CN116882203B

CN116882203B - Atmospheric waveguide signal simulation method, device, system, equipment and medium

Info

Publication number: CN116882203B
Application number: CN202311132406.0A
Authority: CN
Inventors: 李福�; 孙越强; 王先毅; 夏俊明; 杜起飞; 白伟华; 蔡跃荣; 王冬伟; 李伟; 曹光伟; 刘成; 乔颢; 仇通胜; 王卓焱; 程双双; 张�浩; 张璐璐; 田羽森
Original assignee: National Space Science Center of CAS
Current assignee: National Space Science Center of CAS
Priority date: 2023-09-04
Filing date: 2023-09-04
Publication date: 2023-11-17
Anticipated expiration: 2043-09-04
Also published as: CN116882203A

Abstract

The invention provides an atmosphere waveguide signal simulation method, device, system, equipment and medium, wherein the method comprises the following steps: acquiring atmospheric waveguide parameters, the position of a receiver, the position of a first satellite currently running and ocean surface parameters required by simulation; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite; determining the atmospheric waveguide signal range of the second satellite received by the receiver under the atmospheric waveguide condition according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters; performing discrete sampling on signals in the range of the atmospheric waveguide signals of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signals to obtain discrete sampled atmospheric waveguide signals; and carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing the multipath signals set by the satellite simulator, and outputting analog simulated atmospheric waveguide signals. The technical problem that the theoretical simulation cannot output signals due to high experimental cost of the atmospheric waveguide is solved.

Description

Atmospheric waveguide signal simulation method, device, system, equipment and medium

Technical Field

The present invention relates to the field of atmospheric waveguide simulation technologies, and in particular, to a method, an apparatus, a system, a device, and a medium for simulating an atmospheric waveguide signal.

Background

The atmospheric waveguide is a phenomenon that the refractive index of the atmospheric waveguide to electromagnetic waves is inconsistent due to the uneven atmospheric density, and can lead to a detection blind area of the radar and realize beyond-the-horizon detection of the radar. The research of the atmospheric waveguide is of great significance to national defense.

With the development of technology, inversion of atmospheric waveguides by microwave and optical remote sensing measurement is gradually emerging. The GNSS-reflectometry (GNSS-R) technology utilizes navigation satellite signals, receives reflected signals of different areas such as land, sea surface and the like through a receiver by using a satellite-borne, airborne or shore-based receiving platform, and extracts parameters of relevant environments through an inversion algorithm to detect sea surface wind fields, soil humidity, sea ice and the like.

In the related art, when the atmospheric waveguide is detected by adopting the GNSS-R technology, the GNSS-R receiver receives the GNSS reflected signals (for short, the atmospheric waveguide signals) of the global navigation satellite system (Global Navigation Satellite System, GNSS) in the atmospheric waveguide environment, and based on the GNSS reflected signals, the fine inversion of the atmospheric waveguide is realized, but in the atmospheric waveguide environment, the GNSS-R receiver can receive the GNSS reflected signals, which include not only the reflected signals of the specular reflection points but also the reflected signals other than the specular reflection points, and the reflected signals other than the specular reflection points can be received by the reflection antenna of the GNSS-R receiver after being refracted by the atmosphere. That is, under the influence of different receiver heights, atmospheric waveguide heights, satellite elevation angles, sea surface wind speeds, and other reasons, the range of reflected signals that can reach the receiver is different, which results in high outfield experimental cost and large interference. The simulator is adopted to simulate the atmospheric waveguide signal, so that the problems of high cost and the like of the outfield experiment can be effectively solved. However, different GNSS simulators can provide different analog numbers of multipath signals, which may result in limited measurement range and inaccurate simulation measurement results.

Therefore, how to reduce the cost, effectively simulate the atmospheric waveguide signal by using the GNSS-R technology, and improve the accuracy of the simulation measurement is a technical problem to be solved at present.

Disclosure of Invention

The invention provides an atmosphere waveguide signal simulation method, device, system, equipment and medium, which at least solve the technical problems of limited measurement range, low simulation measurement accuracy and high outfield experiment cost when an atmosphere waveguide is simulated by using a GNSS-R technology in the related technology. The technical scheme of the invention is as follows:

according to a first aspect of an embodiment of the present invention, there is provided an atmospheric waveguide signal simulation measurement method, including:

acquiring atmospheric waveguide parameters, the position of a receiver, the position of a first satellite currently running and ocean surface parameters required by simulation;

selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite;

determining the atmospheric waveguide signal range of the second satellite received by the receiver under atmospheric waveguide conditions according to the position and elevation angle of the second satellite, the ocean surface parameters and the atmospheric waveguide parameters;

performing discrete sampling on the signals in the range of the atmospheric waveguide signals of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signals to obtain the discrete sampled atmospheric waveguide signals;

And carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing multipath signals set by a satellite simulator, and outputting analog simulated atmospheric waveguide signals.

Optionally, selecting a second satellite to be emulated according to the position of the receiver and the position of the first satellite includes:

calculating an elevation angle and an azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite;

selecting all satellites satisfying an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver based on the azimuth angle; or acquiring the upper limit value and the lower limit value of the elevation angle input by the user to the receiver, and selecting all satellites meeting the upper limit value to the lower limit value of the elevation angle input by the user to the receiver;

sequencing all the determined satellites according to the elevation angle;

and selecting the satellite with the highest elevation angle as a second satellite needing simulation.

Optionally, the calculating the elevation angle and the azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite running currently includes:

calculating a vector from the position of the first satellite to the position of the receiver, wherein the positions of the receiver and the first satellite are both positions under an ECEF coordinate system;

Acquiring a coordinate of the receiver under a geographic coordinate system, and performing cosine and sine transformation on the coordinate to obtain a direction cosine matrix;

performing convolution calculation based on the vector and the direction cosine matrix to obtain a deflection position from the first satellite to the receiver;

an elevation angle and an azimuth angle of the first satellite relative to the receiver are determined based on the biased position.

Optionally, the convolving calculation is performed according to the following formula based on the vector and the directional cosine matrix to obtain a deflection position from the first satellite to the receiver, including:

wherein the Δp represents a vector of the position of the first satellite to the position of the receiver; the CM represents a directional cosine matrix of the receiver; n, E and U respectively represent the north position, the east position and the sky position under a geographic coordinate system; the Δdis represents a horizontal position difference of the first satellite position and the receiver position.

Optionally, the determining an elevation angle and an azimuth angle of the first satellite relative to the receiver based on the biased position includes:

if the horizontal position difference Deltadis is smaller than or equal to a set threshold value, determining that the azimuth angle of the first satellite relative to the receiver is 0 degree and the elevation angle is 90 degrees; or alternatively

If the horizontal position difference Δdis is greater than the set threshold, determining that the first satellite has an azimuth angle arctan (E/N) and an elevation angle arctan (U/Δdis) with respect to the receiver.

