WO2020051850A1 - 一种卫星信号处理方法及装置 - Google Patents

一种卫星信号处理方法及装置 Download PDF

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Publication number
WO2020051850A1
WO2020051850A1 PCT/CN2018/105568 CN2018105568W WO2020051850A1 WO 2020051850 A1 WO2020051850 A1 WO 2020051850A1 CN 2018105568 W CN2018105568 W CN 2018105568W WO 2020051850 A1 WO2020051850 A1 WO 2020051850A1
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WIPO (PCT)
Prior art keywords
satellite signal
signal
satellite
code phase
frequency shift
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PCT/CN2018/105568
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English (en)
French (fr)
Inventor
王康
黄威
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2018/105568 priority Critical patent/WO2020051850A1/zh
Priority to CN201880097581.1A priority patent/CN112703426B/zh
Publication of WO2020051850A1 publication Critical patent/WO2020051850A1/zh

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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
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
    • 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
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2

Definitions

  • the present application relates to the field of communications technologies, and in particular, to a method and a device for processing satellite signals.
  • GNSS Global Navigation Satellite System
  • a GNSS receiver includes a radio frequency processing module, a capture module, a tracking module, and a positioning module.
  • the radio frequency processing module is used to preprocess the received satellite signal.
  • the positioning module is used to achieve the final navigation and positioning.
  • FIG. 1 it is a schematic structural diagram of a multi-frequency receiver applied to the Beidou 3 system.
  • the multi-frequency receiver is used to receive satellite signals in two frequency bands B1I and B1C.
  • B1I is a traditional signal with a nominal carrier frequency of 1561.098MHz, a pseudocode period of 1ms, and a pseudocode rate of 2.046Mbps.
  • B1C is a new type of Beidou signal with a nominal carrier frequency of 1575.42MHz and a pseudocode period of 10ms.
  • the pseudo code rate is 1.023Mbps.
  • the multi-frequency receiver includes a radio frequency processing module, a capture module, and a tracking module corresponding to B1I and B1C, respectively, and also includes a positioning module sharing one.
  • the acquisition algorithms used by the acquisition modules corresponding to signals in different frequency bands are different.
  • the acquisition algorithms used for satellite signals with long pseudo-code periods (such as B1C signals) are more complicated, which will consume a lot of receiver resources 2. Increasing the power consumption of the receiver will also cause the problem of slow satellite search speed.
  • Embodiments of the present application provide a satellite signal processing method and device, which are used to reduce power consumption when capturing satellite signals and improve satellite search speed.
  • a satellite signal processing method includes: after the first satellite signal is captured, tracking the first satellite signal to acquire a first signal parameter of the first satellite signal, where the first signal parameter includes a first A Doppler frequency shift and a first code phase; determining a second signal parameter of a second satellite signal that is homologous to the first satellite signal according to the first signal parameter, and the second signal parameter includes the second Doppler frequency shift and the first Two-code phase; tracking and locking the second satellite signal according to the second signal parameter; positioning completion according to the locked first satellite signal and the locked second satellite signal.
  • the device determines the second signal parameter of the second satellite signal by using the first signal parameter of the first satellite signal, and tracks and locks the second satellite signal according to the second signal parameter, thereby eliminating the need to directly capture the second satellite signal. , Thereby reducing the power consumption of the device and improving the satellite search speed.
  • determining the second signal parameter of the second satellite signal that is homologous to the first satellite signal according to the first signal parameter includes: according to the first Doppler frequency shift, and the first The relationship between the frequency of a satellite signal and the frequency of a second satellite signal determines a second Doppler frequency shift; according to the first code phase and the pseudo code rate of the first satellite signal and the pseudo satellite rate of the second satellite signal The relationship between the code rates determines the second code phase.
  • the first signal parameter further includes a first-bit synchronization boundary
  • the second signal parameter further includes a second-bit synchronization boundary.
  • the method further includes: according to the first-bit synchronization boundary, the first The relationship between the pseudo-code period of a satellite signal and the pseudo-code period of the second satellite signal determines a second-bit synchronization boundary.
  • tracking and locking the second satellite signal according to the second signal parameter includes: determining the second satellite signal as a valid signal according to the second Doppler frequency shift and the second code phase; acquiring The third code phase of the second satellite signal, the third code phase is the corrected code phase of the second code phase; the second satellite signal is tracked and locked according to the second Doppler frequency shift, the third code phase, and the second bit synchronization boundary .
  • the accuracy of tracking and locking the second satellite signal can be improved.
  • determining that the second satellite signal is a valid signal according to the second Doppler frequency shift and the second code phase includes: according to the second Doppler frequency shift and the second code phase Perform correlation processing on the intermediate frequency signal corresponding to the second satellite signal to obtain a correlation peak corresponding to each preset code phase in the plurality of preset code phases; determine a signal detection rate based on the correlation peaks corresponding to the plurality of preset code phases. If the signal detection rate is greater than a preset threshold, it is determined that the second satellite signal is a valid signal.
  • a simple and effective manner for determining the second satellite signal as a valid signal is provided.
  • the third code phase is a preset code phase corresponding to a largest correlation peak among multiple correlation peaks corresponding to the preset code phases.
  • the accuracy of the code phase of the determined second satellite signal can be improved.
