CN112904374A - Satellite signal strength evaluation method and device, GNSS receiver and medium - Google Patents
Satellite signal strength evaluation method and device, GNSS receiver and medium Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application discloses a satellite signal strength evaluation method, a satellite signal strength evaluation device, a GNSS receiver and a medium, wherein the method comprises the following steps: determining a target tracking background noise corresponding to the invisible target star; estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. Therefore, by utilizing the tracking bottom noise of the invisible satellite in the same frequency band of the visible satellite navigation system, the influence of the visible satellite correlation peak on the bottom noise calculation can be eliminated by estimating the satellite signal intensity of the visible satellite, the accuracy of the bottom noise calculation can be improved, the accuracy of the satellite signal intensity evaluation is further improved, and the satellite positioning precision is further improved.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a method and an apparatus for estimating satellite signal strength, a GNSS receiver, and a medium.
Background
The signal-to-noise ratio in a GNSS (Global Navigation Satellite System) receiver is determined by the ratio of the corresponding noise floor, and the signal-to-noise ratio is an index for estimating the Satellite signal strength. The receiver comprises an acquisition part and a tracking part, which are both sensitive to the difference of the strength level of the satellite signal, and if the estimated strength of the satellite signal is deviated from the actual strength, the accuracy loss of the acquisition and the tracking can be caused, and the positioning result of the system is influenced. The estimation strength is lower than the actual value, which may cause extra time consumption for acquisition and large jitter of chip and frequency offset tracking; the estimated strength is higher than the actual value, which may cause acquisition failure and tracking out-of-lock condition. In the prior art, the background noise calculation result of the multiplexing capture is generally tracked, and the conversion in time length is carried out. If the input data of the acquisition and the tracking have quantization magnitude difference, the estimated value of the acquired background noise cannot be tracked and the background noise is usually filtered in the time domain or the frequency domain of visible stars in the prior art, but the satellite correlation peak influences the estimation precision of the background noise.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method and an apparatus for estimating satellite signal strength, a GNSS receiver, and a medium, which can improve the accuracy of calculating the background noise, and further improve the accuracy of estimating the satellite signal strength, thereby improving the satellite positioning accuracy. The specific scheme is as follows:
in a first aspect, the present application discloses a method for estimating satellite signal strength, which is applied to a GNSS receiver, and includes:
determining a target tracking background noise corresponding to the invisible target star;
estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
Optionally, the determining a target tracking noise corresponding to the invisible target star includes:
acquiring configuration data corresponding to the target invisible star;
tracking the invisible target star based on the configuration data to obtain corresponding autocorrelation result data;
and determining target tracking background noise corresponding to the target invisible stars by utilizing the autocorrelation result data.
Optionally, the target invisible star is tracked based on the configuration data to obtain corresponding autocorrelation result data; determining a target tracking background noise corresponding to the target invisible star by using the autocorrelation result data, wherein the method comprises the following steps:
and tracking the target invisible star based on the configuration data corresponding to the target invisible star, determining a corresponding bottom noise value based on the autocorrelation result every time an autocorrelation result is obtained, and smoothing the current bottom noise value by using a linear filter until the tracking is finished to obtain the target tracking bottom noise.
Optionally, the smoothing the current noise floor value by using a linear filter includes:
determining a difference between the current background noise value and the background noise value determined based on the last correlation result;
adjusting the weight of the linear filter by using the difference value;
and smoothing the current background noise value by using the linear filter after the weight is adjusted.
Optionally, the obtaining of the configuration data corresponding to the target invisible star includes:
and acquiring a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible satellite, or the local code, a chip group, a carrier phase group and the navigation message data period.
Optionally, the determining, by using the autocorrelation result data, a target tracking noise corresponding to the target invisible star includes:
and determining a target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data within a preset time before the target visible star is tracked.
Optionally, the determining a target tracking noise corresponding to the invisible target star includes:
when receiving satellite signals of invisible satellites, determining tracking background noises corresponding to the invisible satellites, and recording corresponding system frequency band information;
and matching a target tracking background noise corresponding to the target invisible satellite from the determined tracking background noise of the invisible satellite based on the satellite navigation system and the frequency band corresponding to the target visible satellite based on the system frequency band information.
