CN118330688A

CN118330688A - Calibration method, system, receiver, equipment and medium for receiver hardware delay

Info

Publication number: CN118330688A
Application number: CN202410396750.9A
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; 田羽森; 程双双; 张璐璐; 张�浩
Original assignee: National Space Science Center of CAS
Current assignee: National Space Science Center of CAS
Priority date: 2024-04-02
Filing date: 2024-04-02
Publication date: 2024-07-12

Abstract

The embodiment of the application provides a method, a system, a receiver, equipment and a medium for calibrating hardware delay of a receiver, wherein the method specifically comprises the following steps: the receiver receives satellite signals sent by the satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable; and the receiver calibrates the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable. The embodiment of the application can improve the accuracy of the calibration result of the hardware delay of the receiver.

Description

Calibration method, system, receiver, equipment and medium for receiver hardware delay

Technical Field

The present application relates to the field of satellite navigation technologies, and in particular, to a method, a system, a receiver, a device, and a medium for calibrating a receiver hardware delay.

Background

The measurement of TEC (total electronic content of ionized layer, ionospheric total electron content) can study the distribution and variation characteristics of ionized layer with different time-space dimensions, and can be used for electric wave propagation correction in the satellite navigation field.

There are many possible error-causing factors in TEC measurement, such as multipath, cycle slip, tropospheric delay, and hardware delay, and the hardware delay further includes: satellite end hardware delay, antenna hardware delay, receiver hardware delay, etc.; one of the important error factors is the receiver hardware delay. Therefore, accurate calibration of receiver hardware delay is of great importance for TEC measurement.

In the related art, a method for calibrating a hardware delay of a receiver generally processes an actual signal received by the receiver, and calibrates the hardware delay of the receiver according to a processing result.

However, the calibration result in the related art is easily affected by the satellite-side hardware delay and the antenna hardware delay, and thus, the related art has a problem that the calibration result of the receiver hardware delay is inaccurate.

Disclosure of Invention

The embodiment of the application provides a calibration method for receiver hardware delay, which can improve the accuracy of a calibration result of the receiver hardware delay.

Correspondingly, the embodiment of the application also provides a calibration system of the hardware delay of the receiver, the electronic equipment and the machine-readable medium, which are used for ensuring the realization and the application of the method.

In order to solve the above problems, an embodiment of the present application discloses a method for calibrating a hardware delay of a receiver, where the method includes:

The receiver receives satellite signals sent by the satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable;

and the receiver calibrates the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

The embodiment of the application also discloses a receiver, which comprises:

the signal receiving module is used for receiving satellite signals sent by the satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable;

and the calibration module is used for calibrating the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

Optionally, the receiver is located in an incubator for providing a plurality of preset temperature values within a temperature range;

the calibration module comprises:

The first calibration module is used for calibrating the hardware delays of the receiver corresponding to a plurality of preset temperature values in the temperature range according to the received satellite signals, the preset delay value and the cable delay value corresponding to the radio frequency cable.

Optionally, the receiver further comprises:

the first storage module is used for storing the corresponding relation between the preset temperature value and the hardware delay of the receiver to a factory configuration file of the receiver; or alternatively

And the second storage module is used for storing the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver to a factory configuration file of the receiver.

Optionally, the calibration module includes:

A first total delay determining module, configured to process the received satellite signal to obtain a total delay of the receiver end;

and the second calibration module is used for calibrating the hardware delay of the receiver according to the total delay, the ionosphere delay value corresponding to the preset frequency point, the preset delay value corresponding to the hardware delay of the satellite end and the cable delay value.

Optionally, the satellite signal is a multi-frequency point signal; the frequency points corresponding to the multi-frequency point signals comprise: the first frequency point and the second frequency point;

the calibration module comprises:

The second total delay determining module is used for determining total delays of the multi-frequency point signals at the first frequency point and the second frequency point according to the receiver end pseudo ranges of the multi-frequency point signals at the first frequency point and the second frequency point respectively;

And the third calibration module is used for determining the receiver hardware delay of the multi-frequency-point signal corresponding to the first frequency point and the second frequency point respectively according to the total delay, the ionosphere delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite-side hardware delay and the cable delay value.

Optionally, the calibration module includes:

The fourth calibration module is used for determining the hardware delay of a receiver of a satellite signal at a preset frequency point aiming at the satellite signal in the global navigation satellite system;

the averaging module is used for averaging the receiver hardware delays of the M satellite signals in the global navigation satellite system at the preset frequency point so as to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point.

Optionally, the preset delay value is 0, or the preset delay value is greater than 0.

Optionally, in a case where the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or alternatively

And under the condition that the length of the radio frequency cable is not smaller than a length threshold value, the cable delay value is a calibration value.

The embodiment of the application also discloses a system for calibrating the hardware delay of the receiver, which comprises the following steps: the system comprises a satellite signal simulator, a receiver and a server;

The satellite signal simulator is connected with the receiver through a radio frequency cable and is connected with the server through a network;

the server is used for sending working parameters to the satellite signal simulator; the working parameters include: the satellite end hardware delays the correspondent preset delay value;

The satellite signal simulator is used for sending satellite signals to the receiver; the satellite signal simulator sets the satellite end hardware delay as a preset delay value;

The receiver is used for receiving the satellite signals sent by the satellite signal simulator and calibrating the hardware delay of the receiver according to the received satellite signals, the preset delay value and the cable delay value corresponding to the radio frequency cable.

The receiver is further configured to calibrate a receiver hardware delay corresponding to a plurality of preset temperature values in a temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

Optionally, the server is further configured to control the incubator to gradually increase temperature from low to high according to all the multiple preset temperature values in the temperature range, and control the satellite signal simulator to send the satellite signal to the receiver after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state.