Optionally, the determining, by the receiver according to the position and the elevation angle of the second satellite, the atmospheric waveguide signal range of the second satellite received by the receiver under the atmospheric waveguide condition according to the ocean surface parameter and the atmospheric waveguide parameter includes:

inputting the position and elevation angle of the second satellite, the altitude of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into a trained model for calculation processing, and obtaining the maximum chip delay of the receiver capable of receiving a reflected signal;

taking the chip delay of the reflected signal of the specular reflection point as the minimum chip delay;

and taking the reflected signal between the maximum chip delay and the minimum chip delay as an atmospheric waveguide signal range of the second satellite.

Optionally, the performing discrete sampling on the signal in the atmospheric waveguide signal range of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signal to obtain a discrete sampled atmospheric waveguide signal includes:

And sampling signals in the range of the atmospheric waveguide signals of the second satellite at equal intervals according to the number of simulation strips of the preset atmospheric waveguide signals to obtain the atmospheric waveguide signals sampled at equal intervals.

Optionally, the intervals of the equally spaced sampling points are calculated as follows:

taking a reflection signal of a specular reflection point in the atmospheric waveguide signal as a standard reflection signal, and marking the Code delay of the standard reflection signal relative to a direct signal as a minimum Code delay_delay_min;

marking the Code delay signal of the atmospheric waveguide signal which is the largest relative to the direct signal as the largest Code delay code_delay_max;

setting the simulation number n of the atmospheric waveguide signals according to the simulation capability of the multipath signals of the simulator, wherein n is an integer greater than or equal to 2;

calculating the interval of the sampling points with equal intervals according to the formula code_delay_interval= (code_delay_max-code_delay_min)/(n-1); wherein the code_delay_interval represents the interval of sampling points.

Optionally, the multipath signal set by the satellite simulator is used for carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signal to generate an analog simulated atmospheric waveguide signal; comprising the following steps:

Determining a code delay, a Doppler delay and a power value of the atmospheric waveguide signal for each sample;

based on the code delay, the Doppler delay and the power value of the atmospheric waveguide signal of each sample, the satellite simulator is utilized to simulate the discrete sampled atmospheric waveguide sampling signals by utilizing the multipath signals set by the satellite simulator, and the simulated atmospheric waveguide signals are output.

Optionally, the determining the code delay, the doppler delay and the power value of the atmospheric waveguide signal for each sample includes:

calculating a code delay of each sampled atmospheric waveguide signal relative to the direct signal;

calculating Doppler delay of the reflected signals of the specular reflection points as Doppler delay of all the atmospheric waveguide signals;

and calculating the power value of the atmospheric waveguide signal by using the reflected signal model.

Optionally, before outputting the simulated atmospheric waveguide signal, the method further comprises:

and synthesizing the simulated atmospheric waveguide signals by using a synthesizer to obtain a synthesized atmospheric waveguide signal.

According to a second aspect of an embodiment of the present invention, there is provided an atmospheric waveguide signal simulation measurement apparatus including:

The first acquisition module is used for acquiring the atmospheric waveguide parameters, the position of the receiver, the position of the first satellite currently running and the ocean surface parameters required by simulation;

the selecting module is used for selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite which is currently operated;

the first determining module is used for determining the atmospheric waveguide signal range of the second satellite received by the receiver under the atmospheric waveguide condition according to the position and the elevation angle of the second satellite, the ocean surface parameter and the atmospheric waveguide parameter;

the discrete sampling module is used for performing discrete sampling on the signals in the atmospheric waveguide signal range of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signals to obtain discrete sampled atmospheric waveguide signals;

and the analog simulation module is used for carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing the multipath signals set by the satellite simulator and outputting analog simulated atmospheric waveguide signals.

Optionally, the selecting module includes:

a first calculation module for calculating an elevation angle and an azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite;

A second determining module, configured to select, based on the azimuth angle, all satellites that satisfy an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver; or acquiring the upper limit value and the lower limit value of the elevation angle input by the user to the receiver, and selecting all satellites meeting the upper limit value to the lower limit value of the elevation angle input by the user to the receiver;

the sequencing module is used for sequencing all satellites which are selected to meet the elevation angle range of the receiver according to the elevation angle;

and the satellite selecting module is used for selecting the satellite with the highest elevation angle as a second satellite needing simulation.

Optionally, the first computing module includes:

the vector calculation module is used for calculating a vector from the position of the first satellite to the position of the receiver, wherein the positions of the receiver and the first satellite are both positions under an ECEF coordinate system;

the transformation module is used for acquiring the coordinates of the receiver under a geographic coordinate system, and carrying out cosine and sine transformation on the coordinates to obtain a direction cosine matrix;

the convolution module is used for carrying out convolution calculation based on the vector and the direction cosine matrix to obtain the deflection position from the first satellite to the receiver;

An angle determination module determines an elevation angle and an azimuth angle of the first satellite relative to the receiver based on the biased position.

Optionally, the convolution module specifically performs convolution calculation according to the following formula based on the vector and the directional cosine matrix to obtain a deflection position from the first satellite to the receiver:

Optionally, the angle determining module includes:

the first angle determining module is used for determining that the azimuth angle of the first satellite relative to the receiver is 0 degree and the elevation angle is 90 degrees when the horizontal position difference Deltadis is smaller than or equal to a set threshold value; or alternatively

And the second angle determining module is used for determining that the azimuth angle of the first satellite relative to the receiver is arctan (E/N) and the elevation angle is arctan (U/Deltadis) when the horizontal position difference Deltadis is larger than the set threshold value.

Optionally, the first determining module includes:

the maximum chip delay determining module is used for inputting the position and elevation angle of the second satellite, the position of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into a trained model for calculation processing to obtain the maximum chip delay of the reflected signal received by the receiver;

a minimum chip delay determining module, configured to take a chip delay of a reflected signal of the specular reflection point as a minimum chip delay;

and the signal range determining module is used for taking the reflected signal between the maximum chip delay and the minimum chip delay as the atmospheric waveguide signal range of the second satellite.

Optionally, the discrete sampling module is specifically configured to sample signals in the atmospheric waveguide signal range of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signal at equal intervals, so as to obtain atmospheric waveguide signals sampled at equal intervals.

Optionally, the discrete sampling module includes:

the first marking module is used for taking the collected reflection signal of the specular reflection point in the atmospheric waveguide signal as a standard reflection signal before the discrete sampling module obtains the discrete sampled atmospheric waveguide signal, and marking the Code delay of the standard reflection signal relative to the direct signal as the minimum Code delay_delay_min;

The second marking module is used for marking the Code delay signal with the maximum atmospheric waveguide signal relative to the direct signal as the maximum chip delay code_delay_max;

the setting module is used for setting the number n of simulation strips of the atmospheric waveguide signal according to the simulation capability of the multipath signal of the simulator, wherein n is an integer greater than or equal to 2;

an interval calculation module for calculating the interval according to the formula

The code_delay_interval= (code_delay_max-code_delay_min)/(n-1) calculates the interval of the equally spaced sampling points; wherein the code_delay_interval represents the interval of equally-spaced sampling points.

