CN117930302A - Satellite signal processing method, device, receiver and storage medium - Google Patents
Satellite signal processing method, device, receiver and storage medium Download PDFInfo
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- CN117930302A CN117930302A CN202311874050.8A CN202311874050A CN117930302A CN 117930302 A CN117930302 A CN 117930302A CN 202311874050 A CN202311874050 A CN 202311874050A CN 117930302 A CN117930302 A CN 117930302A
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- 238000003672 processing method Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 34
- 238000006243 chemical reaction Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000004806 packaging method and process Methods 0.000 claims abstract description 10
- 238000004590 computer program Methods 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 description 10
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Classifications
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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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
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the application is suitable for the technical field of satellites, and provides a satellite signal processing method, a device, a receiver and a storage medium, wherein the method is applied to the receiver, the receiver comprises a receiving hardware channel and a transmitting hardware channel, and the method comprises the following steps: acquiring a first satellite signal according to a receiving hardware channel; the first satellite signal includes a first satellite signal parameter; converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signals and the second satellite signals to be converted; packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal; and transmitting the second satellite signal according to the transmission hardware channel. By adopting the method, the delay of the second satellite signal received by the terminal equipment can be reduced, and the delay time of the second signal received by the terminal equipment can be fixed.
Description
Technical Field
The present application belongs to the technical field of satellites, and in particular, relates to a satellite signal processing method, device, receiver and storage medium.
Background
Currently, the global satellite positioning system used by older equipment that is more than ten years of domestic operation is basically GPS, which is the satellite navigation system of the united states. In some sensitive or important industries, communication using GPS may present some risk of privacy disclosure. Based on the above, in order to get rid of the influence of the GPS, the beidou satellite navigation system is self-developed in China to be used as a global satellite positioning and communication system so as to get rid of the restriction of the GPS as far as possible.
Wherein, the GPS receiver is coupled with most of terminal devices in China and cannot be directly separated. Therefore, a strategy of a Beidou receiver and a satellite signal simulator is generally adopted, and Beidou satellite signals are converted into GPS signals and sent to terminal equipment of a user so as to protect information privacy. Specifically, the Beidou satellite signals can be received through the Beidou receiver, and then the Beidou satellite signals are subjected to positioning calculation by the satellite signal simulator, so that positioning results and time service results are obtained. And then, generating a GPS signal under a corresponding scene by the satellite signal simulator according to the positioning result and the time service result, and sending the GPS signal to the terminal equipment.
However, communication between the receiver and the satellite signal simulator is mainly performed through a serial port. When communication is performed through a serial port, a longer delay may exist in the communication due to network factors, and the specific time length of the delay is not fixed. Furthermore, the terminal equipment has longer delay when receiving the converted satellite signals, and the delay time is not fixed.
Disclosure of Invention
The embodiment of the application provides a satellite signal processing method, a device, a receiver and a storage medium, which can solve the problems that in the prior art, terminal equipment has longer delay when receiving converted satellite signals, and the delay time is not fixed.
In a first aspect, an embodiment of the present application provides a satellite signal processing method, which is applied to a receiver, where the receiver includes a receiving hardware channel and a transmitting hardware channel, and the method includes:
Acquiring a first satellite signal according to a receiving hardware channel; the first satellite signal includes a first satellite signal parameter;
converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signals and the second satellite signals to be converted;
packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal;
and transmitting the second satellite signal according to the transmission hardware channel.
In a second aspect, an embodiment of the present application provides a satellite signal processing apparatus, applied to a receiver, where the receiver includes a receiving hardware channel and a transmitting hardware channel, the apparatus includes:
The acquisition module is used for acquiring a first satellite signal according to the receiving hardware channel; the first satellite signal includes a first satellite signal parameter;
The conversion module is used for converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signals and the second satellite signals to be converted;
the packaging module is used for packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal;
And the transmitting module is used for transmitting the second satellite signal according to the transmitting hardware channel.
In a third aspect, an embodiment of the present application provides a receiver comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing a method according to the first aspect as described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which when executed by a processor performs a method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for causing a receiver to perform the method of the first aspect described above when the computer program product is run on the receiver.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the receiver may acquire the first satellite signal according to the receiving hardware channel set therein, and may then directly convert the plurality of first satellite signal parameters into the second satellite signal parameters based on a preset parameter conversion relationship between the first satellite signal and the second satellite signal to be converted. Then, the receiver may directly encapsulate the second satellite signal parameter according to the signal structure of the second satellite signal to generate the second satellite signal. Finally, the second satellite signal is directly transmitted in the internally set transmission hardware channel. Wherein, because the receiver is internally provided with a receiving hardware channel and a transmitting hardware channel, satellite signals are all determined by hardware from input to output. Furthermore, there is no indeterminate time delay period. That is, the delay time length is generally fixed and the delay is low. Furthermore, the delay of the second satellite signal received by the terminal device can be reduced, and the delay time of the second signal received by the terminal device can be fixed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a receiver according to an embodiment of the present application;
fig. 2 is a flowchart of an implementation of a satellite signal processing method according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a satellite signal processing apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a receiver according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Currently, the global satellite positioning system used by older equipment that is more than ten years of domestic operation is basically GPS, which is the satellite navigation system of the united states. In some sensitive or important industries, communication using GPS may present some risk of privacy disclosure. Based on the above, in order to get rid of the influence of the GPS, the beidou satellite navigation system is self-developed in China to be used as a global satellite positioning and communication system so as to get rid of the restriction of the GPS as far as possible.