Optionally, the receiver is further configured to store a correspondence between a preset temperature value and a hardware delay of the receiver to a factory configuration file of the receiver; or storing the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver to a factory configuration file of the receiver.

Optionally, the receiver is further configured to send an operating parameter to the satellite signal simulator; the working parameters include: presetting an ionospheric delay value corresponding to a frequency point;

The satellite signal simulator is further configured to add an ionospheric delay value corresponding to a preset frequency point to the output satellite signal according to a pseudo-range delay manner.

Optionally, the operating parameters further include: fixing TEC mode parameters; the fixed TEC mode parameter is used for representing that the TEC in the vertical direction has fixity;

The process for determining the ionospheric delay value corresponding to the preset frequency point comprises the following steps:

determining a tilt-rate projection function based on an elevation angle of the satellite relative to the receiver;

according to the tilt rate projection function, converting the TEC in the vertical direction into a slant TEC;

And determining an ionosphere delay value corresponding to the preset frequency point according to the inclined TEC.

Optionally, the server is further configured to determine an elevation angle of the satellite relative to the receiver according to the receiver position information and the satellite position information.

Optionally, the operating parameters further include: receiver position information, satellite position information, and the preset delay value.

Optionally, the receiver is further configured to process the received satellite signal to obtain a total delay of the receiver, and calibrate the hardware delay of the receiver according to the total delay, an ionospheric delay value corresponding to a preset frequency point, a preset delay value corresponding to a hardware delay of the satellite, and the cable delay value.

The receiver is further configured to determine total delays of the multi-frequency point signals at the first frequency point and the second frequency point according to receiver-side pseudo ranges of the multi-frequency point signals at the first frequency point and the second frequency point, and determine receiver hardware delays of the multi-frequency point signals at the first frequency point and the second frequency point according to the total delays, ionospheric delay values corresponding to preset frequency points, preset delay values corresponding to satellite-side hardware delays, and the cable delay values.

Optionally, the receiver is further configured to determine, for satellite signals in the global navigation satellite system, a receiver hardware delay of one satellite signal at a preset frequency point, and average the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency point, so as to obtain the receiver hardware delay of the global navigation satellite system corresponding to the preset frequency point.

The embodiment of the application also discloses an electronic device, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the method performed by the receiver or satellite signal simulator or server of the methods described above.

The embodiment of the application also discloses a machine-readable medium, wherein executable codes are stored on the machine-readable medium, and when the executable codes are executed, a processor executes the method executed by the receiver or the satellite signal simulator or the server side in the method.

The embodiment of the application has the following advantages:

In the technical scheme of the embodiment of the application, a satellite signal simulator is adopted to simulate a satellite signal. The satellite signal simulator can simulate relevant parameters of a GNSS satellite, an ionosphere and the atmosphere, namely, the satellite signal output by the satellite signal simulator is a result of combined action of the GNSS satellite- > the ionosphere- > the atmosphere.

Because the satellite signal simulator of the embodiment of the application sets the satellite-end hardware delay as the preset delay value, the receiver can calibrate the receiver hardware delay according to the preset delay value; therefore, the embodiment of the application can avoid the problem of inaccurate calibration result of the hardware delay of the receiver caused by the satellite-side hardware delay change of the actual signal to a certain extent, and further can improve the accuracy of the calibration result of the hardware delay of the receiver.

In addition, the embodiment of the application adopts the radio frequency cable to directly connect the receiver with the satellite signal simulator, and the antenna delay can be removed because the antenna receiving link in the propagation path is removed; therefore, the embodiment of the application can avoid the influence of the antenna delay change on the calibration result of the hardware delay of the receiver to a certain extent, and further can further improve the accuracy of the calibration result of the hardware delay of the receiver.

Drawings

FIG. 1 is a schematic diagram of a receiver hardware delay calibration system in accordance with one embodiment of the present application;

FIG. 2 is a flow chart illustrating steps of a method for calibrating receiver hardware delay according to one embodiment of the present application;

FIG. 3 is a flow chart illustrating steps of a method for calibrating receiver hardware delay according to an embodiment of the present application;

Fig. 4 is a schematic diagram of a receiver according to an embodiment of the present application;

Fig. 5 is a schematic structural view of an apparatus according to an embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.

The embodiment of the application can be applied to GNSS (Global navigation satellite System ). GNSS is an air-based radio navigation positioning system that can provide all-weather three-dimensional coordinates and velocity and time information to a user at any location on the earth's surface or near-earth space. GNSS systems provide services such as positioning, navigation, timing, and communications to users worldwide by deploying a set of GNSS satellites in earth orbit. Examples of GNSS systems may include: GPS (global positioning system ), beidou system, etc. It will be appreciated that embodiments of the present application are not limited to a particular GNSS system.

The propagation path of the satellite signal is: GNSS satellite- > ionosphere- > atmospheric layer- > antenna- > radio frequency cable- > receiver. GNSS satellites produce delays in transmitting satellite signals, known as satellite-side delays. GNSS ground-based receiving devices generally include: an antenna, a radio frequency cable and a receiver. The antenna receives satellite signals and converts the satellite signals into electrical signals, the electrical signals are transmitted to the receiver, and the receiver processes the electrical signals. In the propagation path on the ground, the antenna, the radio frequency cable and the hardware circuitry of the receiver all create a certain delay. For simplicity, the delay produced by the antenna is referred to as the antenna delay, the delay produced by the radio frequency cable is referred to as the radio frequency cable delay, and the delay produced by the hardware circuitry of the receiver is referred to as the receiver hardware delay.