Optionally, the analog simulation module includes:

a third determining module for determining a code delay, a doppler delay and a power value of the atmospheric waveguide signal for each sample;

and the signal simulation module is used for carrying out simulation on the atmosphere waveguide sampling signals which are discretely sampled by utilizing the multipath signals set by the satellite simulator based on the code delay, the Doppler delay and the power value of the atmosphere waveguide signals of each sampling, and outputting simulated atmosphere waveguide signals.

Optionally, the third determining module includes:

A code delay calculation module for calculating a code delay of each sampled atmospheric waveguide signal relative to the direct signal;

the Doppler delay calculation module is used for calculating the Doppler delay of the reflected signal of the specular reflection point and taking the Doppler delay as the Doppler delay of all the atmospheric waveguide signals;

and the power calculation module is used for calculating the power value of the atmospheric waveguide signal by using the reflected signal model.

Optionally, the apparatus further includes:

and the synthesis module is used for synthesizing the simulated atmospheric waveguide signals by utilizing the synthesizer before the simulated simulation module outputs the simulated atmospheric waveguide signals, so as to obtain a beam of synthesized atmospheric waveguide signals.

According to a third aspect of an embodiment of the present invention, there is provided an atmospheric waveguide signal simulation measurement system including: the satellite simulator is respectively connected with the controller and the receiver, wherein,

the controller is used for acquiring the atmospheric waveguide parameters, the position of the receiver, the ocean surface parameters and the position of the first satellite currently running which are required by simulation; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite currently running; according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters determine the atmospheric waveguide signal range of the second satellite received under the atmospheric waveguide condition, and a multipath simulation control instruction is sent to the satellite simulator;

The satellite simulator is used for performing discrete sampling on the signals in the atmospheric waveguide signal range of the second satellite received by the receiver according to the number of simulation strips of the preset atmospheric waveguide signal when receiving the multipath simulation control command sent by the controller, so as to obtain the discrete sampled atmospheric waveguide signal; and performing analog simulation on the discretely sampled atmospheric waveguide sampling signal by utilizing the multipath signal arranged by the receiver, and outputting the analog simulated atmospheric waveguide signal to the receiver.

The receiver is used for analyzing the atmospheric waveguide signal which is received by the simulation and sent by the satellite simulator, and obtaining analyzed data.

According to a fourth aspect of an embodiment of the present invention, there is provided an electronic apparatus including:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the atmospheric waveguide signal simulation measurement method as described above.

According to a fifth aspect of embodiments of the present invention, there is provided a computer-readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the atmospheric waveguide signal simulation measurement method as described above.

According to a sixth aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program or instructions which, when executed by a processor of an electronic device, implements an atmospheric waveguide signal emulation measurement method as described above.

The technical scheme provided by the embodiment of the invention at least has the following beneficial effects:

in the embodiment of the invention, the atmospheric waveguide parameters required by simulation, the position of a receiver, the position of a first satellite running currently and ocean surface parameters are acquired firstly; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite currently running; determining an atmospheric waveguide signal range of the second satellite received by the receiver under an atmospheric waveguide condition according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters; performing discrete sampling on the signals in the range of the atmospheric waveguide signals of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signals to obtain the discrete sampled atmospheric waveguide signals; and carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing multipath signals set by a satellite simulator, and outputting analog simulated atmospheric waveguide signals. That is, in the embodiment of the invention, based on the position of the receiver required by simulation, the atmospheric waveguide parameter and the position of the first satellite, the second satellite required to be simulated is selected, the key atmospheric waveguide signal is extracted and received by adopting discrete sampling to the atmospheric waveguide signal received by the receiver, the extracted atmospheric waveguide signal is simulated by utilizing the multipath signal of a satellite simulator (such as a GNSS simulator), and the domestic and foreign blanks of the simulation of the reflected signal under the atmospheric waveguide condition are filled.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute a undue limitation on the application. In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of an atmospheric waveguide signal simulation measurement method provided by an embodiment of the present application.

Fig. 2 is a block diagram of an atmospheric waveguide signal simulation measurement device according to an embodiment of the present application.

Fig. 3 is a block diagram of a selection module according to an embodiment of the present application.

Fig. 4 is a block diagram of a first computing module provided by an embodiment of the present application.

Fig. 5 is a block diagram of a first determination module provided in an embodiment of the present invention.

FIG. 6 is a block diagram of an analog simulation module provided by an embodiment of the present invention.

FIG. 7 is a block diagram of an atmospheric waveguide signal simulation measurement system according to an embodiment of the present invention.

Fig. 8 is a block diagram of an electronic device according to an embodiment of the present invention.

Fig. 9 is a block diagram of an apparatus for simulating measurement of an atmospheric waveguide signal according to an embodiment of the present invention.

Detailed Description

In order to enable a person skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

The occurrence of the atmospheric waveguide phenomenon has a certain probability, and under different meteorological conditions, the height difference of the atmospheric waveguide is relatively large, and the scientific research requirement cannot be met by simply relying on the atmospheric waveguide data obtained by direct detection. At present, the atmospheric waveguide detection based on GNSS-R is mainly based on theoretical simulation, and some research of external field tests is also carried out. The simulator is adopted to generate the reflection signal under the atmospheric waveguide condition, the height of the atmospheric waveguide can be changed according to the user requirement, so that the reflection signal under the corresponding atmospheric waveguide condition is generated, and the simulation can be repeated by adopting the signal generated by the simulator, so that the support is provided for the atmospheric waveguide research. However, under the condition of the atmospheric waveguide, the range of the reflected signal is wide, the signal variation is large, and the development of a special atmospheric waveguide simulator is difficult.

The embodiment of the invention solves the problems that under the condition of atmospheric waveguide, the reflected signal range is wide, the signal change is large, and a special atmospheric waveguide simulator is difficult to develop.

Fig. 1 is a flowchart of an atmospheric waveguide signal simulation measurement method provided by an embodiment of the present invention, as shown in fig. 1, the atmospheric waveguide signal simulation measurement method includes the following steps:

step 101: acquiring atmospheric waveguide parameters, the position of a receiver, the position of a first satellite currently running and ocean surface parameters required by simulation;

step 102: selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite;

step 103: determining the atmospheric waveguide signal range of the second satellite received by the receiver under atmospheric waveguide conditions according to the position and elevation angle of the second satellite, the ocean surface parameters and the atmospheric waveguide parameters;

step 104: performing discrete sampling on signals in the atmospheric waveguide signal range of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signal to obtain discrete atmospheric waveguide signals;

step 105: and carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing multipath signals set by a satellite simulator, and outputting analog simulated atmospheric waveguide signals.

The method for simulating and measuring the atmospheric waveguide signal can be applied to a terminal, a server and the like, is not limited herein, and terminal implementation equipment can be smart phones, notebook computers, tablet computers, desktop computers, personal digital assistants (PDAs, personal Digital Assistant), wearable equipment and other electronic equipment, and the server can be an independent server or a server cluster or a server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, intermediate services, domain name services, security services, content distribution networks, or big data and artificial intelligent platforms and the like, and is not limited herein.

The following describes in detail the specific implementation steps of an atmospheric waveguide signal simulation measurement method according to an embodiment of the present invention with reference to fig. 1.