Wherein, the GPS receiver is coupled with most of terminal devices in China and cannot be directly separated. Therefore, a strategy of a Beidou receiver and a satellite signal simulator is generally adopted, and Beidou satellite signals are converted into GPS signals and sent to terminal equipment of a user so as to protect information privacy. Specifically, the Beidou satellite signals can be received through the Beidou receiver, and then the Beidou satellite signals are positioned or time-service resolved by the satellite signal simulator to obtain positioning results or time-service results. And then, generating a GPS signal under a corresponding scene by the satellite signal simulator according to the positioning result or the time service result, and sending the GPS signal to the terminal equipment.
However, communication between the receiver and the satellite signal simulator is mainly performed through a serial port. When communication is performed through a serial port, a longer delay may exist in the communication due to network factors, and the specific time length of the delay is not fixed. Furthermore, the terminal equipment has longer delay when receiving the converted satellite signals, and the delay time is not fixed.
Based on this, in order to reduce the delay of the second satellite signal received by the terminal device and enable the delay time of the second signal received by the terminal device to be fixed, the embodiment of the application provides a satellite signal processing method, which can be applied to a receiver. Illustratively, the above-described receivers include, but are not limited to, beidou receivers and GPS receivers. It can be appreciated that when the Beidou satellite signal needs to be converted into a GPS satellite signal, the receiver can be a Beidou receiver; and when the GPS satellite signal is required to be converted into the Beidou satellite signal, the receiver can be a GPS receiver.
The receiver comprises a receiving hardware channel and a transmitting hardware channel, so as to receive the first satellite signal and transmit the second satellite signal.
It should be noted that, the receiving hardware channel and the transmitting hardware channel are hardware facilities preset inside the receiver.
Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of a receiver device according to an embodiment of the present application. One receiving hardware channel may correspond to one or more transmitting hardware channels, which is not limited. In this embodiment, an example is described in which one receiving hardware channel corresponds to one transmitting hardware channel.
The staff may set a corresponding preset parameter conversion relationship in each transmission hardware channel in advance, so as to execute the following process of step S202 on the first satellite signal parameter. That is, a plurality of signal types of second satellite signals may be provided at the receiver. For example, the signal type may be a Beidou signal type, a GPS signal type. At this time, the preset parameter conversion relationship corresponding to each signal type may be preset in the transmitting hardware channel.
And the receiving hardware channel can also capture the first satellite signal according to a preset capturing module. Then, in the process of performing parameter conversion on the first satellite signal, the receiving hardware channel can continuously track the satellite signal according to a preset tracking module.
In general, the receiver mainly comprises a tracking module and a capturing module, and the part for resolving and positioning satellite signals is completed by a processor in the receiver through software design. In particular, the acquisition module may be used to acquire rough estimates of the carrier frequency and code phase of all satellites in view. The tracking module is mainly used for starting tracking of the satellite receiving channel according to the rough estimated value of the carrier frequency and the code phase acquired by the acquisition module, so that the satellite signal is continuously tracked to perform positioning calculation. In this embodiment, the manner in which the receiver acquires and tracks the first satellite signal is not described in detail.
It should be noted that, when the receiving hardware channel is set in the receiver to receive the first satellite signal and the transmitting hardware channel is set to transmit the second satellite signal, all the satellite signals from input to output will be determined by hardware. Furthermore, there is no indeterminate time delay period. Specifically, after the first satellite signal is received by the receiver, the duration of receiving, converting and outputting the first satellite signal into the second satellite signal is usually 1 input clock cycle+1 output clock cycle+the internal processing duration of the receiver.
Typically, the first satellite signal input uses a predetermined input signal clock frequency, the processing delays in the receive and transmit hardware channels are fixed, and the second satellite signal output uses a predetermined output signal clock frequency. The overall process delay of the first satellite signal input to the second satellite signal output is fixed and the error does not exceed 1 input clock cycle +1 output clock cycle. That is, the delay time length is generally fixed and the delay is low.
Referring to fig. 2, fig. 2 shows a flowchart of an implementation of a satellite signal processing method according to an embodiment of the present application, where the method includes the following steps:
S201, acquiring a first satellite signal according to a receiving hardware channel; the first satellite signal includes a first satellite signal parameter.
In an embodiment, the first satellite signal may be a beidou satellite signal, a GPS satellite signal or other satellite signals, which is not limited. The second satellite signal in the following description may be a signal of the same signal type as the first satellite signal, or may be a signal of a different signal type, which is not limited. In this embodiment, explanation will be mainly given by taking the case that the signal type of the first satellite signal is different from the signal type of the second satellite signal. The receiving hardware channel may acquire the first satellite signal according to a preset input clock period, which is not limited in this embodiment.