In a second aspect, the present application discloses a satellite signal strength estimation apparatus, applied to a GNSS receiver, including:
the target tracking background noise determining module is used for determining target tracking background noise corresponding to the invisible target;
the satellite signal intensity evaluation module is used for evaluating the satellite signal intensity of the target visible satellites tracked by the GNSS receiver based on the target tracking background noise; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a third aspect, the present application discloses a GNSS receiver, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the aforementioned satellite signal strength evaluation method.
In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program which, when executed by a processor, implements the aforementioned satellite signal strength evaluation method.
Therefore, the target tracking background noise corresponding to the invisible target star is determined firstly; estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, this application tracks the multiplexing capture end noise, utilizes the tracking end noise of the same frequency channel of the same satellite navigation system with visible star, carries out satellite signal intensity estimation to visible star, like this, can get rid of the influence that visible star correlation peak calculated to the end noise, can promote the degree of accuracy that the end noise calculated, and then promotes the degree of accuracy that satellite signal intensity assesses to promote satellite positioning accuracy.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of an image denoising processing method disclosed in the present application;
FIG. 2 is a prior art flow chart of satellite signal demodulation;
fig. 3 is a schematic diagram of a satellite navigation system corresponding to a frequency band according to the present application;
FIG. 4 is a flow chart of a specific satellite signal strength estimation method disclosed herein;
fig. 5 is a schematic structural diagram of a satellite signal strength evaluation apparatus disclosed in the present application;
FIG. 6 is a schematic diagram of an exemplary satellite signal evaluation apparatus according to the present disclosure;
FIG. 7 is a block diagram of a GNSS receiver disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The signal-to-noise ratio in the GNSS receiver is determined by the ratio of the corresponding noise floor, and the signal-to-noise ratio is an index for estimating the satellite signal strength. The receiver comprises an acquisition part and a tracking part, which are both sensitive to the difference of the strength level of the satellite signal, and if the estimated strength of the satellite signal is deviated from the actual strength, the accuracy loss of the acquisition and the tracking can be caused, and the positioning result of the system is influenced. The estimation strength is lower than the actual value, which may cause extra time consumption for acquisition and large jitter of chip and frequency offset tracking; the estimated strength is higher than the actual value, which may cause acquisition failure and tracking out-of-lock condition. In the prior art, the background noise calculation result of the multiplexing capture is generally tracked, and the conversion in time length is carried out. If the input data of the acquisition and the tracking have quantization magnitude difference, the estimated value of the acquired background noise cannot be tracked and the background noise is usually filtered in the time domain or the frequency domain of visible stars in the prior art, but the satellite correlation peak influences the estimation precision of the background noise. Therefore, the satellite signal strength evaluation scheme can improve the accuracy of background noise calculation, and further improve the accuracy of satellite signal strength evaluation, so that the satellite positioning precision is improved.
Referring to fig. 1, an embodiment of the present application discloses a method for estimating satellite signal strength, including:
step S11: and determining target tracking background noise corresponding to the invisible target star.
In a specific implementation manner, the present embodiment may obtain configuration data corresponding to the target invisible star; tracking the invisible target star based on the configuration data to obtain corresponding autocorrelation result data; and determining target tracking background noise corresponding to the target invisible stars by utilizing the autocorrelation result data.
In a specific implementation manner, the configuration data corresponding to the target invisible satellite may be acquired based on the asterisk of the target invisible satellite, a satellite navigation system and a frequency band. Specifically, the corresponding target invisible star can be determined based on the satellite navigation system and the frequency band of the target visible star, and the star number, the satellite navigation system and the frequency band of the target invisible star can be directly configured. The star number of the target invisible star may be determined according to a satellite transmission list disclosed by each navigation system, for example, to evaluate a target visible star in a GPS L1 frequency band, one invisible star in a GPS L1 frequency band may be determined as a target invisible star according to a satellite transmission list disclosed by each navigation system, and the star number of the target invisible star is obtained. The method and the device for acquiring the star number, the satellite navigation system and the frequency band of the invisible star acquire configuration data corresponding to the invisible star from a preset configuration database based on the star number, the satellite navigation system and the frequency band of the invisible star. Of course, the configuration data input by the user may also be directly obtained.
Further, in a specific embodiment, the target invisible satellite may be tracked based on configuration data corresponding to the target invisible satellite, and each time an autocorrelation result is obtained, a corresponding background noise value is determined based on the autocorrelation result, and the current background noise value is smoothed by using a linear filter until the tracking is finished, so as to obtain the target tracking background noise.