  • the second signal parameter further includes a second-bit synchronization boundary
  • the method further includes: determining the second-bit synchronization boundary according to the second Doppler frequency shift and the second code phase. .
  • a manner for determining a second-bit synchronization boundary of a second satellite signal is provided.
  • the first satellite signal is a B1I signal and the second satellite signal is a B1C signal; or, the first satellite signal is an L1 signal and the second satellite signal is an L5 signal.
  • first satellite signals and second satellite signals are provided.
  • a satellite signal processing device includes a first processing unit configured to track and lock the first satellite signal after the first satellite signal is captured to obtain a first signal parameter of the first satellite signal.
  • the first signal parameter includes a first Doppler frequency shift and a first code phase;
  • a second processing unit is configured to determine a second signal parameter of a second satellite signal that is homologous to the first satellite signal according to the first signal parameter,
  • the second signal parameter includes a second Doppler frequency shift and a second code phase;
  • the second processing unit is further configured to track and lock the second satellite signal according to the second signal parameter; and the positioning unit is configured to lock the first satellite according to the second signal parameter.
  • the signal and the locked second satellite signal complete positioning.
  • the second processing unit is specifically configured to: according to the first Doppler frequency shift and the relationship between the frequency point of the first satellite signal and the frequency point of the second satellite signal To determine the second Doppler frequency shift; determine the second code phase according to the first code phase and the relationship between the pseudo code rate of the first satellite signal and the pseudo code rate of the second satellite signal.
  • the first signal parameter further includes a first-bit synchronization boundary
  • the second signal parameter further includes a second-bit synchronization boundary
  • the second processing unit is further configured to: The relationship between the boundary, the pseudo-code period of the first satellite signal, and the pseudo-code period of the second satellite signal determines the second-bit synchronization boundary.
  • the second processing unit in the process of tracking and locking the second satellite signal, is specifically configured to determine the second satellite signal according to the second Doppler frequency shift and the second code phase. Is a valid signal; obtain the third code phase of the second satellite signal, and the third code phase is the corrected code phase of the second code phase; follow the second Doppler frequency shift, the third code phase, and the second bit synchronous boundary tracking Lock the second satellite signal.
  • the second processing unit when determining that the second satellite signal is a valid signal, is specifically configured to: pair the second satellite signal according to the second Doppler frequency shift and the second code phase. Correlation processing is performed on the corresponding intermediate frequency signal to obtain a correlation peak corresponding to each preset code phase in the plurality of preset code phases; a signal detection rate is determined according to the correlation peaks corresponding to the plurality of preset code phases. If a threshold is set, the second satellite signal is determined to be a valid signal.
  • the third code phase is a preset code phase corresponding to a largest correlation peak among multiple correlation peaks corresponding to the preset code phases.
  • the second signal parameter further includes a second bit synchronization boundary
  • the second processing unit is further configured to determine the second signal according to the second Doppler frequency shift and the second code phase. Bit synchronization boundary.
  • the first satellite signal is a B1I signal and the second satellite signal is a B1C signal; or, the first satellite signal is an L1 signal and the second satellite signal is an L5 signal.
  • a chip which includes a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to support the chip to execute the first aspect or any one of the first aspect Provided satellite signal processing methods.
  • a satellite signal processing system includes a processor, a memory, and an antenna.
  • the antenna is used to receive a first satellite signal and a second satellite signal.
  • the memory is used to store executable instructions. The instructions are executed to cause the system to execute the satellite signal processing method provided by the first aspect or any one of the first aspects.
  • a storage medium for storing a computer program, and when the computer program is run on a computer, the computer is caused to execute the satellite signal processing method provided by the first aspect or any one of the first aspect.
  • a computer program product that, when the computer program product runs on a computer, causes the computer to execute the satellite signal processing method provided by the first aspect or any one of the first aspect.
  • the apparatus, system, computer storage medium, or computer program product of any one of the satellite signal processing methods provided above is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can be referred to. The beneficial effects in the corresponding methods provided above are not repeated here.
  • FIG. 1 is a schematic structural diagram of a receiver in the prior art
  • FIG. 2 is a schematic structural diagram of a mobile phone according to an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a satellite signal processing method according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a bit synchronization boundary according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a related process provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of correlation peaks corresponding to different code phases according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a receiver according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of another receiver according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a satellite signal processing device according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a satellite signal processing device according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a satellite signal processing system according to an embodiment of the present application.
  • "at least one” means one or more, and “multiple” means two or more.
  • "And / or” describes the association relationship of related objects, and indicates that there can be three kinds of relationships, for example, A and / or B can represent: the case where A exists alone, A and B exist simultaneously, and B alone exists, where A, B can be singular or plural.