The first satellite signal parameters include, but are not limited to, one or more of a first doppler parameter, a first code phase, a first carrier phase, a first ephemeris and a first time parameter.
In another embodiment, the first satellite signal parameters may further include a positioning result obtained by performing a positioning calculation based on initial first satellite signal parameters in the plurality of first satellite signals. Or the first satellite signal parameter may include not only the positioning result but also the first time parameter. In this embodiment, the number and types of specific first satellite signal parameters are not limited.
However, it should be noted that, if the first satellite signal parameter is the positioning result, the receiver needs at least 4 satellite signals to perform the positioning calculation when performing the positioning calculation. Therefore, when the Beidou receiver receives less than 4 satellite signals, the GPS signals containing positioning results cannot be output, so that the terminal equipment has certain delay when receiving the GPS signals.
In addition, even if the receiver receives a plurality of satellite signals and normally completes the positioning solution, the process of the positioning solution requires a certain time. Therefore, the receiver is also typically unable to perform the above immediately after start-up. Therefore, if the first satellite signal parameter includes the positioning result, it is easy to increase the extension of the reception of the second satellite signal by the terminal device.
In addition, in the strategy of the prior receiver and the satellite signal simulator, when the Beidou receiver performs signal conversion through the satellite signal simulator, the simulated satellite signal at least overlaps errors between the Beidou receiver and the satellite signal simulator, so that the positioning result finally received by the terminal equipment is severely distorted.
In particular, when there are a plurality of Beidou receivers, satellite signals need to be processed by the plurality of receivers in sequence. For example, after a plurality of satellite signals are received by a first-stage receiver to perform positioning calculation to obtain a positioning result, the satellite signals containing the positioning result are sent to a next-stage Beidou receiver; then, the satellite signal simulator in the next-stage Beidou receiver sequentially analyzes, converts and packages the satellite signals again to generate new satellite signals to send, until the satellite signal simulator in the last-stage receiver sequentially analyzes, converts and packages the received satellite signals into GPS signals, and then sends the GPS signals to terminal equipment of a user.
However, the process of positioning solution requires a certain time. Therefore, the first stage receiver typically cannot perform the above manner immediately after start-up. Currently, when the scheme of using a receiver and a satellite signal simulator is used for satellite signal conversion, the first-stage receiver usually needs at least 18 seconds or longer to initialize after cold start (in the case of unknown time and location).
And, limited by the performance and simulation capabilities of the satellite signal simulator, the satellite signal simulator simulates a signal scene that is completely different from the actual satellite scene. That is, the input constellation and the output constellation may not be identical, or there may not be a one-to-one correlation of satellite signal parameters between the input satellite signal and the output satellite signal (the parameter correlation may include known satellite signal parameters such as signal strength, position, elevation angle, azimuth angle, carrier phase, carrier frequency, pseudo code phase, pseudo code frequency, doppler frequency, etc.).
Finally, the positioning result of the positioning calculation of the first-stage receiver is processed by the satellite signal simulator in the multi-stage receiver, and then the positioning calculation processing is performed again by the receiver of the user, which is similar to a sentence, and the positioning result is transmitted among a plurality of people in turn, so that certain deviation can be generated when the satellite signal is received or simulated once. Further, the positioning result obtained by the final terminal equipment is caused to have serious information distortion.
Based on this, in order to make the satellite signal parameters of the second satellite signal sent to the terminal device more realistic, the input constellation is consistent with the output constellation, and reduce the delay when the terminal device of the user receives the second satellite signal, in this embodiment, the subsequent explanation is performed by taking the initial first satellite signal parameter that at least includes one of the first doppler parameter, the first code phase, the first carrier phase, the first electric ephemeris and the first time parameter as an example.
It can be appreciated that, since the receiver does not need to perform positioning calculation based on the initial first satellite signal parameters in the first satellite signal, when the first satellite signal is acquired, parameter conversion in the following process S202 can be directly performed, so as to obtain and transmit the second satellite signal. Further, it is unnecessary to perform initialization for a long time, and delay in transmission of the second satellite signal can be reduced. And, because the receiver does not perform positioning calculation on the satellite signal, the receiver directly converts the initial first satellite signal parameter. Therefore, the satellite signal parameters contained in the second satellite signal received by the terminal device generally have no error, so that the satellite signal parameters finally received by the terminal device are more true.
In another embodiment, if the first satellite signal parameter includes a positioning result, the receiver performs the satellite signal processing method and then sends a second satellite signal to the terminal device to include the positioning result. Furthermore, the time and power consumption for the terminal device to perform positioning calculation can be reduced. That is, the first satellite signal parameter may include at least one initial first satellite signal parameter of the first doppler parameter, the first code phase, the first carrier phase, the first ephemeris and the first time parameter, or include the positioning result, which may be set in advance by the staff according to the actual situation, which is not limited.
It should be noted that, in an actual scenario, the receiver may receive a plurality of initial first satellite signals according to the receiving hardware channel, and in this case, when the signal quality of the plurality of initial first satellite signals is poor, the first satellite signal parameters acquired by the receiver may also have errors. And when the number of the plurality of initial first satellite signals is greater than the preset number, a certain redundancy can be considered to exist in the received initial first satellite signals.