The step of smoothing the current noise floor value by using the linear filter may specifically include: determining a difference between the current background noise value and the background noise value determined based on the last correlation result; adjusting the weight of the linear filter by using the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
In a specific implementation manner, the present embodiment may obtain a local code, a chip range, a carrier phase range, and a navigation message data period corresponding to the target invisible satellite.
In another specific implementation, the embodiment may obtain a local code, a slice group, a carrier phase group, and a navigation message data period corresponding to the target invisible star.
It should be noted that the configuration information directly affects the accuracy of the noise floor estimation. If not in the navigation message data period, the data symbol inversion may cause the problem of small autocorrelation value. If the chip range and the carrier phase range are too small, the noise characteristic may not be completely reflected; the range is too large, increasing the computational power consumption. In this embodiment, the navigation message data period may be a standard navigation message data period, or may be 1/N of the standard navigation message data period, where N is an integer, and it should be noted that the navigation message data period/N is also an integer, but cannot be infinitesimal, otherwise, the obtained correlation value is meaningless. The chip range and carrier phase range may be determined based on test data to minimize computational power consumption while fully characterizing noise characteristics.
The interval of the code sheet group and the carrier phase group can be fixed or dynamic, and is adjusted according to the precision requirement, the interval is increased for coarse estimation of the background noise, and the interval is decreased for fine estimation of the background noise.
That is, the configuration data in the embodiment of the present application may include a quantized slice group and a carrier phase group.
It should be noted that although the invisible satellites are not transmitted satellites, the local codes are configured to conform to the law of the corresponding satellite navigation system, and the correlation results with the visible satellites in the same frequency band of the same system have the same channel characteristics. Because the navigation message data information modulated by the invisible satellite input signal is random data, the input signal and the local code are subjected to autocorrelation traversal in a chip range and a carrier phase range by utilizing the characteristic that a data symbol in a navigation message data period is not turned, the obtained correlation amplitude average value is a square value of the background noise, and then the square value is obtained, so that the single background noise value can be obtained. In a specific embodiment, the autocorrelation process of the serial processing may also be split into multiple parallel processes to reduce the amount of computation, for example, M1+ M2+ M3+ … + Mn configuration information is subjected to autocorrelation and then smoothed, the configuration information may be split into M1 which is subjected to autocorrelation and then smoothed, M2 which is subjected to autocorrelation and then smoothed, and so on.
In this embodiment, the tracking module of the GNSS receiver may be used to track the target invisible satellite based on the configuration data, so as to obtain corresponding autocorrelation result data.
It should be noted that the tracking module of the GNSS receiver mainly generates two local signals, i.e., a local carrier and a local code, to implement demodulation of the satellite signal.
The input signal may be denoted as s (t) ═ a × d (t- τ) × c (t- τ) × sc (t- τ) × ejθ；
Wherein θ is θ0+ f × t, f denotes carrier frequency, θ denotes carrier phase, t denotes time, a denotes input signal amplitude, d denotes navigation text data, c denotes subcode, sc denotes spreading code, and τ denotes chip delay.
The method comprises the steps that an ADC (analog-digital converter) input signal continuously tracks by adjusting chip delay, and demodulation of navigation message data d is achieved after a spread spectrum code, a sub-code and a carrier are stripped, wherein a lead-lag Delay Locked Loop (DLL) is commonly adopted in code tracking, correlation is carried out on the input signal and three local codes, a frequency locked loop and a phase locked loop (FLL/PLL) are commonly adopted in carrier tracking, and phase and frequency discrimination are carried out on the input signal. For example, referring to fig. 2, fig. 2 is a flowchart illustrating a satellite signal demodulation method in the prior art.
Therefore, the tracking module of the GNSS receiver is reused, the tracking process of the visible satellites is completely coupled, the modification of the system architecture can be reduced, and the hardware overhead caused by additional autocorrelation calculation is reduced.
Step S12: estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a specific embodiment, the Satellite Navigation System may be beidou, galileo, GPS (Global Positioning System), GLONASS (GLONASS), IRNSS (Indian Regional Navigation Satellite System), SBAS (Satellite-Based Augmentation System), QZSS (Quasi-Zenith Satellite System), and the like, and the corresponding frequency bands may be L1, L2, L5, L6, and the like. For example, referring to fig. 3, fig. 3 is a schematic diagram of a satellite navigation system and a frequency band mapping provided in the embodiment of the present application. The GPS, BD (Beidou), GAL (Galileo) and GLO (Glonass) comprise L1, L2, L5 and L6 frequency bands.