In the related art, a method for calibrating a hardware delay of a receiver generally processes an actual signal received by the receiver, and calibrates the hardware delay of the receiver according to a processing result. However, the calibration result in the related art is easily affected by the satellite-side hardware delay and the antenna hardware delay, and thus, the related art has a problem that the calibration result of the receiver hardware delay is inaccurate.

Aiming at the technical problem that the calibration result of the hardware delay of the receiver in the related technology is inaccurate, the embodiment of the application provides a calibration method of the hardware delay of the receiver, which specifically comprises the following steps: the receiver receives satellite signals sent by the satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable; and the receiver calibrates the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

The embodiment of the application adopts a satellite signal simulator to simulate the satellite signal. The satellite signal simulator can simulate relevant parameters of a GNSS satellite, an ionosphere and the atmosphere, namely, the satellite signal output by the satellite signal simulator is a result of combined action of the GNSS satellite- > the ionosphere- > the atmosphere.

System embodiment

Referring to FIG. 1, a schematic diagram of a receiver hardware delay calibration system according to one embodiment of the application is shown, the system specifically comprising: a satellite signal simulator 101, a receiver 102 and a server 103;

the satellite signal simulator 101 is connected to the receiver 102 via a radio frequency cable, and the satellite signal simulator 101 is connected to the server 103 via a network. For example, the satellite signal simulator 101 performs data interaction with the server 103 based on a wired network or a wireless network.

A server 103, configured to send working parameters to the satellite signal simulator 101; the working parameters specifically comprise: the satellite end hardware delays the correspondent preset delay value;

a satellite signal simulator 101 for transmitting satellite signals to the receiver 102; the satellite signal simulator 101 sets the satellite end hardware delay as a preset delay value;

The receiver 102 is configured to receive the satellite signal sent by the satellite signal simulator 101, and calibrate a receiver hardware delay according to the received satellite signal, a preset delay value, and a cable delay value corresponding to the radio frequency cable.

The satellite signal simulator may be a GNSS simulator. A GNSS simulator is a radio frequency generator capable of transmitting the same precise data as a GNSS satellite. And, the GNSS simulator may be capable of directly modifying the operating parameters from the test bench, which may include, but are not limited to: receiver position information, satellite-side hardware delays, etc.

In practical application, the GNSS simulator can simulate the running track of the real in-orbit GNSS satellite for a certain period of time according to the ephemeris information of the real in-orbit GNSS satellite through the setting of the working parameters, and gives out corresponding signal output power according to the related interface file. And the GNSS simulator can realize the consistency of information such as GNSS satellite positions, receiver positions, GNSS satellite signal power and the like in a plurality of running scenes in the process of repeating the plurality of running scenes according to the simulated receiver positions.

In the embodiment of the present application, the service end 103 may send the working parameters to the satellite signal simulator 101, so that the satellite signal simulator 101 works according to the working parameters.

The preset delay value corresponding to the satellite-side hardware delay may be one of the working parameters, so that the satellite signal simulator 101 sets the satellite-side hardware delay to the preset delay value. The preset delay value may be 0, or the preset delay value may be greater than 0. An objective of the embodiments of the present application is to set the satellite-side hardware delay to a fixed preset delay value, so as to avoid inaccurate calibration results of the receiver hardware delay caused by satellite-side hardware delay variation of an actual signal, and not to limit specific preset delay values.

After the satellite-side hardware delay is set to the preset delay value, the satellite signal simulator 101 may transmit the satellite signal to the receiver 102.

The receiver 102 may be a GNSS receiver. The receiver 102 may comprise a processing chip. For example, the receiver 102 may comprise a System on a Chip (SOC) Chip. The SOC chip not only has the receiving capacity of satellite signals, but also has the processing capacity of satellite signals, so that the calibration of the hardware delay of the receiver can be realized. Specifically, the receiver 102 may utilize an SOC chip to receive the satellite signal sent by the satellite signal simulator 101, and calibrate the receiver hardware delay according to the received satellite signal, the preset delay value, and the cable delay value corresponding to the radio frequency cable.

The receiver 102 may process the received satellite signals to obtain a total delay at the receiver. After removing the antenna delay, the total delay at the receiver end in the embodiment of the present application specifically includes: the method and the device have the advantages that the preset delay value corresponding to the satellite-side hardware delay is preset, and the cable delay value can be obtained based on the length of the radio-frequency cable or the delay calibration of the radio-frequency cable, so that the preset delay value and the cable delay value corresponding to the radio-frequency cable can be removed from the total delay, and the receiver hardware delay is obtained.

The method for obtaining the cable delay value based on the length of the radio frequency cable or the delay calibration of the radio frequency cable specifically comprises the following steps:

in the case that the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or alternatively

The length threshold may be determined by those skilled in the art according to practical application requirements, for example, the length threshold may be N meters, and N may be a positive integer less than 10. The embodiment of the application can adopt other calibration modes to calibrate the cable delay value of the radio frequency cable, and the embodiment of the application does not limit the specific calibration mode of the cable delay value of the radio frequency cable.

In practical applications, the receiver hardware delay may vary with temperature. With respect to this characteristic, the embodiment of the application can place the receiver in an incubator, and set a plurality of preset temperature values in a temperature range by adopting the incubator.

The temperature range can be determined by one skilled in the art according to practical application requirements, for example, the working range is [0 ℃,50 ℃). In order to improve the accuracy of the calibration result, a temperature interval of 0.5 ℃ can be adopted, and a plurality of preset temperature values can be selected from the working range. Examples of the plurality of preset temperature values may include: 0 ℃, 0.5 ℃,1 ℃, etc.