In step 101, the atmospheric waveguide parameters required for the simulation, the position of the receiver and the position of the currently running first satellite and the marine surface parameters are acquired.

In this step, the user presets the atmospheric waveguide parameters required by the simulation according to the simulation requirement, where the parameters may include the height of the atmospheric waveguide signal, the position of the receiver, including the height of the receiver, such as the position of the receiver in the geocentric earth fixed coordinate system (ECEF, earth Centered Earth Fixed) coordinate systemEtc., and the position of the currently operating first satellite (e.g., a GNSS satellite), e.g., the currently operating GNSS satellite is in ECPosition in EF coordinate systemAnd the like, of course, the simulation time may also be included, where the simulation time is generally considered as the current time, and may also be a time in the past, and it should be noted that, if the simulation time is a time in the past, the atmospheric waveguide parameter required for the simulation, the position of the receiver, and the position of the first satellite (such as a GNSS satellite) currently running are parameters corresponding to the time in the past. The marine surface parameters obtained may include: sea surface wind speed, sea water salinity, sea surface temperature, humidity and pressure; however, in practical application, the present invention is not limited thereto.

The manner of acquisition in this step may be acquired locally or remotely, and the embodiment is not limited.

In step 102, a second satellite to be emulated is selected based on the position of the receiver and the position of the first satellite.

The method specifically comprises the following steps: 1) An elevation angle and an azimuth angle of the first satellite relative to the receiver are calculated based on the position of the receiver and the position of the first satellite currently operating.

In this step, first, a vector from the position of the first satellite to the position of the receiver is calculated, where the positions of the receiver and the first satellite are both positions in an ECEF coordinate system.

In this embodiment, the first satellite is exemplified by a GNSS satellite, and specifically includes:

the position of the receiver in the ECEF coordinate system is recorded asThe position of the GNSS satellite in the ECEF coordinate system is recorded asThe method comprises the steps of carrying out a first treatment on the surface of the The vector of the position of the GNSS satellite to the receiver is calculated from the position of the GNSS satellite and the position of the receiver according to the following formula:

，

wherein Δp represents a vector of the position of the first satellite to the position of the receiver;，/>，/>respectively representing the coordinate positions of the ith GNSS satellite in the ECEF coordinate system; i represents a satellite number; rx, ry, rz respectively represent the coordinate locations of the receiver in the ECEF coordinate system.

Secondly, acquiring coordinates of the receiver under a geographic coordinate system, and performing cosine and sine transformation on the coordinates to obtain a direction cosine matrix called CM (or DCM), wherein the method specifically comprises the following steps:

the receiver has the following coordinates in the geographic coordinate systemThe coordinates of the receiver in the geographic coordinate system are subjected to cosine and sine transformation to obtain a direction cosine matrix, and the direction cosine matrix is shown as follows:

and performing convolution calculation based on the vector delta P and the direction cosine matrix CM to obtain the deflection position from the first satellite (namely the GNSS satellite) to the receiver, wherein the deflection position is specifically shown in the following formula:

wherein N, E and U respectively represent the north position, east position and sky position of a first satellite (such as a GNSS satellite) with respect to the receiver in the geographic coordinate system. The Δdis represents a horizontal position difference of the first satellite position and the receiver position.

Finally, an elevation angle and an azimuth angle of the first satellite relative to the receiver are determined based on the biased position.

In this step, a threshold value of the horizontal position difference Deltadis is given, which is assumed to beMeter, the elevation angle El and the azimuth angle Az can be obtained.

If it isThe elevation angle El and the azimuth angle Az are obtained as follows:

that is, after the threshold is set, whether the horizontal position difference Δdis is equal to or smaller than the set threshold is determined, and if the horizontal position difference Δdis is equal to or smaller than the set threshold, the azimuth angle of the first satellite relative to the receiver is determined to be 0 degree, and the elevation angle is determined to be 90 degrees; otherwise, i.e. if the horizontal position difference Δdis is greater than the set threshold, determining that the first satellite has an azimuth angle arctan (E/N) and an elevation angle arctan (U/dis) with respect to the receiver.

2) Determining, based on the azimuth, all satellites that satisfy within an elevation angle of the first satellite relative to the receiver; or obtaining the upper limit value and the lower limit value of the elevation angle of the user input receiver, and determining all satellites which meet the upper limit value and the lower limit value of the elevation angle of the user input receiver.

In this step, all satellites satisfying an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver are selected based on the azimuth angle in one manner.

For example, when the azimuth angle is zero degrees, the upper and lower limits of the elevation angle of the first satellite with respect to the receiver are 30 degrees and 50 degrees, and then all satellites between 30 degrees and 50 degrees are selected.

Another way is; and acquiring an upper limit value and a lower limit value of the elevation angle of the user input receiver, and selecting all satellites which meet the upper limit value to the lower limit value of the elevation angle of the user input receiver.

For example, the upper and lower limits of the elevation angle of the user input receiver are 20 degrees and 60 degrees, and all satellites within 20 degrees to 60 degrees are selected.

In this embodiment, the upper limit and the lower limit of the elevation angle may be any value between-90 degrees and +90 degrees (the upper limit is required to be greater than or equal to the lower limit), for example, the upper limit and the lower limit of the elevation angle may be 25 degrees to 55 degrees, etc., according to the simulation requirement. Then, all satellites satisfying the elevation angle between 25 degrees and 55 degrees are selected.

3) All satellites determined are ordered by elevation.

In this step, all GNSS satellites currently meeting the range requirements of the upper and lower limits of elevation angle are sorted, and the sorting mode may be a mode of high elevation angle to low elevation angle or a mode of low elevation angle to high elevation angle.

4) And selecting the satellite with the highest elevation angle as a second satellite needing simulation.

In this step, the satellite with the highest elevation angle after the sequence is selected as the second satellite to be simulated, for example, the second GNSS satellite is to be distinguished from the first satellite, which is called the second satellite in this embodiment, for example, the elevation angle upper and lower limits are 30 degrees to 50 degrees, and the elevation angles of all satellites meeting the requirement are 45 degrees, 40 degrees and 35 degrees in sequence, and then the satellite with the highest elevation angle meeting the requirement is selected as the satellite to be simulated (for example, the GNSS satellite).

The satellite needing simulation is used for carrying out subsequent simulation on the atmospheric waveguide signal under the given atmospheric waveguide parameters.

In step 103, the receiver position, the ocean surface parameters and the atmospheric waveguide parameters determine the atmospheric waveguide signal range of the second satellite received by the receiver under atmospheric waveguide conditions according to the second satellite position and elevation angle.

Wherein the marine surface parameters may include: sea surface wind speed, sea water salinity, sea surface temperature, humidity, pressure and the like, and of course, other environmental data can be included in practical application, and the embodiment is not limited.