It will be appreciated that the terminal device may typically perform positioning resolution based on 4 satellite signals, and therefore, when the initial first satellite signals received by the receiver are more, the receiver may convert all the initial first satellite signals to first satellite signals and send the first satellite signals to the terminal device, and the terminal device may only use the partially converted second satellite signals. Further, when the receiver directly determines all of the initial first satellite signals as first satellite signals to process, the power consumption and time required for the receiver to process the first satellite signals will be increased.
Based on this, in order to be able to reduce the power consumption and time required for the receiver to process the first satellite signals, the receiver may determine whether the number of the plurality of initial first satellite signals is greater than a preset number when the plurality of initial first satellite signals are acquired according to the reception hardware channel. If the number is greater than the preset number, a preset number of first satellite signals may be determined from the plurality of initial first satellite signals. Otherwise, the receiver may determine each of the initial first satellite signals as the first satellite signal when the determined number is less than or equal to the preset number.
The first number may be set according to practical situations, and is not limited thereto. It should be noted that, although the terminal device may perform positioning calculation according to 4 satellite signals, in order to improve the accuracy of positioning calculation of the terminal device, in this embodiment, the preset number may be set to be 12.
It should be added that, in order to enable the receiver to obtain accurate first satellite signal parameters from the first satellite signals, the receiver may determine a preset number of first satellite signals according to the signal quality of each initial first satellite signal.
Specifically, the receiver may sort the plurality of initial first satellite signals according to the signal quality, and then determine the initial first satellite signal of the TOPN as the first satellite signal. At this time, N is a preset number. That is, the signal quality of each first satellite signal is greater than the signal quality of the remaining initial first satellite signals.
Where signal quality may generally reflect the trustworthiness, definition, and sensitivity of the satellite signals. Thus, the better the signal quality of the first satellite signal, the clearer the first satellite signal parameters acquired by the receiver from the first satellite signal, and the smaller the deviation of the parameters.
In an embodiment, the receiver may characterize the signal quality of the first satellite signal by parameters such as the signal input power, the signal strength, or the signal-to-noise ratio of the first satellite signal, which is not limited. Illustratively, in this embodiment, the signal quality may be characterized in terms of signal-to-noise ratio.
It will be appreciated that the signal to noise ratio is the ratio of signal to noise, the greater the ratio the higher the signal quality can be considered, and the lesser the ratio the more noise can be considered to be present in the first satellite signal.
In an embodiment, in order to further reduce the power consumption of the receiver when processing the initial first satellite signal, the receiver may further directly delete the initial first satellite signal if it is determined that the signal quality of the initial first satellite signal is lower than the preset quality after acquiring the initial first satellite signal.
It should be noted that, although the signal quality of the initial first satellite signal may be located at the TOPN in the plurality of initial first satellite signals. However, when the signal quality of the initial first satellite signal is lower than the preset quality, the receiver may consider that there may be a large deviation in the first satellite signal parameters acquired from the first satellite signal even after the initial first satellite signal is determined as the first satellite signal. Furthermore, the receiver can directly delete the initial first satellite signals, so that deviation of subsequently obtained first satellite signal parameters can be avoided, and the number of initial first satellite signals to be processed can be reduced.
The first preset quality may be set according to actual situations, which is not limited.
It should be added that after deleting the initial first satellite signal, the step of counting the number of remaining initial first satellite signals may be performed. And then, when the number of the remaining initial first satellite signals is larger than the preset number, determining the preset number of first satellite signals according to the signal quality. Otherwise, each initial first satellite signal is determined to be a first satellite signal when the number of remaining initial first satellite signals is less than or equal to the preset number.
It should be noted that the receiver may determine the plurality of first satellite signals, but may not perform positioning calculation based on the plurality of first satellite signals. At this time, the receiver may perform the following steps S202 to S204 for each first satellite signal, respectively.
S202, converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signals and the second satellite signals to be converted.
In an embodiment, the signal types of the first satellite signal and the second satellite signal are different, and the corresponding predetermined parameter conversion relationships are different. In this embodiment, explanation is made taking the signal type of the first satellite signal as the beidou signal type and the signal type of the second satellite signal as the GPS signal type as examples. The details are as follows:
When the first satellite signal parameter includes a first doppler parameter, the receiver may determine whether signal frequencies of intermediate frequency signals generated when processing the first satellite signal are opposite in sign; if the signal frequency is determined to be positive or negative, determining the opposite number of the first Doppler parameter as a second Doppler parameter; if the output intermediate frequency is not positive and negative opposite to the input intermediate frequency, the first Doppler parameter is determined as the second Doppler parameter.
Wherein the transmission frequency of the satellite when transmitting the first satellite signal is generally higher, so that the reception frequency of the first satellite signal received by the receiver is also higher. However, the receiver is typically unable to process the higher frequency first satellite signal. Therefore, the transmission frequency of the first satellite signal needs to be neutralized.
For example, when the signal type of the first satellite signal is the beidou signal type, the transmission frequency thereof is typically 1561M. At this time, the receiver typically needs to mix with signals of other frequencies to reduce the transmission frequency of the first satellite signal.