In a specific embodiment, the target tracking noise floor corresponding to the target invisible star may be determined by using the autocorrelation result data within a preset time before the target visible star is tracked.
That is, the tracking background noise of the corresponding target invisible satellite needs to be calculated before the target invisible satellite is tracked, and the preset time is millisecond-level within the preset time, so that the tracking background noise calculation and the visible satellite tracking are almost in the same time period, and the noise change characteristics of the tracking channel can be reflected in real time.
Therefore, the target tracking background noise corresponding to the invisible target star is determined firstly in the embodiment of the application; estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, the tracking and non-multiplexing capturing base noise is performed in the embodiment of the application, and the satellite signal intensity of the visible satellite is estimated by using the tracking base noise of the invisible satellite in the same frequency band of the visible satellite navigation system, so that the influence of the visible satellite correlation peak on the base noise calculation can be removed, the accuracy of the base noise calculation can be improved, the accuracy of the satellite signal intensity evaluation can be improved, and the satellite positioning precision can be improved.
Referring to fig. 4, an embodiment of the present application discloses a specific satellite signal strength estimation method applied to a GNSS receiver, including:
step S21: and when receiving satellite signals of invisible satellites, determining tracking background noises corresponding to the invisible satellites, and recording corresponding system frequency band information.
For the calculation process of tracking noise floor, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
In a specific embodiment, the system frequency band information may include a satellite navigation system and a frequency band.
In another specific implementation, the system frequency band information may be identification information corresponding to a satellite navigation system and a frequency band, and the corresponding satellite navigation system and the frequency band are determined based on the system frequency band information.
Step S22: and matching a target tracking background noise corresponding to the target invisible satellite from the determined tracking background noise of the invisible satellite based on the satellite navigation system and the frequency band corresponding to the target visible satellite based on the system frequency band information.
In a specific implementation manner, a target tracking noise floor corresponding to the target invisible satellite may be matched based on a preset time condition and the system frequency band information;
and the preset time condition is that the target tracking background noise is determined in the preset time before the target visible star is tracked.
Step S23: estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a specific implementation manner, when a GNSS receiver receives a satellite signal, a satellite navigation system, a frequency band, and a star number corresponding to the satellite signal are matched, then it is determined based on a visible star list that the received satellite signal is a satellite signal of a visible star or a satellite signal of an invisible star, if the satellite signal of the invisible star is received, the invisible star is tracked to obtain related result data, then a corresponding tracking background noise is determined based on the related result data, and system frequency band information is recorded. And if receiving satellite signals of visible stars, taking the visible stars as target visible stars, capturing the visible stars, tracking the visible stars, and matching target tracking background noises corresponding to the target invisible stars from the determined tracking background noises based on the recorded system frequency range information.
Referring to fig. 5, an embodiment of the present application discloses a satellite signal strength estimation apparatus, applied to a GNSS receiver, including:
the target tracking bottom noise determining module 11 is configured to determine a target tracking bottom noise corresponding to the invisible target;
a satellite signal strength evaluation module 12, configured to evaluate a satellite signal strength of a target visible satellite tracked by the GNSS receiver based on the target tracking noise; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
Therefore, the target tracking background noise corresponding to the invisible target star is determined firstly in the embodiment of the application; estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, the tracking and non-multiplexing capturing base noise is performed in the embodiment of the application, and the satellite signal intensity of the visible satellite is estimated by using the tracking base noise of the invisible satellite in the same frequency band of the visible satellite navigation system, so that the influence of the visible satellite correlation peak on the base noise calculation can be removed, the accuracy of the base noise calculation can be improved, the accuracy of the satellite signal intensity evaluation can be improved, and the satellite positioning precision can be improved.
In a specific embodiment, the target tracking noise floor determination module 11 specifically includes:
and the configuration data acquisition submodule is used for acquiring the configuration data corresponding to the target invisible star.
The autocorrelation result acquisition submodule is used for tracking the target invisible star based on the configuration data to obtain corresponding autocorrelation result data;
and the tracking bottom noise determining submodule is used for determining the target tracking bottom noise corresponding to the target invisible star by utilizing the autocorrelation result data.