The determining, by the receiver, the atmospheric waveguide signal range of the second satellite received by the receiver under the atmospheric waveguide condition according to the position and the elevation angle of the second satellite, the marine surface parameter and the atmospheric waveguide parameter includes:

1) The position and elevation of the second satellite, the position of the receiver, the atmospheric waveguide parameters (e.g., information such as atmospheric waveguide altitude) and the ocean surface parameters are input into an evaporation waveguide model to obtain the maximum chip delay for the receiver to receive the reflected signal. Wherein the evaporation waveguide model adopts the following approximate model,

Where z is the height, d is the evaporation waveguide height, z ₀ Taking a fixed value，/>Is the modified refractive index at the ocean surface, the modified refractive index is valued according toThe ocean surface parameters are obtained.

Then, according to the given atmospheric waveguide height, an atmospheric correction refractive index of an arbitrary height can be obtained. And then converting the corrected refractive index into an atmospheric refractive index according to the following conversion formula of the corrected refractive index and the atmospheric refractive index.

Wherein,is the average earth radius and z is the altitude. />Modified refractive index for z meters height, +.>The atmospheric refractive index corresponds to the z meter height.

Thus, an atmospheric refractive index of an arbitrary height can be obtained under the atmospheric waveguide parameter condition.

After obtaining the atmospheric refractive index with any height, adopting a numerical calculation method to replace the atmospheric refractive index within a certain height range by adopting an atmospheric refractive index average value of the height interval to obtain an atmospheric refractive index layering model, wherein the number of specific layering layers can be determined by user input.

Then, from the second satellite position and the receiver position, the position where the incident angle is equal to the exit angle is calculated by the geometrical-optical algorithm and is recorded as a specular reflection point.

Then, the specular reflection point is gradually far away from the receiver along the sea surface by adopting a certain step length (the step length can be set according to the simulation capability), and the step length is recorded as A point for calculating the arrival of GNSS signals from the second satellite position via the above-mentioned atmosphere model>The specific propagation path of the point is calculated by adopting a refraction Law (namely Snell's Law) at the junction position of two different propagation layers, and the second satellite position to->GNSS signal propagation paths of points. Then will->The point is taken as a signal emission point, and the calculation is performed byThe GNSS signals sent by the points are calculated by adopting refraction Law (Snell's Law) at the junction position of two different propagation layers along the corresponding atmospheric layering whether the corresponding atmospheric layering can pass through the position of the receiver, and if the paths which can pass through the receiver exist, the receiver is considered to be a ++>The point is the effective point. Second satellite position->GNSS signal propagation path and +.>The sum of the GNSS signal propagation paths from the point to the receiver is denoted as the total propagation path of the GNSS reflected signal. Far from the specular reflection point>The total propagation path delay of the signal corresponding to the point is recorded as the maximum chip delay of the reflected signal that the receiver can receive under the atmospheric waveguide condition.

2) Taking the chip delay of the reflected signal of the specular reflection point as the minimum chip delay;

3) The reflected signal between the maximum chip delay and the minimum chip delay is used as the atmospheric waveguide signal range of the second satellite.

In step 104, according to the number of simulation strips of the preset atmospheric waveguide signal, the signals in the atmospheric waveguide signal range of the second satellite are subjected to discrete sampling, so as to obtain the discrete sampled atmospheric waveguide signal.

In this step, specifically, according to the number of simulation strips of the preset atmospheric waveguide signal, the signals in the atmospheric waveguide signal range of the second satellite may be sampled at equal intervals, so as to obtain the atmospheric waveguide signals sampled at equal intervals.

In this embodiment, signals in the range of the atmospheric waveguide signal of the second satellite may be sampled at equal intervals or may be sampled at unequal intervals, but the unequal interval sampling increases the calculation amount and complexity, so this embodiment is described by taking equal interval sampling as an example, and the intervals of the atmospheric waveguide sampling values are calculated according to the following formula: firstly, selecting a signal at a specular reflection point in an atmospheric waveguide signal as a standard reflection signal, and recording the Code delay of the reflection signal relative to a direct signal as code_delay_min; the Code delay signal at which the atmospheric waveguide signal is maximum with respect to the direct signal is denoted code_delay_max. Setting the number of simulation strips of the atmospheric waveguide signal according to the simulation capability of the multipath signals of the simulator, wherein the number of the simulation strips of the multipath signals of the simulator is recorded as n; wherein n is an integer greater than or equal to 2. The interval of each atmospheric waveguide sampling point is calculated as follows:

Code_delay_interv=(Code_delay_max-Code_delay_min)/(n-1)

In the formula, the code_delay_interval represents the interval of sampling points; the code_delay_max represents the maximum chip delay; code_delay_min represents the minimum chip delay; the n represents the number of simulation stripes of the atmospheric waveguide signal.

The discrete samples in this embodiment are not limited to these intervals, but may include other discrete samples, which are not described herein.

In step 105, the satellite simulator is used to set up multipath signals to simulate the discrete sampled atmospheric waveguide sampling signals, and the simulated atmospheric waveguide signals are output.

The method specifically comprises the following steps: firstly, determining the code delay, doppler delay and power value of the atmospheric waveguide signal of each sample; based on the code delay, doppler delay and power value of the atmospheric waveguide signal of each sample, the satellite simulator is utilized to set up multipath signals to simulate the discrete sampled atmospheric waveguide sampling signals, and the simulated atmospheric waveguide signals are output.

Wherein said determining the code delay, doppler delay and power value of the atmospheric waveguide signal for each sample comprises: sequentially calculating the code delay of each sampled atmospheric waveguide signal relative to the direct signal; calculating Doppler delay of the reflected signals of the specular reflection points as Doppler delay of all the atmospheric waveguide signals; and calculating the power value of the atmospheric waveguide signal by using a GNSS-R based bistatic radar equation.

In this step, the code delay of the ith atmospheric waveguide signal relative to the direct signal can be acquired from the ith sampling point (i starts from 1), and the specific formula is:

Code_delay_sample= Code_delay_min+(i-1)* Code_delay_interv；

the Doppler delays of the atmospheric waveguide signals are all Doppler delays of the reflected signals at the specular reflection points, and in this embodiment, the Doppler delays of all the atmospheric waveguide signals are the same.

The power value of the atmospheric waveguide signal may be calculated based on a GNSS-R bistatic radar equation, where the power value of the atmospheric waveguide signal is calculated based on the GNSS-R bistatic radar equation, which is a well-known technique for those skilled in the art and will not be described herein.

In the embodiment of the invention, the atmospheric waveguide parameters required by simulation, the position of a receiver, the position of a first satellite running currently and ocean surface parameters are acquired firstly; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite currently running; determining the atmospheric waveguide signal range of the second satellite received by the receiver under atmospheric waveguide conditions according to the position and elevation angle of the second satellite, the ocean surface parameters and the atmospheric waveguide parameters; performing discrete sampling on the signals in the range of the atmospheric waveguide signals of the second satellite according to the number of simulation strips of the preset atmospheric waveguide signals to obtain the discrete sampled atmospheric waveguide signals; and carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing multipath signals set by a satellite simulator, and outputting analog simulated atmospheric waveguide signals. That is, in the embodiment of the invention, based on the position of the receiver required by simulation, the atmospheric waveguide parameter and the position of the first satellite, the second satellite required to be simulated is selected, the key atmospheric waveguide signal is extracted and received by adopting discrete sampling to the atmospheric waveguide signal received by the second satellite, the extracted atmospheric waveguide signal is simulated by utilizing the multipath signal of a satellite simulator (such as a GNSS simulator), and the domestic and foreign blank of the simulation of the reflection signal under the atmospheric waveguide condition is filled.