For example, when mixing is performed using a signal having a frequency of 1559M, the signal frequency of the intermediate frequency signal generated after mixing may be considered +2M (1561M-1559M). Further, it is considered that the signal frequencies are not opposite to each other. Based on this, the receiver may directly determine the first doppler parameter as the second doppler parameter.
And, when mixing is performed using a signal having a frequency 1563M, the signal frequency of the intermediate frequency signal generated after the mixing thereof may be regarded as-2M (1561M-1563M). Further, the signal frequencies may be regarded as being opposite in sign. Based on this, the receiver can directly determine the inverse number of the first doppler parameter as the second doppler parameter.
The frequency of the signal for mixing may be automatically generated by the receiver each time the first satellite signal is processed, and the frequency of the signal for mixing is not limited in this embodiment.
In another embodiment, whether the signal frequencies of the intermediate frequency signals generated when the receiver processes the first satellite signals are opposite or not may be set by a worker in advance and stored in the receiver. At this time, the receiver may directly obtain the result of whether the stored signal frequencies are positive and negative, so as to directly convert the first doppler parameter.
When the first satellite signal parameter includes a first code phase, a ratio of the first code phase to a first code rate corresponding to the first satellite signal is calculated, and a product of the ratio and a second code rate corresponding to the second satellite signal is determined as a second code phase.
In one embodiment, the code rates corresponding to different signal types are generally different. Illustratively, when the signal type of the first satellite signal is the beidou signal type, the first code rate thereof is typically 2.046mbps; and, when the signal type of the second satellite signal is a GPS signal type, its second code rate is typically 1.023mbps.
Based on this, the first code rate and the second code rate may also be considered as known amounts after determining the signal type of the first satellite signal and the signal type of the second satellite signal. That is, the code rate corresponding to each signal type may be stored in the receiver in advance, and directly acquired by the receiver and participate in the parameter conversion.
When the first satellite signal parameter comprises a first electric ephemeris or a first time parameter, converting the first electric ephemeris or the first time parameter into a second electric ephemeris or a second time parameter according to a preset format difference between the first satellite signal and the second satellite signal; the preset parameter conversion relation comprises a conversion relation corresponding to the format difference.
In one embodiment, the predetermined format differences include, but are not limited to, one or more of unit differences, reference differences, and coordinate system differences.
For example, for unit difference, taking a time parameter as an example, the unit of time parameter contained in the GPS satellite signal may be microseconds, and the unit of time parameter contained in the beidou satellite signal may be seconds. And, regarding the reference object difference, taking the time parameter as an example, the time reference corresponding to the time parameter included in the GPS satellite signal is UTC0, which is world coordination time of 1 month and 6 days in 1980. However, the time reference corresponding to the time parameter included in the beidou satellite signal is 00 minutes and 00 seconds of universal coordinated time (UTC) 00 time 1 month 1 year 2006. And, for coordinate system differences, the GPS adopts a WGS-84 coordinate system, and the origin is the mass center of the earth. The Beidou satellite adopts a Beidou coordinate system, and the origin is the mass center of the whole earth including ocean and atmosphere.
Based on the above, after determining the signal type of the first satellite signal and the signal type of the second satellite signal, the preset format difference can be determined, and then the parameter conversion is performed on the first electric ephemeris or the first time parameter according to the preset format difference, so as to obtain the second electric ephemeris or the second time parameter.
In one embodiment, the above-described electric ephemeris is ephemeris data describing an expression of the position and velocity of the space vehicle. Thus, the first electric ephemeris may be used to describe a position and a velocity of the first satellite in space, which may be converted to a second electric ephemeris based on one or more of a unit difference, a reference difference, and a coordinate system difference in the preset format difference. In this embodiment, the specific process of converting the first message ephemeris or the first time parameter is not described in detail.
Similar to the conversion manner of the first ephemeris or the first time parameter, when the first satellite signal parameter includes the positioning result, the receiver needs to convert the first positioning result in the first satellite parameter into the second positioning result represented by the coordinate system corresponding to the second satellite according to the coordinate difference between the origin of the coordinate system of the first satellite and the origin of the coordinate system of the second satellite because the first satellite and the second satellite have coordinate system differences.
And S203, packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal.
In an embodiment, the second satellite signal may be transmitted to the terminal device of the user, and the receiver used by the terminal device of the user may be the receiver of the second satellite signal. For example, when the first satellite signal is a beidou satellite signal and the second satellite signal is a GPS satellite signal, the receiver needs to package the second satellite signal parameters by using a signal structure corresponding to the GPS, so as to generate the second satellite signal.
Wherein the signal structures of the different satellite signals are typically different, which may be used to define the second satellite signal parameters that should be included, and the location in the second satellite signal of each second satellite signal parameter. In the present embodiment, the signal structure of each satellite signal is not particularly limited.
In another embodiment, the signal type of the first satellite signal may be the same as the signal type of the second satellite signal, and the receiver only needs to forward the signal type of the first satellite signal.
S204, transmitting the second satellite signal according to the transmission hardware channel.
