseudorange information and the second set of pseudorange information.
2. The method of claim 1, wherein said deriving a relative zero value between the non-reference transmit channel and the reference transmit channel based on the first set of pseudorange information and the second set of pseudorange information comprises:
and carrying out differential processing based on the first group of pseudo range information and the second group of pseudo range information to obtain a relative zero value between the non-reference emission channel and the reference emission channel.
3. The method of claim 2, wherein the relative zero value comprises:
performing single difference processing on the two combined zero values based on the first group of pseudo-range information to obtain a first single difference combined zero value;
performing single difference processing on the two combined zero values based on the second group of pseudo range information to obtain a second single difference combined zero value;
and performing double-difference processing based on the first single-difference combination zero value and the second single-difference combination zero value to obtain a relative zero value between the non-reference transmitting channel to be calibrated and the reference transmitting channel.
4. The method of claim 3, wherein the combined zero value is a difference between the pseudoranges of the sets of pseudorange information and propagation delays between the transmit channels to the navigation signal receiving device.
5. The method of claim 1, wherein when the number of navigation signal sources is one, the number of transmit channels of the navigation signal sources is at least two;
when the number of the navigation signal sources is at least two, the number of the transmitting channels of the single navigation signal source is at least one.
6. The method of claim 1, wherein one of the first set of pseudorange information is a reference pseudorange output from the reference receive channel receiving the navigation signals of the reference transmit channel, and the other is a pseudorange obtained from the non-reference receive channel receiving the navigation signals of the non-reference transmit channel.
7. The method of claim 1, wherein one of the second set of pseudorange information is a pseudorange obtained from the reference receive channel receiving the navigation signals of the non-reference transmit channel, and the other is a pseudorange obtained from the non-reference receive channel receiving the navigation signals of the reference transmit channel.
8. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any of claims 1 to 7 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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