Further, in the embodiment of the present invention, according to the receiver position and the waveguide parameter (i.e. the altitude) set by the user, the range of the atmospheric waveguide signal of the GNSS satellite is calculated in real time in combination with the GNSS satellite position of the GNSS simulator. Through a satellite selection algorithm (namely selecting satellites needing simulation), GNSS satellites which can best embody current atmospheric waveguide parameters can be effectively selected, and the utilization rate of a satellite simulator is improved.

Furthermore, in the embodiment of the invention, the real atmospheric waveguide signal is subjected to discretization sampling, and the complex continuous model is replaced by discrete sampling points, so that the calculation complexity is reduced, and the common commercial GNSS simulator can be used for simulation, thereby saving the cost and improving the convenience of effectively simulating the atmospheric waveguide signal.

Optionally, in another embodiment, based on the foregoing embodiment, the method may further include: and synthesizing and outputting the simulated atmospheric waveguide signals by using a synthesizer to obtain a synthesized beam of atmospheric waveguide signals.

The embodiment of the invention adopts a multi-path mode, and effectively simulates the tailing of the DM waveform of the atmospheric waveguide. Because the atmosphere waveguide signal of the mirror reflection point and the atmosphere waveguide signal at the boundary are simulated, after the simulated atmosphere waveguide signal is output in a combined way, the receiver can better judge the atmosphere waveguide signal boundary, thereby inverting the range of the atmosphere waveguide.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required for the present invention.

Referring to fig. 2, a block diagram of an atmospheric waveguide signal simulation measurement device according to an embodiment of the present invention is shown. The device comprises: a first acquisition module 201, a selection module 202, a first determination module 203, a discrete sampling module 204 and an analog simulation module 205, wherein,

the first obtaining module 201 is configured to obtain an atmospheric waveguide parameter, a position of a receiver, a position of a first satellite currently running, and a marine surface parameter required for simulation;

the selecting module 202 is configured to select a second satellite to be simulated according to the position of the receiver and the position of the first satellite that is currently running;

the first determining module 203 is configured to determine, according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameter and the atmospheric waveguide parameter, an atmospheric waveguide signal range of the second satellite received by the receiver under an atmospheric waveguide condition;

The discrete sampling module 204 is configured to perform discrete sampling on a signal in an atmospheric waveguide signal range of the second satellite according to a number of simulation strips of a preset atmospheric waveguide signal, so as to obtain a discrete sampled atmospheric waveguide signal;

the analog simulation module 205 is configured to perform analog simulation on the discretely sampled atmospheric waveguide sampling signal by using a multipath signal set by a satellite simulator, and output an analog simulated atmospheric waveguide signal.

Optionally, in another embodiment, based on the foregoing embodiment, the selecting module 202 includes: a first calculation module 301, a second determination module 302, a ranking module 303 and a satellite selection module 304, the block diagram of which is shown in fig. 3, wherein,

the first calculating module 301 is configured to calculate an elevation angle and an azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite that is currently running;

the second determining module 302 is configured to select, based on the azimuth angle, all satellites that satisfy an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver; or acquiring the upper limit and the lower limit of the elevation angle of the user input receiver, and selecting all satellites meeting the upper limit to the lower limit of the elevation angle of the user input receiver;

The sorting module 303 is configured to sort all satellites selected to meet the elevation angle range of the receiver according to elevation angles;

the satellite selection module 304 is configured to select a satellite with the highest elevation angle as a second satellite to be simulated.

Optionally, in another embodiment, based on the above embodiment, the first calculating module 301 includes: a vector calculation module 401, a transformation module 402, a convolution module 403 and an angle determination module 404, the result of which is shown in fig. 4, wherein,

the vector calculation module 401 is configured to calculate a vector from the position of the first satellite to the position of the receiver, where the positions of the receiver and the first satellite are both positions in an ECEF coordinate system;

the transformation module 402 is configured to obtain coordinates of the receiver in a geographic coordinate system, and perform cosine and sine transformation on the coordinates to obtain a directional cosine matrix;

the convolution module 403 is configured to perform convolution calculation based on the vector and the directional cosine matrix to obtain a bias position from the first satellite to the receiver;

the angle determination module 404 is configured to determine an elevation angle and an azimuth angle of the first satellite relative to the receiver based on the biased position.

Optionally, in another embodiment, based on the foregoing embodiment, the convolution module 403 performs convolution calculation according to the following formula based on the vector and the directional cosine matrix to obtain a biased position from the first satellite to the receiver:

/>

wherein Δp represents a vector of the position of the first satellite to the position of the receiver; the CM represents a directional cosine matrix of the receiver; n, E and U respectively represent the north position, the east position and the sky position under a geographic coordinate system; the Δdis represents a horizontal position difference of the first satellite position and the receiver position.

Optionally, in another embodiment, based on the foregoing embodiment, the angle determining module includes: a first angle determination module and/or a second angle determination module, wherein,

The second angle determining module is configured to determine that an azimuth angle of the first satellite relative to the receiver is arctan (E/N) and an elevation angle is arctan (U/Δdis) when the horizontal position difference Δdis is greater than the set threshold.

Optionally, in another embodiment, based on the foregoing embodiment, the first determining module 203 includes: a maximum chip delay determination module 502, a minimum chip delay determination module 503, and a signal range determination module 504, wherein,

the maximum chip delay determining module 502 is configured to input the position and elevation angle of the second satellite, the altitude in the position of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into an evaporation waveguide model for calculation, so as to obtain a maximum chip delay for the receiver to receive a reflected signal;

the minimum chip delay determining module 503 is configured to take the chip delay of the reflected signal of the specular reflection point as a minimum chip delay;

the signal range determining module 504 is configured to use the reflected signal between the maximum chip delay and the minimum chip delay as an atmospheric waveguide signal range of the second satellite.

Optionally, in another embodiment, based on the foregoing embodiment, the discrete sampling module 204 is specifically configured to sample, according to a number of simulation stripes of a preset atmospheric waveguide signal, a signal in an atmospheric waveguide signal range of the second satellite at equal intervals, to obtain an atmospheric waveguide signal sampled at equal intervals.

Wherein the discrete sampling module comprises: a first marking module, a second marking module, a setting module and an interval calculating module, wherein,

the first marking module is used for taking a reflection signal of a specular reflection point in the atmospheric waveguide signal as a standard reflection signal before the discrete sampling module obtains a discrete sampled atmospheric waveguide signal, and marking the Code delay of the standard reflection signal relative to a direct signal as a minimum Code chip delay code_delay_min;

the interval calculation module is used for calculating the interval of the sampling points with equal intervals according to the formula code_delay_interface= (code_delay_max-code_delay_min)/(n-1);

wherein the code_delay_interval represents the interval of equally-spaced sampling points; the code_delay_max represents the maximum chip delay; code_delay_min represents the minimum chip delay; the n represents the number of simulation stripes of the atmospheric waveguide signal.