The process for calibrating the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable specifically comprises the following steps: and calibrating the hardware delays of the receiver corresponding to a plurality of preset temperature values in the temperature range according to the received satellite signals, the preset delay value and the cable delay value corresponding to the radio frequency cable. For a satellite signal, a receiver hardware delay may be obtained at a preset temperature value.

In practical application, the server can control the incubator to obtain a plurality of preset temperature values, and can send corresponding trigger instructions to the satellite signal simulator according to each preset temperature value. The trigger instruction may be used to instruct the satellite signal simulator to transmit satellite signals to the receiver.

Specifically, the server side controls the temperature box to gradually rise from low to high according to all various preset temperature values in the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and is in a stable state, the server controls the satellite signal simulator to send satellite signals to the receiver.

Under the condition that the working range is [0 ℃,50 ℃), the gradual temperature rise from low to high is specifically as follows: the temperature was gradually increased from 0℃to 50℃at intervals. It will of course be appreciated that a gradual temperature increase from low to high is only an example, and that in practice a gradual temperature decrease from high to low is also possible, i.e. a gradual temperature decrease from 50 c to 0 c at temperature intervals.

The embodiment of the application can be applied to the factory test link of the receiver. The calibrated receiver can select corresponding receiver hardware delay according to different working temperatures in the working state so as to correct the receiver hardware delay in real time during detection. The embodiment of the application improves the calibration precision of the hardware delay of the receiver and can calibrate the whole temperature range corresponding to the working state.

In a specific implementation, the receiver may save the corresponding relationship between the preset temperature value and the receiver hardware delay to a factory configuration file of the receiver; or the receiver can save the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver to a factory configuration file of the receiver.

According to the embodiment of the application, the hardware delays of the receiver under different preset temperature values are written into the factory configuration file of the receiver, so that all the hardware delays of the receiver in the temperature range are obtained, and therefore, when the receiver works, different hardware delays of the receiver can be used according to different temperatures of different working environments, so that severe changes of the hardware delays caused by severe environmental changes are avoided, and the hardware delays of the receiver adopted when the TEC measured value is calculated according to the real-time temperature changes are also changed, so that more accurate real-time TEC measured values are obtained.

Optionally, the service end is further configured to send working parameters to the satellite signal simulator; the working parameters include: presetting an ionospheric delay value corresponding to a frequency point;

Method embodiment one

Referring to fig. 2, a schematic flow chart of steps of a method for calibrating a receiver hardware delay according to an embodiment of the present application is shown, and the method may specifically include the following steps:

step 201, a receiver receives satellite signals sent by a satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable;

And 202, calibrating the hardware delay of the receiver by the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

Before the receiver receives the satellite signals sent by the satellite signal simulator, the satellite signal simulator can set working parameters according to the working parameters sent by the server, and send satellite signals to the receiver according to the trigger instruction sent by the server.

For example, the above-described operating parameters may include: receiver position information, satellite-side hardware delays, etc. The preset delay value corresponding to the satellite-side hardware delay may be one of working parameters, so that the satellite signal simulator sets the satellite-side hardware delay as the preset delay value. The preset delay value may be 0, or the preset delay value may be greater than 0. An objective of the embodiments of the present application is to set the satellite-side hardware delay to a fixed preset delay value, so as to avoid inaccurate calibration results of the receiver hardware delay caused by satellite-side hardware delay variation of an actual signal, and not to limit specific preset delay values.

In specific implementation, the server can control the temperature box to gradually rise from low to high according to all various preset temperature values in the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and is in a stable state, the server side sends a trigger instruction to the satellite signal simulator so as to control the satellite signal simulator to send satellite signals to the receiver.

In an alternative implementation of the application, the satellite signal simulator is used to generate a first simulation scenario with ionosphere, in which the TEC values of the ionosphere are known and can be stored in real time. The satellite hardware delay is set to a fixed preset delay value, which may be 0 for ease of calculation.

Further, the satellite signal simulator may generate a second simulation scenario with ionospheric delay, and may output a multi-frequency point signal. A multi-frequency point signal may refer to a signal that includes two or more frequency points. For simplicity, the frequency bins of the multi-bin signal may include: a first frequency point, a second frequency point, a third frequency point, etc. The multi-frequency point signal may include: a plurality of frequency bin signals.

The ionospheric delay may refer to the delay of the ionosphere with respect to the satellite signals, among other things. In the second simulation scene, the satellite signal simulator can add the ionospheric delay value to the output satellite signal, so that different delay information of each frequency point signal under the action of the ionospheric delay value can be obtained, and the ionospheric delay value is added to the output satellite signal.

In an alternative implementation of the present application, the server may send the working parameters to the satellite signal simulator; the working parameters include: presetting an ionospheric delay value corresponding to a frequency point; and the satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point into the output satellite signal according to the pseudo-range delay mode. The preset frequency point may be a frequency point adopted by a satellite signal sent by a GNSS satellite, and the embodiment of the present application is not limited to a specific preset frequency point.

Optionally, the operating parameters may further include: fixing TEC mode parameters; the fixed TEC mode parameter is used for representing that the TEC in the vertical direction has fixity.

The TEC in the vertical direction is fixed, and the description is fixed, so that the ionospheric delay value generated in the vertical direction is also fixed; from this, ionospheric delay values can be determined from elevation and tilt rate projection functions.

The ionospheric delay value can be determined even when the TEC is not fixed in the vertical direction. However, the first case where the TEC in the vertical direction is fixed is lower in computational complexity than the second case where the TEC in the vertical direction is not fixed. Therefore, the processing speed in the first case is greater than that in the second case.