Specifically, the tracking noise floor determination sub-module specifically includes:
a background noise value determining unit for determining a corresponding background noise value based on the autocorrelation result every time the autocorrelation result is obtained
And the background noise value smoothing unit is used for smoothing the current background noise value by using a linear filter until the tracking is finished to obtain the target tracking background noise.
In a specific embodiment, the noise floor value smoothing unit is specifically configured to determine a difference between a current noise floor value and a noise floor value determined based on a last correlation result; adjusting the weight of the linear filter by using the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
The configuration data acquisition submodule is specifically configured to acquire a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible satellite, or the local code, a chip group, a carrier phase group and the navigation message data period.
And the target tracking background noise determining module 11 is specifically configured to determine the target tracking background noise corresponding to the target invisible star by using the autocorrelation result data within a preset time before the target visible star is tracked.
In another specific embodiment, the target tracking bottom noise determining module 11 is specifically configured to determine, when a satellite signal of an invisible satellite is received, a tracking bottom noise corresponding to the invisible satellite, and record corresponding system frequency band information; and matching a target tracking background noise corresponding to the target invisible satellite from the determined tracking background noise of the invisible satellite based on the satellite navigation system and the frequency band corresponding to the target visible satellite based on the system frequency band information.
For example, referring to fig. 6, fig. 6 is a schematic structural diagram of a specific satellite signal evaluation apparatus disclosed in the embodiment of the present application, and it should be noted that a conventional GNSS receiver includes a system matching module, a visible satellite determination module, an acquisition module, a tracking module, and a positioning module. The embodiment can multiplex a system matching module, a visible star judging module and a tracking module, and adds a background noise estimation module and a smoothing module. The system matching module is used for matching the satellite navigation system of the current satellite and the frequency band of the satellite navigation system. The visible star judging module is used for judging whether the current star is in a visible star list, wherein the visible star list refers to the satellite star number which is transmitted by the navigation system and the frequency band of the navigation system, and if the current star is not in the visible star list, the current star is an invisible star. The tracking module is the autocorrelation result obtaining submodule, the bottom noise estimation module is the bottom noise value determining unit, and the smoothing module is the bottom noise value smoothing unit.
In a specific implementation mode, when a satellite signal is received, a satellite navigation system, a frequency band and a star number corresponding to the satellite signal are matched through a system matching module, then a visible star judging module judges that the received satellite signal is a satellite signal of a visible star or a satellite signal of an invisible star based on a visible star list, if the satellite signal of the invisible star is received, the invisible star is tracked through a tracking module to obtain related result data, then a single bottom noise value corresponding to the received satellite signal is determined based on the related result data through a bottom noise estimating module, and the single bottom noise value is smoothed through a smoothing module until the tracking is finished to obtain final tracking bottom noise and record system frequency band information. And if satellite signals of visible stars are received, the visible stars are used as target visible stars and captured through the capturing module, then the visible stars are tracked by the tracking module, target tracking background noises corresponding to the target invisible stars are matched from the determined tracking background noises based on the recorded system frequency range information, the satellite signal intensity of the visible stars is estimated, and the satellite signals are input into the positioning module.
The system matching module matches a satellite navigation system, a frequency band and a star number corresponding to the satellite signal, judges whether the satellite navigation system and the frequency band are systems and frequency bands with unappreciated background noise or not based on the system frequency band information recorded by the smoothing module, starts the visible star judging module if the satellite navigation system and the frequency band are the systems and the frequency bands with unappreciated background noise, and judges whether the received satellite signal is a satellite signal of a visible star or a satellite signal of an invisible star based on the visible star list.