Optionally, in another embodiment, based on the above embodiment, the analog simulation module 205 includes: a third determination module 601 and a signal simulation module 602, the structural block diagram of which is shown in fig. 6, wherein,

the third determining module 601 is configured to determine a code delay, a doppler delay and a power value of the atmospheric waveguide signal for each sample;

the signal simulation module 602 is configured to perform a simulation on the atmospheric waveguide sampling signal that is discretely sampled by using a multipath signal set by a satellite simulator based on the code delay, the doppler delay, and the power value of the atmospheric waveguide signal of each sample, and output a simulated atmospheric waveguide signal.

Optionally, in another embodiment, based on the foregoing embodiment, the third determining module includes: a code delay calculation module, a Doppler delay calculation module and a power calculation module, wherein,

the code delay calculation module is used for calculating the code delay of each sampled atmospheric waveguide signal relative to the direct signal;

the Doppler delay calculation module is used for calculating Doppler delay of the reflection signals of the specular reflection points and taking the Doppler delay as Doppler delay of all atmospheric waveguide signals;

The power calculation module is used for calculating the power value of the atmospheric waveguide signal by using the reflected signal model.

Optionally, in another embodiment, on the basis of the foregoing embodiment, the apparatus further includes: a synthesis module, wherein,

the synthesis module is used for synthesizing the simulated atmospheric waveguide signals by using a synthesizer before the simulated simulation module outputs the simulated atmospheric waveguide signals, so as to obtain a beam of synthesized atmospheric waveguide signals.

Optionally, referring to fig. 7, a block diagram of an atmospheric waveguide signal simulation measurement system according to an embodiment of the present invention includes: a controller 701, a satellite simulator 702, and a receiver 703, wherein the satellite simulator 702 is connected to the controller 701 and the receiver 703, respectively, wherein,

the controller 701 is configured to obtain an atmospheric waveguide parameter, a position of a receiver, a marine surface parameter, and a position of a first satellite currently running, which are required for simulation; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite currently running; and according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters determine the atmospheric waveguide signal range of the second satellite received under the atmospheric waveguide condition, and send a multipath simulation control instruction to the satellite simulator 702.

The satellite simulator 702 is configured to, when receiving a multipath simulation control instruction sent by the controller 701, perform discrete sampling on a signal in an atmospheric waveguide signal range of the second satellite received by the receiver according to a simulation number of preset atmospheric waveguide signals, so as to obtain a discrete sampled atmospheric waveguide signal; and performing analog simulation on the discretely sampled atmospheric waveguide sampling signal by using the multipath signal set by the receiver 703, and outputting the analog simulated atmospheric waveguide signal to the receiver.

The receiver 703 is configured to receive the simulated atmospheric waveguide signal sent by the satellite simulator 702, analyze the simulated atmospheric waveguide signal, and output analyzed data.

That is, the satellites in this embodiment are exemplified by GNSS satellites. The controller 701 obtains simulation parameters including: the altitude of the atmospheric waveguide, the position of the receiver, marine environment data, the position of the first GNSS satellite currently operating; selecting a second GNSS satellite to be simulated according to the position of the receiver and the position of the first GNSS satellite currently running; and sending a multipath simulation control instruction to the satellite simulator 702 after the atmospheric waveguide signal range of the second satellite is calculated under the atmospheric waveguide condition.

Then, when receiving the multipath simulation control instruction sent by the controller 701, the satellite simulator 702 performs discrete sampling on the signal in the atmospheric waveguide signal range of the second GNSS satellite according to the number of simulation strips of the preset atmospheric waveguide signal, so as to obtain a discrete sampled atmospheric waveguide signal; and performing analog simulation on the discretely sampled atmospheric waveguide sampling signal by using the multipath signal set by the receiver 703, and outputting the analog simulated atmospheric waveguide signal;

finally, the receiver 703 parses the received atmospheric waveguide signal and outputs parsed data.

The atmospheric waveguide simulation system based on the GNSS simulator multipath signals is specifically divided into three parts. The first part is the acquisition of simulation parameters and the selection of GNSS satellites needing simulation, the second part is the calculation of the range of the atmospheric waveguide signals, the atmospheric waveguide signals are sampled at equal chip intervals according to the simulation capability of the multipath signals of the simulator, and the atmospheric waveguide signals are selected; the third part is to control a GNSS simulator, set multipath signals according to the selected atmospheric waveguide sampling signals by a simulator program, and combine the multipath signals to output so as to complete the simulation of the atmospheric waveguide signals.

The functional roles of the components in the system are detailed in the implementation process of the corresponding embodiment, and are not described herein.

Optionally, an embodiment of the present invention further provides an electronic device, including:

a processor;

and a memory for storing the processor-executable instructions, wherein the processor is configured to execute the instructions to implement the atmospheric waveguide signal simulation measurement method as described above.

Embodiments of the present invention also provide a computer-readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the atmospheric waveguide signal simulation measurement method as described above.

Embodiments of the present invention also provide a computer program product comprising a computer program or instructions which, when executed by a processor of an electronic device, implement an atmospheric waveguide signal emulation measurement method as described above.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Fig. 8 is a block diagram of an electronic device 800 provided by an embodiment of the invention. For example, the electronic device 800 may be a mobile terminal or a server, and in the embodiment of the present invention, the electronic device is taken as an example of the mobile terminal. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.

Referring to fig. 8, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen between the electronic device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operational mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, an operator network (e.g., 2G, 3G, 4G, or 5G), or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the above-described method of simulating atmospheric waveguide signal measurements.

In an embodiment, a computer readable storage medium is also provided, which when executed by a processor of an electronic device, enables the electronic device 800 to perform the above-described method of simulated measurement of an atmospheric waveguide signal. For example, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

In an embodiment, a computer program product is also provided, comprising a computer program or instructions which, when executed by the processor 820 of the electronic device 800, cause the electronic device 800 to perform the above-described method of simulating measurement of an atmospheric waveguide signal.

Fig. 9 is a block diagram of an apparatus 900 for simulated measurement of an atmospheric waveguide signal according to an embodiment of the present invention. For example, apparatus 900 may be provided as a server. Referring to FIG. 9, apparatus 900 includes a processing component 922 that further includes one or more processors, and memory resources represented by memory 932, for storing instructions, such as applications, executable by processing component 922. The application programs stored in memory 932 may include one or more modules that each correspond to a set of instructions. Further, processing component 922 is configured to execute instructions to perform the above-described methods.