In practical application, the server may determine an ionospheric delay value corresponding to a preset frequency point

Under the condition that TEC in the vertical direction is fixed, the determination process of the ionosphere delay value corresponding to the preset frequency point specifically comprises the following steps: determining a tilt-rate projection function based on an elevation angle of the satellite relative to the receiver; according to the tilt rate projection function, converting the TEC in the vertical direction into a slant TEC; and determining an ionosphere delay value corresponding to the preset frequency point according to the inclined TEC.

Wherein the elevation angle of the satellite relative to the receiver can be determined based on the receiver position information and the satellite position information.

In practical application, the elevation angle θ _i of each satellite relative to the receiver can be calculated according to the receiver position information and the satellite position information set by the satellite signal simulator, wherein i represents a satellite identifier, and the satellite identifier represents the number of the satellite.

Assume that satellite position information isReceiver position information isThe receiver has the following coordinates in the geodetic coordinate systemWherein,Y_i ^s、Representing the coordinates of the satellite in X, Y and Z directions, respectively; x _r、Y_r、Z_r represents the receiver coordinates in X, Y and Z direction, respectively; phi _r、λ_r、h_r represents the longitude, latitude and elevation of the receiver, respectively; the transformation matrix M may be calculated first using equation (1):

then calculate the observation vector using equation (2) Wherein E represents the eastern coordinate in the northeast coordinate system, N represents the northeast coordinate in the northeast coordinate system, and U represents the northeast coordinate in the northeast coordinate system:

Finally, calculating the elevation angle of the satellite by using the formula (3):

the embodiment of the application can determine the tilt-rate projection function F according to the elevation angle of the satellite relative to the receiver by using the formula (4):

Where R _e is the earth radius, h is the assumed puncture point height, examples of puncture point heights may include: p km, etc., P may be a positive integer.

The embodiment of the application can convert the TEC in the vertical direction into the inclined TEC according to the projection function of the inclination rate by using the formula (5):

STEC_i＝VTEC*F (5)

Wherein VTEC represents the vertical TEC, STEC _i represents the diagonal TEC of the ith satellite.

The embodiment of the application can utilize the formula (6) to determine the ionosphere delay value corresponding to the preset frequency point according to the inclined TEC:

Wherein f _k represents the frequency corresponding to the preset frequency point k, And representing the ionospheric delay value corresponding to the satellite i at a preset frequency point k.

The server side can adopt a remote instruction mode to control the satellite signal simulator to add the ionospheric delay value into the output satellite signal according to a pseudo-range delay mode, and a formula (7) shows the pseudo-range of the satellite signal output by the satellite signal simulator

Wherein,The true pseudo range corresponding to the satellite with the satellite number i at the preset frequency point k is obtained,The pseudo range of the satellite with the satellite number i after the ionosphere delay value is added corresponding to the preset frequency point k, namely,The pseudorange delay after accounting for the ionospheric delay value effects is represented.

In step 201, the receiver may receive satellite signals transmitted by a satellite signal simulator via a radio frequency cable.

In step 202, the receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value, and the cable delay value corresponding to the radio frequency cable.

The receiver may process the received satellite signals to obtain a total delay at the receiver. After removing the antenna delay, the total delay at the receiver end in the embodiment of the present application specifically includes: the method and the device have the advantages that the preset delay value corresponding to the satellite-side hardware delay is preset, and the cable delay value can be obtained based on the length of the radio-frequency cable or the delay calibration of the radio-frequency cable, so that the preset delay value and the cable delay value corresponding to the radio-frequency cable can be removed from the total delay, and the receiver hardware delay is obtained.

Equation (8) shows the total delayThe total delay comprises in particular: satellite-side hardware delayAntenna delayIonospheric delay valueCable delay valueAnd receiver hardware delay

Since the satellite signal simulator is directly connected with the receiver via the radio frequency cable, the antenna delay can be removed

Since the satellite signal simulator has set the satellite-side hardware delay to a preset delay valueAre known.

Since the cable delay value can also be obtained based on the length of the RF cable or the delay calibration of the RF cable, the cable delay valueAlso known.

Thus, the calculation of the receiver hardware delay is as shown in equation (9):

If the length of the radio frequency cable is less than the length threshold, the cable delay value may be 0; further, assuming that the satellite signal simulator sets the satellite side hardware delay to 0, the receiver hardware delay can be calculated as follows:

In an alternative implementation of the present application, the satellite signals may be multi-frequency point signals; the frequency points corresponding to the multi-frequency point signals comprise: a first frequency bin and a second frequency bin. Of course, the number of frequency points corresponding to the multi-frequency point signals can be 3, and the embodiment of the application can utilize two frequency points to calibrate the hardware delay of the receiver. The first frequency point and the second frequency point may refer to any two frequency points included in the multi-frequency point signal.

The process of calibrating the hardware delay of the receiver by the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable specifically comprises the following steps: the receiver determines total delays of the multi-frequency point signals at the first frequency point and the second frequency point according to the receiver-end pseudo ranges of the multi-frequency point signals at the first frequency point and the second frequency point respectively; and the receiver determines the receiver hardware delay of the multi-frequency-point signal corresponding to the first frequency point and the second frequency point respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay and the cable delay value.

The receiver can calculate the total delay in a double-frequency mode, and the pseudo ranges of the receiver end aiming at the satellite signals of the first frequency point and the second frequency point are respectivelyAndThe total delay of the first frequency point can be calculated by using the formula (11)

Similarly, the total delay corresponding to the frequency fk can be obtained by using the formula (12)

The embodiment of the application can utilize a pseudo-range measurement technology to determine the pseudo range of the receiver end. The pseudorange measurement technique may calculate the distance between the satellite and the receiver based on the time of signal transmission between the two. The pseudo-range is the difference between the signal reception time t1 and the signal transmission time t2, which is directly read from the clock of the receiver, multiplied by the vacuum speed of light, and the signal transmission time t2 relates to the phase measurement of the ranging code in the signal.