In one embodiment, after generating the second satellite signal, the receiver may send the second satellite signal directly to the user's terminal device. It should be noted that, in order to ensure that the terminal device can receive the second satellite signal with good signal quality, the receiver may also transmit the second satellite signal with a preset transmitting power when transmitting the hardware channel. And the transmitting hardware channel may transmit the second satellite signal according to a preset output clock period.
The preset transmitting power and the output clock period can be set according to practical situations, and are not limited.
The signal strength of the second satellite signal received by the terminal device can generally reflect the signal quality of the second satellite signal when it is received to some extent. The signal strength of the received second satellite signal is generally related to parameters such as the transmission power, path loss, attenuation of an obstacle, gain at the time of transmission by the receiver, and gain at the time of reception by the terminal device. The gain during transmission can be adjusted by the transmitting antenna of the receiver, the gain during reception can be adjusted by the receiving antenna in the terminal device (which cannot be adjusted by the receiver), and the path loss and the attenuation of the obstacle cannot be determined. Therefore, the receiver can improve the signal strength when the terminal device receives the second satellite signal by adjusting the transmitting power when the second satellite signal is transmitted. Based on the above, the receiver can transmit the second satellite signal with higher preset transmitting power, so as to improve the signal quality of the second satellite signal received by the terminal equipment. Furthermore, the second satellite signal parameters which can be obtained from the second satellite signal by the terminal equipment can be more real.
However, since the signal quality of the first satellite signal received by the receiver may be high, it may be considered that there is typically no deviation in the first satellite signal parameters derived from the first satellite signal. Based on this, in order to enable the terminal device to receive the second satellite signal having the same higher signal quality, the power consumption of the receiver for transmitting the second satellite signal is reduced. When the signal quality of the first satellite signal is determined to be greater than the second preset quality, the receiver may transmit the second satellite signal at the first preset transmit power according to the transmit hardware channel.
Otherwise, when the signal quality of the first satellite signal is determined to be smaller than the second preset quality, the first satellite signal parameter acquired from the first satellite signal at this time is considered to have a possible deviation. In this case, in order to avoid that the second satellite signal parameters acquired by the terminal device from the second satellite signal also deviate, the receiver may transmit the second satellite signal at a second preset transmission power when transmitting the hardware channel. At this time, the second preset transmission power is greater than the first preset transmission power.
Further, when the signal quality of the received first satellite signal is greater than the second preset quality, it is considered that the signal quality of the first satellite signal is high, and the acquired first satellite signal parameter has little deviation. Therefore, transmitting the second satellite signal at the normal first preset transmit power can reduce power consumption of the receiver.
And when the signal quality of the received first satellite signal is smaller than or equal to the second preset quality, the signal quality of the first satellite signal can be considered to be lower, and certain deviation may exist in the acquired first satellite signal parameters. Based on this, the receiver may transmit the second satellite signal with a higher second preset transmit power in order to avoid secondary bias as much as possible.
The second preset quality, the first preset transmitting power and the second preset transmitting power can be set according to practical situations, which is not limited.
It is to be added that when the Beidou receiver and the satellite signal simulator are used for converting the Beidou satellite signal into the GPS signal, the signal intensity of the converted GPS signal is not related to the signal intensity of the received Beidou satellite signal, so that certain splitting exists between the signal intensity of the first satellite signal and the signal intensity of the second satellite signal, and the splitting possibly causes misjudgment on the true quality of the satellite signal when the receiver of the user is used for positioning and resolving, so that the user selects the wrong coherent integration length to process the satellite signal, or non-optimal satellite signal combination is used for calculating positioning and time service and the like.
In another embodiment, the overall process delay of the input of the first satellite signal to the output of the second satellite signal is fixed, based on which the delay effect of the second satellite signal with respect to the terminal device is achieved as much as possible in order to keep the phase of the second satellite signal output by the receiver coincident with the phase of the input first satellite signal. The receiver may determine a signal phase of the second satellite signal; compensating the signal phase according to the preset duration to obtain a target phase; and transmitting the second satellite signal by using the target phase according to the transmission hardware channel.
The preset time length can be considered to be equal to the delay time length of the whole process of inputting the first satellite signal to outputting the second satellite signal. The preset time length can be obtained by testing the receiver by a worker in advance. The phase may include a frame number, a bit number, a pseudo code period number, a carrier period number, a pseudo code phase, a carrier phase, and the like in the second satellite signal. The phase between different satellite signals can also be converted into parameters.
The compensating the signal phase according to the preset time length to obtain the target phase may be determining the compensating phase corresponding to the preset time length, and then adding the compensating phase and the signal phase to obtain the target phase, so as to keep the phase of the second satellite signal consistent with the phase of the first satellite signal.
It will be appreciated that, when the preset duration is 3s, if the receiver acquires the first satellite signal at time a, it is generally required to send the second satellite signal to the terminal device after a+3 s. At this time, even if the terminal device acquires the second satellite signal immediately, the terminal device will receive the second satellite signal at time a after a+3 s. Furthermore, the 0 delay effect of the second satellite signal with respect to the terminal device cannot be achieved.