The apparatus 900 may also include a power component 926 configured to perform power management of the apparatus 900, a wired or wireless network interface 950 configured to connect the apparatus 900 to a network, and an input output (I/O) interface 958. The device 900 may operate based on an operating system stored in memory 932, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. The atmosphere waveguide signal simulation measurement method is characterized by comprising the following steps of:

selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite, wherein the second satellite to be simulated specifically comprises: calculating an elevation angle and an azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite; selecting all satellites satisfying an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver based on the azimuth angle; or acquiring the upper limit value and the lower limit value of the elevation angle input by the user to the receiver, and selecting all satellites meeting the upper limit value to the lower limit value of the elevation angle input by the user to the receiver; sequencing all the determined satellites according to the elevation angle; selecting the satellite with the highest elevation angle as a second satellite to be simulated;

according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters determine the atmospheric waveguide signal range of the second satellite received by the receiver under the atmospheric waveguide condition, and the method specifically comprises the following steps: inputting the position and elevation angle of the second satellite, the altitude of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into an evaporation waveguide model for calculation processing, and obtaining the maximum chip delay of the receiver capable of receiving a reflected signal; taking the chip delay of the reflected signal of the specular reflection point as the minimum chip delay; taking the reflected signal between the maximum chip delay and the minimum chip delay as an atmospheric waveguide signal range of the second satellite;

2. The method of claim 1, wherein calculating an elevation angle and an azimuth angle of the first satellite with respect to the receiver based on the position of the receiver and the position of the first satellite comprises:

3. The method for simulating measurement of atmospheric waveguide signals according to claim 2, wherein said convolving calculation based on said vector and said directional cosine matrix according to the following formula yields a biased position of said first satellite to said receiver, comprising:

wherein the Δp represents a vector of the position of the first satellite to the position of the receiver; the CM represents a directional cosine matrix of the receiver; n, E and U respectively represent the north position, the east position and the sky position under a geographic coordinate system; the Δdis represents a horizontal position difference of the position of the first satellite and the position of the receiver.

4. The method of claim 3, wherein said determining an elevation angle and an azimuth angle of the first satellite relative to the receiver based on the bias position comprises:

5. The method for simulating measurement of an atmospheric waveguide signal according to claim 1, wherein the performing discrete sampling on the signal in the atmospheric waveguide signal range of the second satellite according to the number of simulated stripes of the preset atmospheric waveguide signal to obtain a discrete sampled atmospheric waveguide signal comprises:

6. The method for simulated measurement of an atmospheric waveguide signal according to claim 5, wherein the intervals of equally spaced sampling points are calculated as follows:

Calculating the interval of the sampling points with equal intervals according to the formula code_delay_interval= (code_delay_max-code_delay_min)/(n-1); wherein the code_delay_interval represents the interval of equally-spaced sampling points.

7. The method for measuring the atmospheric waveguide signal according to claim 1, wherein the satellite simulator is used for simulating the discretely sampled atmospheric waveguide sampling signal by using the multipath signal to generate a simulated atmospheric waveguide signal; comprising the following steps:

8. The method of claim 7, wherein determining the code delay, doppler delay, and power value of the atmospheric waveguide signal for each sample comprises:

9. The method for simulated measurement of an atmospheric waveguide signal according to claim 1, wherein prior to outputting the simulated atmospheric waveguide signal, the method further comprises:

10. An atmospheric waveguide signal simulation measurement device, characterized by comprising:

the selecting module is used for selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite;

the analog simulation module is used for carrying out analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing the multipath signals set by the satellite simulator and outputting analog simulated atmospheric waveguide signals;

wherein, the selecting module includes:

The satellite selecting module is used for selecting the satellite with the highest elevation angle as a second satellite to be simulated;

the first determining module includes:

the maximum chip delay determining module is used for inputting the position and elevation angle of the second satellite, the position of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into an evaporation waveguide model for calculation processing to obtain the maximum chip delay of the reflected signal received by the receiver;

11. The atmospheric waveguide signal simulation measurement apparatus of claim 10, wherein the first calculation module comprises:

12. The apparatus according to claim 11, wherein the convolution module performs convolution calculation based on the vector and the directional cosine matrix to obtain the deflection position of the first satellite to the receiver according to the following formula:

13. The atmospheric waveguide signal simulation measurement apparatus of claim 12, wherein the angle determination module comprises:

14. The device for simulating measurement of atmospheric waveguide signals according to claim 10, wherein the discrete sampling module is specifically configured to sample signals within the range of the atmospheric waveguide signals of the second satellite at equal intervals according to a number of simulated stripes of the preset atmospheric waveguide signals, so as to obtain the atmospheric waveguide signals sampled at equal intervals.

15. The atmospheric waveguide signal simulation measurement apparatus of claim 14, wherein the discrete sampling module comprises:

16. The apparatus according to claim 10, wherein the analog simulation module includes:

17. The atmospheric waveguide signal simulation measurement apparatus of claim 16, wherein the third determination module comprises:

18. The atmospheric waveguide signal simulation measurement apparatus according to claim 10, wherein the apparatus further comprises:

19. An atmospheric waveguide signal simulation measurement system, comprising: the controller, the satellite simulator and the receiver are connected, the satellite simulator is respectively connected with the controller and the receiver, wherein,

the controller is used for acquiring the atmospheric waveguide parameters, the position of the receiver, the ocean surface parameters and the position of the first satellite currently running which are required by simulation; selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite; according to the position and elevation angle of the second satellite, the position of the receiver, the ocean surface parameters and the atmospheric waveguide parameters determine the atmospheric waveguide signal range of the second satellite received under the atmospheric waveguide condition, and a multipath simulation control instruction is sent to the satellite simulator; the selecting a second satellite to be simulated according to the position of the receiver and the position of the first satellite specifically includes: calculating an elevation angle and an azimuth angle of the first satellite relative to the receiver according to the position of the receiver and the position of the first satellite; selecting all satellites satisfying an upper limit to a lower limit of an elevation angle of the first satellite with respect to the receiver based on the azimuth angle; or acquiring the upper limit value and the lower limit value of the elevation angle input by the user to the receiver, and selecting all satellites meeting the upper limit value to the lower limit value of the elevation angle input by the user to the receiver; sequencing all the determined satellites according to the elevation angle; selecting the satellite with the highest elevation angle as a second satellite to be simulated; and determining, by the receiver, an atmospheric waveguide signal range of the second satellite received by the receiver under an atmospheric waveguide condition according to the position and the elevation angle of the second satellite, the marine surface parameter and the atmospheric waveguide parameter, specifically including: inputting the position and elevation angle of the second satellite, the altitude of the receiver, the atmospheric waveguide parameter and the ocean surface parameter into an evaporation waveguide model for calculation processing, and obtaining the maximum chip delay of the receiver capable of receiving a reflected signal; taking the chip delay of the reflected signal of the specular reflection point as the minimum chip delay; taking the reflected signal between the maximum chip delay and the minimum chip delay as an atmospheric waveguide signal range of the second satellite;

The satellite simulator is used for performing discrete sampling on the signals in the atmospheric waveguide signal range of the second satellite received by the receiver according to the number of simulation strips of the preset atmospheric waveguide signal when receiving the multipath simulation control command sent by the controller, so as to obtain the discrete sampled atmospheric waveguide signal; performing analog simulation on the discretely sampled atmospheric waveguide sampling signals by utilizing self-set multipath signals, and outputting analog simulated atmospheric waveguide signals to the receiver;

20. An electronic device, comprising:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the atmospheric waveguide signal simulation measurement method of any one of claims 1 to 9.

21. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the atmospheric waveguide signal emulation measurement method according to any one of claims 1 to 9.