The process of calibrating the hardware delay of the receiver by the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable specifically comprises the following steps: determining the hardware delay of a receiver of a satellite signal at a preset frequency point aiming at the satellite signal in the global navigation satellite system; and averaging the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay of the global navigation satellite system corresponding to the preset frequency point.

The global navigation satellite system here may be a GPS system or a beidou system, etc. The M satellite signals in the global navigation satellite system may be a plurality of satellite signals transmitted by the satellite signal simulator for the global navigation satellite system in a preset time period, and M may be a positive integer. The length of the preset time period may be Q hours, etc., and Q may be a positive integer.

The method comprises the steps of averaging the receiver hardware delays of M satellite signals in the global navigation satellite system at the same preset frequency point, summing the receiver hardware delays of the M satellite signals at the same preset frequency point, dividing the sum result by M, and taking the quotient as the receiver hardware delay of the global navigation satellite system corresponding to the preset frequency point.

In order to realize the delay calibration of various receiver hardware of the receiver in the temperature range, the receiver can be placed in an incubator, and various preset temperature values in the temperature range are set by adopting the incubator; the server side can control the temperature box to gradually rise from low to high according to all various preset temperature values in the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and is in a stable state, the server controls the satellite signal simulator to send satellite signals to the receiver. The embodiment of the application can repeatedly execute the step 201 and the step 202 aiming at each preset temperature value so as to obtain the hardware delay of the receiver corresponding to each preset temperature value.

According to the embodiment of the application, the calibration result corresponding to the hardware delay of the receiver can be used as the factory configuration file of the receiver, so that the calibrated hardware delay of the receiver is selected in real time from the factory configuration file according to the working temperature in the working process of the receiver, and the influence of temperature change on the TEC observed by the receiver is reduced.

Thus, the method of the embodiment of the application can further comprise:

the receiver stores the corresponding relation between the preset temperature value and the hardware delay of the receiver into a factory configuration file of the receiver; or alternatively

And the receiver stores the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver into a factory configuration file of the receiver.

Referring to table 1, an example of record information in a factory configuration file of one embodiment of the present application is shown. The recording information specifically includes: and presetting the fields such as a temperature value, a frequency point, a receiver hardware delay and the like.

In the working process of the receiver, the receiver can be searched in a factory configuration file according to the working temperature and the working frequency point so as to obtain the target receiver hardware delay corresponding to the working temperature and the working frequency point. In the searching process, the working temperature can be matched with a preset temperature value, and the working frequency point can be matched with the frequency point, so that the hardware delay of the target receiver with successfully matched working temperature and working frequency point can be obtained.

TABLE 1

Preset temperature value	Frequency point	Receiver hardware delay
			0℃	Frequency point 1	Delay 1
0℃	Frequency point 2	Delay 2
			0℃	Frequency point 3	Delay 3
0.5℃	Frequency point 1	Delay 4
			0.5℃	Frequency point 2	Delay 5
0.5℃	Frequency point 3	Delay 6
			……	……	……

The calibration result of the embodiment of the application can be used for TEC measurement. The TEC measurement can provide accurate ionosphere correction information for satellite navigation, communication and other systems, on the other hand, the ionosphere disturbance generated when the ionosphere is changed severely can cause the interruption of satellite and ground communication, and the satellite navigation systems such as aircraft ships and the like are malfunctioning, so that the satellite navigation accuracy can be improved by correcting the satellite navigation systems by adopting the TEC measurement result, and on the other hand, early warning information can be provided for disaster prevention and reduction of the space environment.

In summary, the method for calibrating the hardware delay of the receiver in the embodiment of the application adopts a satellite signal simulator to simulate and simulate satellite signals. The satellite signal simulator can simulate relevant parameters of a GNSS satellite, an ionosphere and the atmosphere, namely, the satellite signal output by the satellite signal simulator is a result of combined action of the GNSS satellite- > the ionosphere- > the atmosphere.

Further, the embodiment of the application can be applied to the factory test link of the receiver. The calibrated receiver can select corresponding receiver hardware delay according to different working temperatures in the working state so as to correct the receiver hardware delay in real time during detection. The embodiment of the application improves the calibration precision of the hardware delay of the receiver and can calibrate the whole temperature range corresponding to the working state.

Method embodiment II

Referring to fig. 3, a schematic flow chart of steps of a method for calibrating a receiver hardware delay according to an embodiment of the present application is shown, and the method may specifically include the following steps:

step 301, the satellite signal simulator sets a preset delay value and a fixed TEC mode parameter corresponding to the receiver position information, the satellite position information and the satellite end hardware delay;

In one implementation, the ionospheric layer assumption is employed, i.e., it is assumed that ionospheric electrons are concentrated in a layer at a height of Pkm a from ground, and at the same time the receiver is set at a height below Pkm a. Of course, the user may set an ionospheric film height greater than Pkm as desired. In practice, the receiver is located at a position with a height generally lower than the height of the ionosphere layer. P may be a positive integer of about 350.

The fixed TEC mode parameter is used to characterize the vertical TEC as having a fixed nature. I.e. the total electron content of the ionosphere in the vertical direction is a fixed value VTEC, corresponding to each latitude and longitude coordinate of the Pkm altitude position. The satellite signal simulator may set a preset delay value corresponding to the satellite-side hardware delay to 0.