That is, whether the current satellite is a system whose background noise is not estimated and a satellite corresponding to the frequency band can be determined in the system matching module through the background noise value fed back by the smoothing module and the system frequency band information matched with the background noise value. And combining the system frequency band output by the system matching module, the visible star judging module matches an invisible star and enters the tracking module. In a specific embodiment, the noise floor estimation module inputs the local code, the chip range, the carrier phase range, the navigation message data period, and the like into the tracking module. The tracking module carries out autocorrelation processing, strips the spread spectrum codes, the sub-codes and the carrier waves, and outputs the correlation result to the bottom noise estimation module. And averaging the correlation results by the bottom noise estimation module to obtain a bottom noise value square value, and finally squaring to obtain a single bottom noise value, and outputting the single bottom noise value to the smoothing module. And repeating the two steps until the non-trackable star is finished. And smoothing the single-time background noise value by adopting a linear filter through a smoothing module, recording system frequency band information matched with the single-time background noise value, and feeding the system frequency band information back to a system matching module. And the background noise value output by the system matching module and the background noise estimation module can be used for knowing whether the current background noise value is an initial value under the system frequency range. Specifically, whether the current background noise value is an initial value of the system in the frequency band may be determined based on the system frequency band information corresponding to the background noise value and all satellite systems and frequency bands matched by the system matching module, and if not, a difference between the current background noise value and the background noise value determined based on the previous correlation result may be determined; adjusting the weight of the linear filter by using the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
Referring to fig. 7, an embodiment of the present application discloses a GNSS receiver, which includes a processor 21 and a memory 22; wherein, the memory 22 is used for saving computer programs; the processor 21 is configured to execute the computer program, wherein the computer program implements the satellite signal strength evaluation method disclosed in the foregoing embodiment when executed by the processor.
For the specific process of the satellite signal strength evaluation method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Further, the present application also discloses a computer-readable storage medium for storing a computer program, wherein the computer program is executed by a processor to implement the satellite signal strength evaluation method disclosed in the foregoing embodiment.
For the specific process of the satellite signal strength evaluation method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the apparatus, the GNSS receiver, and the medium for estimating satellite signal strength provided by the present application are introduced in detail above, and a specific example is applied in the present application to illustrate the principle and the implementation of the present application, and the description of the above embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A satellite signal strength evaluation method is applied to a GNSS receiver and comprises the following steps:
determining a target tracking background noise corresponding to the invisible target star;
estimating satellite signal intensity of a target visible satellite tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
2. The method according to claim 1, wherein the determining a target tracking noise floor corresponding to a target invisible satellite comprises:
acquiring configuration data corresponding to the target invisible star;
tracking the invisible target star based on the configuration data to obtain corresponding autocorrelation result data;
and determining target tracking background noise corresponding to the target invisible stars by utilizing the autocorrelation result data.
3. The method according to claim 2, wherein the target invisible satellite is tracked based on the configuration data to obtain corresponding autocorrelation result data; determining a target tracking background noise corresponding to the target invisible star by using the autocorrelation result data, wherein the method comprises the following steps:
and tracking the target invisible star based on the configuration data corresponding to the target invisible star, determining a corresponding bottom noise value based on the autocorrelation result every time an autocorrelation result is obtained, and smoothing the current bottom noise value by using a linear filter until the tracking is finished to obtain the target tracking bottom noise.
4. The method according to claim 3, wherein the smoothing the current noise floor value with a linear filter comprises:
determining a difference between the current background noise value and the background noise value determined based on the last correlation result;
adjusting the weight of the linear filter by using the difference value;
and smoothing the current background noise value by using the linear filter after the weight is adjusted.
5. The method according to claim 2, wherein the obtaining configuration data corresponding to the target invisible satellite comprises:
and acquiring a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible satellite, or the local code, a chip group, a carrier phase group and the navigation message data period.
6. The method according to claim 1, wherein the determining a target tracking noise floor corresponding to the target invisible satellite by using the autocorrelation resultant data comprises:
and determining a target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data within a preset time before the target visible star is tracked.
7. The method according to claim 1, wherein the determining a target tracking noise floor corresponding to a target invisible satellite comprises:
when receiving satellite signals of invisible satellites, determining tracking background noises corresponding to the invisible satellites, and recording corresponding system frequency band information;
and matching a target tracking background noise corresponding to the target invisible satellite from the determined tracking background noise of the invisible satellite based on the satellite navigation system and the frequency band corresponding to the target visible satellite based on the system frequency band information.
8. A satellite signal strength evaluation device applied to a GNSS receiver comprises:
the target tracking background noise determining module is used for determining target tracking background noise corresponding to the invisible target;
the satellite signal intensity evaluation module is used for evaluating the satellite signal intensity of the target visible satellites tracked by the GNSS receiver based on the target tracking background noise; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
9. A GNSS receiver, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the satellite signal strength evaluation method of any one of claims 1 to 7.
10. A computer-readable storage medium for storing a computer program which, when executed by a processor, implements the satellite signal strength evaluation method according to any one of claims 1 to 7.
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