However, in the present embodiment, after generating the second satellite signal, the receiver may take the compensation phase corresponding to the signal phase +3s of the second satellite signal as the target phase of the second satellite signal. At this time, when the terminal device receives the second satellite signal at the time of a+3s, it will determine that the second satellite signal at this time is the second satellite signal having no delay due to the target phase of the second satellite signal. Furthermore, the 0-delay effect of the second satellite signal with respect to the terminal device can be realized as much as possible, in addition to keeping the phase of the second satellite signal coincident with the phase of the first satellite signal.
It can be understood that the policy of the beidou receiver and the satellite signal simulator cannot fix the delay time length of the converted satellite signal, so that the above policy cannot realize the 0 delay effect of the converted second satellite signal relative to the terminal device.
In this embodiment, the receiving hardware channel corresponds to the transmitting hardware channel, and the transmitting hardware channel may further set a signal strength amplification or reduction ratio in advance, so as to perform equal-proportion amplification or reduction according to the signal strength of each received first satellite signal, so as to obtain the signal strength of the corresponding second satellite signal. Further, a correlation between the signal strength of the first satellite signal and the signal strength of the second satellite signal is maintained. That is, the signal intensity at the time of outputting the second satellite signal can be adjusted according to the signal intensity of the first satellite signal, so that the proportional relationship between the signal intensities of the first satellite signals received by the receiver is consistent with the proportional relationship between the signal intensities of the second satellite signals transmitted by the receiver.
In this embodiment, the receiver may acquire the first satellite signal according to the receiving hardware channel set inside, and may then directly convert the plurality of first satellite signal parameters into the second satellite signal parameters based on a preset parameter conversion relationship between the first satellite signal and the second satellite signal to be converted. Then, the receiver may directly encapsulate the second satellite signal parameter according to the signal structure of the second satellite signal to generate the second satellite signal. Finally, the second satellite signal is directly transmitted in the internally set transmission hardware channel. Wherein, because the receiver is internally provided with a receiving hardware channel and a transmitting hardware channel, satellite signals are all determined by hardware from input to output. Furthermore, there is no indeterminate time delay period. That is, the delay time length is generally fixed and the delay is low. Furthermore, the delay of the second satellite signal received by the terminal device can be reduced, and the delay time of the second signal received by the terminal device can be fixed.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a satellite signal processing device according to an embodiment of the application. The satellite signal processing apparatus in this embodiment includes modules for executing the steps in the embodiment corresponding to fig. 2. Refer specifically to fig. 2 and the related description in the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. The satellite signal processing device is applied to a receiver, and the receiver comprises a receiving hardware channel and a transmitting hardware channel. Referring to fig. 3, the satellite signal processing apparatus 300 may include: an acquisition module 310, a conversion module 320, a packaging module 330, and a sending module 340, wherein:
an acquisition module 310, configured to acquire a first satellite signal according to a receiving hardware channel; the first satellite signal includes a first satellite signal parameter.
The conversion module 320 is configured to convert a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relationship between the first satellite signal and the second satellite signal to be converted;
The packaging module 330 is configured to package the second satellite signal parameters according to the signal structure of the second satellite signal, and generate the second satellite signal.
The transmitting module 340 is configured to transmit the second satellite signal according to the transmitting hardware channel.
In one embodiment, the obtaining module 310 is further configured to:
Acquiring a plurality of initial first satellite signals according to a receiving hardware channel; if the number of the plurality of initial first satellite signals is greater than the preset number, determining the preset number of first satellite signals from the plurality of initial first satellite signals.
In one embodiment, the obtaining module 310 is further configured to:
If the number of the plurality of initial first satellite signals is larger than the preset number, determining the signal quality of each initial first satellite signal respectively; determining a preset number of first satellite signals from a plurality of initial first satellite signals according to the signal quality; the signal quality of each first satellite signal is greater than the signal quality of the remaining initial first satellite signals.
In one embodiment, the satellite signal processing apparatus 300 further comprises:
and the deleting module is used for deleting the initial first satellite signal if the signal quality is lower than the first preset quality.
In one embodiment, the first satellite signal parameter comprises at least one initial first satellite signal parameter of a first doppler parameter, a first code phase, a first carrier phase, a first television ephemeris, and a first time parameter; or the first satellite signal parameters at least comprise positioning results obtained by performing positioning calculation based on initial first satellite signal parameters in the plurality of first satellite signals.
In one embodiment, the sending module 340 is further configured to:
If the signal quality of the first satellite signal is larger than the second preset quality, transmitting the second satellite signal with the first preset transmitting power according to the transmitting hardware channel; if the signal quality of the first satellite signal is smaller than or equal to the second preset quality, transmitting the second satellite signal with the second preset transmitting power according to the transmitting hardware channel; the second preset transmit power is greater than the first preset transmit power.
In one embodiment, the sending module 340 is further configured to:
determining a signal phase of the second satellite signal; compensating the signal phase according to the preset duration to obtain a target phase; and transmitting the second satellite signal by using the target phase according to the transmission hardware channel.
It is to be understood that, in the schematic structural diagram of the satellite signal processing apparatus shown in fig. 3, each module is configured to execute each step in the embodiment corresponding to fig. 2, and each step in the embodiment corresponding to fig. 2 has been explained in detail in the foregoing embodiment, and reference is specifically made to fig. 2 and the related description in the embodiment corresponding to fig. 2, which are not repeated herein.