Step 302, the server determines ionospheric delay values corresponding to preset frequency points according to receiver position information, satellite position information and TEC in the vertical direction;

step 303, the server sends an ionospheric delay value to the satellite signal simulator;

Step 304, the server controls the incubator to gradually raise the temperature from low to high according to all the various preset temperature values in the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, the server side sends a trigger instruction to the satellite signal simulator;

Step 305, the satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point into the output satellite signal according to the pseudo-range delay mode, and sends the satellite signal to the receiver;

Step 306, the receiver processes the received satellite signals to obtain the total delay of the receiver;

Step 307, the receiver calibrates the hardware delay of the receiver according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value and the cable delay value;

Step 308, the receiver averages the receiver hardware delays of the M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point;

Step 309, the receiver stores the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver in the factory configuration file of the receiver.

In practical applications, the M satellite signals in the gnss may be a plurality of satellite signals transmitted by the satellite signal simulator for the gnss in a preset period of time. The length of the preset time period may be Q hours, etc.

Therefore, in step 304, the server may control the incubator to gradually increase the temperature from low to high according to all the various preset temperature values within the temperature range at intervals of Q hours or more, so that one preset temperature value is maintained for a period of Q hours or more. After the time interval arrives, the service end can control the temperature of the incubator to rise and control the satellite signal simulator to repeatedly send satellite signals to the receiver.

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 embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. 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 by the embodiments of the application.

On the basis of the above embodiment, this embodiment also provides a receiver, referring to fig. 4, which specifically includes: a signal receiving module 401 and a calibration module 402.

The signal receiving module 401 is configured to receive a satellite signal sent by the satellite signal simulator; the satellite signal simulator sets the satellite end hardware delay as a preset delay value; the satellite signal simulator is connected with the receiver through a radio frequency cable;

and the calibration module 402 is configured to calibrate the receiver hardware delay according to the received satellite signal, the preset delay value, and the cable delay value corresponding to the radio frequency cable.

Optionally, the receiver is located in an incubator for a plurality of preset temperature values within a temperature range.

Optionally, the calibration module 402 specifically includes:

Optionally, the receiver may further include:

Optionally, the calibration module 402 specifically includes:

The calibration module 402 specifically includes:

Optionally, the calibration module 402 specifically includes:

In summary, the receiver according to the embodiment of the present application employs a satellite signal simulator to simulate a satellite signal. The satellite signal simulator can simulate relevant parameters of a GNSS satellite, an ionosphere and the atmosphere, namely, the satellite signal output by the satellite signal simulator is a result of combined action of the GNSS satellite- > the ionosphere- > the atmosphere.

The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the instructions (instructions) of each method step in the embodiment of the application may cause the device to execute.

Embodiments of the application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In the embodiment of the application, the electronic equipment comprises various types of equipment such as terminal equipment, servers (clusters) and the like.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include: terminal equipment, servers (clusters), and other electronic devices. In particular, in the embodiment of the present application, the electronic device may be a receiver, a server, or a satellite signal simulator. Fig. 5 schematically illustrates an exemplary apparatus 1100 that may be used to implement various embodiments described in the present disclosure.

For one embodiment, fig. 5 illustrates an example apparatus 1100 having one or more processors 1102, a control module (chipset) 1104 coupled to at least one of the processor(s) 1102, a memory 1106 coupled to the control module 1104, a non-volatile memory/storage device 1108 coupled to the control module 1104, one or more input/output devices 1110 coupled to the control module 1104, and a network interface 1112 coupled to the control module 1104.

The processor 1102 may include one or more single-core or multi-core processors, and the processor 1102 may include any combination of general-purpose or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, the apparatus 1100 can be used as a terminal device, a server (cluster), or the like in the embodiments of the present application.

In some embodiments, the apparatus 1100 may include one or more computer-readable media (e.g., memory 1106 or nonvolatile memory/storage 1108) having instructions 1114 and one or more processors 1102 combined with the one or more computer-readable media configured to execute the instructions 1114 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 1104 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1102 and/or any suitable device or component in communication with the control module 1104.

The control module 1104 may include a memory controller module to provide an interface to the memory 1106. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 1106 may be used to load and store data and/or instructions 1114 for device 1100, for example. For one embodiment, memory 1106 may include any suitable volatile memory, such as, for example, a suitable DRAM (dynamic random Access memory ). In some embodiments, memory 1106 may comprise a double data rate type four synchronous dynamic random access memory.

For one embodiment, the control module 1104 may include one or more input/output controllers to provide interfaces to the non-volatile memory/storage 1108 and the input/output device(s) 1110.

For example, nonvolatile memory/storage 1108 may be used to store data and/or instructions 1114. The non-volatile memory/storage 1108 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., hard disk drive(s), optical disk drive(s), and/or digital versatile disk drive (s)).

The non-volatile memory/storage 1108 may include a storage resource that is physically part of the device on which the apparatus 1100 is installed, or it may be accessible by the device, or it may not be necessarily part of the device. For example, nonvolatile memory/storage 1108 may be accessed over a network via input/output device(s) 1110.

Input/output device(s) 1110 may provide an interface for apparatus 1100 to communicate with any other suitable device, input/output device 1110 may include communication components, audio components, sensor components, and the like. The network interface 1112 may provide an interface for the device 1100 to communicate over one or more networks, and the device 1100 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi (wireless fidelity ), 2G (second generation wireless communication technology, 2-Generation wireless telephone technology), 3G (third generation wireless communication technology, 3-Generation wireless telephone technology), 4G (fourth generation wireless communication technology, 4-Generation wireless telephone technology), 5G (fifth generation wireless communication technology, 5-Generation wireless telephone technology), etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 1102 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 1104. For one embodiment, at least one of the processor(s) 1102 may be packaged together with logic of one or more controllers of the control module 1104 to form a system-in-package. For one embodiment, at least one of the processor(s) 1102 may be integrated on the same mold as logic of one or more controllers of the control module 1104. For one embodiment, at least one of the processor(s) 1102 may be integrated on the same die with logic of one or more controllers of the control module 1104 to form a system-on-chip.

In various embodiments, apparatus 1100 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, device 1100 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 1100 includes one or more cameras, keyboards, liquid crystal display screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, application specific integrated circuits, and speakers.

The detection device can adopt a main control chip as a processor or a control module, sensor data, position information and the like are stored in a memory or a nonvolatile memory/storage device, a sensor group can be used as an input/output device, and a communication interface can comprise a network interface.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.

The above description of the method for calibrating the delay of the hardware of the receiver, the calibration system of the hardware of the receiver, the electronic device and the machine readable medium provided by the application applies specific examples to illustrate the principle and the implementation of the application, and the above examples are only used to help understand the method and the core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method for calibrating a receiver hardware delay, the method comprising:

2. The method according to claim 1, wherein the method further comprises: placing the receiver in an incubator, and setting a plurality of preset temperature values in a temperature range by adopting the incubator;

The calibrating the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable comprises the following steps:

And calibrating the hardware delays of the receiver corresponding to a plurality of preset temperature values in the temperature range according to the received satellite signals, the preset delay value and the cable delay value corresponding to the radio frequency cable.

3. The method according to claim 2, wherein the method further comprises:

The server side controls the temperature box to gradually rise from low to high according to all various preset temperature values in the temperature range;

After the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, the server controls the satellite signal simulator to send satellite signals to the receiver.

4. The method according to claim 2, wherein the method further comprises:

5. The method according to claim 1, wherein the method further comprises:

The server side sends working parameters to the satellite signal simulator; the working parameters include: presetting an ionospheric delay value corresponding to a frequency point;

And the satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point into the output satellite signal according to the pseudo-range delay mode.

6. The method of claim 5, wherein the operating parameters further comprise: fixing TEC mode parameters; the fixed TEC mode parameter is used for representing that the TEC in the vertical direction has fixity;

7. The method of claim 6, wherein the method further comprises:

An elevation angle of the satellite relative to the receiver is determined based on the receiver position information and the satellite position information.

8. The method of claim 6, wherein the operating parameters further comprise: receiver position information, satellite position information, and the preset delay value.

9. The method of claim 1, wherein the receiver calibrating the receiver hardware delay based on the received satellite signal, the predetermined delay value, and the cable delay value corresponding to the radio frequency cable, comprises:

the receiver processes the received satellite signals to obtain the total delay of the receiver end;

And the receiver calibrates the hardware delay of the receiver according to the total delay, the ionosphere delay value corresponding to the preset frequency point, the preset delay value corresponding to the hardware delay of the satellite end and the cable delay value.

10. The method of claim 1, wherein the satellite signals are multi-frequency point signals; the frequency points corresponding to the multi-frequency point signals comprise: the first frequency point and the second frequency point;

The receiver performs calibration on the hardware delay of the receiver according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable, and the method comprises the following steps:

the receiver determines total delays of the multi-frequency point signals at the first frequency point and the second frequency point according to the receiver-end pseudo ranges of the multi-frequency point signals at the first frequency point and the second frequency point respectively;

and the receiver determines the receiver hardware delay of the multi-frequency-point signal corresponding to the first frequency point and the second frequency point respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay and the cable delay value.

11. The method of claim 1, wherein the receiver calibrating the receiver hardware delay based on the received satellite signal, the predetermined delay value, and the cable delay value corresponding to the radio frequency cable, comprises:

Determining the hardware delay of a receiver of a satellite signal at a preset frequency point aiming at the satellite signal in the global navigation satellite system;

And averaging the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay of the global navigation satellite system corresponding to the preset frequency point.

12. The method of claim 1, wherein the preset delay value is 0 or the preset delay value is greater than 0.

13. The method of claim 1, wherein the cable delay value is 0 if the length of the radio frequency cable is less than a length threshold; or alternatively

14. A receiver, comprising:

15. A system for calibrating a receiver hardware delay, comprising: the system comprises a satellite signal simulator, a receiver and a server;

16. The system of claim 15, wherein the receiver is located in an incubator for providing a plurality of preset temperature values within a temperature range;

And the receiver is also used for calibrating the hardware delays of the receiver corresponding to various preset temperature values in the temperature range according to the received satellite signals, the preset delay value and the cable delay value corresponding to the radio frequency cable.

17. The system of claim 16, wherein the server is further configured to control the incubator to gradually increase temperature from low to high according to all of the plurality of preset temperature values within the temperature range, and to control the satellite signal simulator to send the satellite signal to the receiver after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a steady state.

18. The system of claim 16, wherein the receiver is further configured to save a correspondence between a preset temperature value and a receiver hardware delay to a factory configuration file of the receiver; or storing the corresponding relation between the preset temperature value and the frequency point and the hardware delay of the receiver to a factory configuration file of the receiver.

19. An electronic device, comprising: a processor; and

A memory having executable code stored thereon which, when executed, causes the processor to perform a method performed by a receiver or satellite signal simulator or server as claimed in any one of claims 1 to 13.

20. A machine readable medium having stored thereon executable code which when executed causes a processor to perform a method performed by a receiver or satellite signal simulator or server as claimed in any of claims 1 to 13.