Fig. 4 is a schematic structural diagram of a receiver according to an embodiment of the present application. As shown in fig. 4, the receiver 400 of this embodiment includes: a processor 410, a memory 420, and a computer program 430 stored in the memory 420 and executable on the processor 410, such as a program of a satellite signal processing method. The processor 410, when executing the computer program 430, implements the steps of the various embodiments of the satellite signal processing method described above, such as S201 to S204 shown in fig. 2. Or the processor 410 may perform the functions of the modules in the embodiment corresponding to fig. 3, for example, the functions of the modules shown in fig. 3, when executing the computer program 430, refer to the related descriptions in the embodiment corresponding to fig. 3.
Illustratively, the computer program 430 may be partitioned into one or more modules that are stored in the memory 420 and executed by the processor 410 to implement the satellite signal processing methods provided by embodiments of the application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 430 in the receiver 400. For example, the computer program 430 may implement the satellite signal processing method provided by the embodiment of the present application.
Receiver 400 may include, but is not limited to, a processor 410, a memory 420. It will be appreciated by those skilled in the art that fig. 4 is merely an example of a receiver 400 and is not intended to limit the receiver 400, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the receiver may further include an input-output device, a network access device, a bus, etc.
The processor 410 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 420 may be an internal storage unit of the receiver 400, such as a hard disk or a memory of the receiver 400. The memory 420 may also be an external storage device of the receiver 400, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the receiver 400. Further, the memory 420 may also include both internal storage units and external storage devices of the receiver 400.
An embodiment of the present application provides a computer-readable storage medium storing a computer program that is executed by a processor to perform the satellite signal processing method in each of the above embodiments.
Embodiments of the present application provide a computer program product for causing a receiver to perform the satellite signal processing method of the respective embodiments described above when the computer program product is run on the receiver.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A satellite signal processing method for use with a receiver, the receiver including a receive hardware channel and a transmit hardware channel, the method comprising:
Acquiring a first satellite signal according to the receiving hardware channel; the first satellite signal includes a first satellite signal parameter;
Converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signal and the second satellite signal to be converted;
Packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal;
And transmitting the second satellite signal according to the transmission hardware channel.
2. The method of claim 1, wherein said acquiring a first satellite signal from said receive hardware channel comprises:
acquiring a plurality of initial first satellite signals according to the receiving hardware channel;
And if the number of the plurality of initial first satellite signals is larger than the preset number, determining the preset number of first satellite signals from the plurality of initial first satellite signals.
3. The method of claim 2, wherein determining a preset number of first satellite signals from the plurality of initial first satellite signals if the number of the plurality of initial first satellite signals is greater than a preset number, comprises:
If the number of the plurality of initial first satellite signals is larger than the preset number, determining the signal quality of each initial first satellite signal respectively;
Determining the preset number of first satellite signals from a plurality of initial first satellite signals according to the signal quality; the signal quality of each of the first satellite signals is greater than the signal quality of the remaining initial first satellite signals.
4. A method according to claim 3, further comprising, after determining the signal quality of each of the initial first satellite signals, respectively, if the number of the plurality of initial first satellite signals is greater than a preset number:
and deleting the initial first satellite signal if the signal quality is lower than a first preset quality.
5. The method of claim 1, wherein the first satellite signal parameters include at least one initial first satellite signal parameter of a first doppler parameter, a first code phase, a first carrier phase, a first television ephemeris, and a first time parameter; or the first satellite signal parameters at least comprise positioning results obtained by positioning calculation based on the initial first satellite signal parameters in the plurality of first satellite signals.
6. The method of any of claims 1-5, wherein said transmitting the second satellite signal according to the transmit hardware channel comprises:
If the signal quality of the first satellite signal is greater than a second preset quality, transmitting the second satellite signal with a first preset transmitting power according to the transmitting hardware channel;
If the signal quality of the first satellite signal is smaller than or equal to the second preset quality, transmitting the second satellite signal with a second preset transmitting power according to the transmitting hardware channel; the second preset transmitting power is larger than the first preset transmitting power.
7. The method of any of claims 1-5, wherein said transmitting said second satellite signal according to said transmit hardware channel further comprises:
determining a signal phase of the second satellite signal;
Compensating the signal phase according to the preset time length to obtain a target phase;
and transmitting the second satellite signal by adopting the target phase according to the transmitting hardware channel.
8. A satellite signal processing apparatus for use with a receiver, the receiver including a receive hardware channel and a transmit hardware channel, the apparatus comprising:
The acquisition module is used for acquiring a first satellite signal according to the receiving hardware channel; the first satellite signal includes a first satellite signal parameter;
the conversion module is used for converting a plurality of first satellite signal parameters into second satellite signal parameters based on a preset parameter conversion relation between the first satellite signals and the second satellite signals to be converted;
The packaging module is used for packaging the second satellite signal parameters according to the signal structure of the second satellite signal to generate a second satellite signal;
and the transmitting module is used for transmitting the second satellite signal according to the transmitting hardware channel.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.
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