  • the character “/” generally indicates that the related objects are an "or” relationship.
  • the words “first”, “second” and the like do not limit the number and execution order.
  • the embodiments of the present application can be applied to a global navigation satellite system (GNSS) receiver.
  • the GNSS receiver can be a multi-mode multi-frequency receiver, that is, the GNSS receiver can simultaneously receive two signals in the same mode.
  • the multi-mode may include multiple of GPS mode, GLONASS mode, Beidou mode, GALILEO mode, SBAS mode, or QZSS.
  • the GNSS can be a multi-frequency receiver of the Beidou-3 system, which is used to receive satellite signals at two frequency points B1I and B1C at the same time.
  • B1I is a traditional signal with a nominal carrier frequency of 1561.098MHz, a pseudocode period of 1ms, and a pseudocode rate of 2.046Mbps
  • B1C is a new type of Beidou signal with a nominal carrier frequency of 1575.42MHz and a pseudocode period of 10ms, pseudo code rate is 1.023Mbps.
  • the multi-frequency receiver may be a navigator, a mobile phone, a tablet computer, a computer, a smart wearable device, a car device, or a portable device, or the multi-frequency receiver may be a chip built in the above device, for convenience In the description, the above-mentioned devices may be collectively referred to as a satellite signal processing device.
  • FIG. 2 is a schematic structural diagram of a satellite signal processing device according to an embodiment of the present application.
  • the satellite signal processing device is described by using a mobile phone as an example.
  • the mobile phone includes a radio frequency (RF) circuit 210, a memory 220, and an input unit. 230, a display unit 240, a sensor assembly 250, an audio circuit 260, a processor 270, and a power supply 280 and other components.
  • RF radio frequency
  • FIG. 2 does not constitute a limitation on the mobile phone, and may include more or fewer parts than those shown in the figure, or combine certain parts, or arrange different parts.
  • the RF circuit 210 may be used for receiving and transmitting information or transmitting and receiving signals during a call.
  • the RF circuit 210 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, and the like.
  • the antenna may include multiple receiving antennas and multiple transmitting antennas.
  • the RF circuit 210 can also communicate with a network and other devices through wireless communication.
  • the wireless communication can use any communication standard or protocol, including, but not limited to, global system (GSM), general packet radio service (GPRS), and code division multiple access (code) division multiple access (CDMA), wideband code division multiple access (WCDMA), long term evolution (LTE), and so on.
  • GSM global system
  • GPRS general packet radio service
  • code division multiple access code division multiple access
  • CDMA wideband code division multiple access
  • WCDMA wideband code division multiple access
  • LTE long term evolution
  • the memory 220 may be used to store software programs and modules.
  • the processor 270 executes various functional applications and data processing of the mobile phone by running the software programs and modules stored in the memory 220.
  • the memory 220 may mainly include a storage program area and a storage data area, where the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone (such as audio Data, image data, phone book, etc.).
  • the memory 220 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the input unit 230 may be used to receive inputted numeric or character information, and generate key signal inputs related to user settings and function control of the mobile phone.
  • the input unit 230 may include a touch screen 231 and other input devices 232.
  • the touch screen 231 also known as a touch panel, can collect user's touch operations on or near it (such as the operation of the user on the touch screen 231 or near the touch screen 231 using any suitable object or accessory such as a finger or a stylus), and The corresponding connecting device is driven according to a preset program.
  • Other input devices 232 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, power switch keys, etc.), a trackball, a mouse, a joystick, and the like.
  • the display unit 240 may be configured to display information input by the user or information provided to the user and various menus of the mobile phone.
  • the display unit 240 may include a display panel 241.
  • the display panel 241 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.
  • the touch screen 231 may cover the display panel 241. When the touch screen 231 detects a touch operation on or near the touch screen 231, the touch screen 231 transmits the touch operation to the processor 270 to determine the type of the touch event. Corresponding visual output is provided on the 241.
  • the touch screen 231 and the display panel 241 are implemented as two separate components to implement the input and input functions of the mobile phone, in some embodiments, the touch screen 231 and the display panel 241 may be integrated to implement the mobile phone. Input and output functions.
  • the sensor assembly 250 includes one or more sensors for providing various aspects of the mobile phone with status assessments.
  • the sensor component 250 may include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the sensor component 250 can detect the acceleration / deceleration, orientation, open / close status of the mobile phone, relative positioning of the component, or The temperature of the phone changes.
  • the sensor component 250 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the audio circuit 260, the speaker 261, and the microphone 262 may provide an audio interface between the user and the mobile phone.
  • the audio circuit 260 may transmit the received electrical data converted electrical signals to a speaker 261, which is converted into a sound signal by the speaker 261 for output; on the other hand, the microphone 262 converts the collected sound signal into an electrical signal, and the audio circuit 260 After receiving, it is converted into audio data, and then the audio data is output to the RF circuit 210 for sending to another mobile phone, or the audio data is output to the memory 220 for further processing.
  • the processor 270 is the control center of the mobile phone, and uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 220, and calling data stored in the memory 220, Perform various functions and process data of the mobile phone to monitor the mobile phone as a whole.
  • the processor 270 may include one or more processing units; preferably, the processor 270 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program, etc.
  • the modem processor mainly handles wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 270.
  • the mobile phone also includes a power supply 280 (such as a battery) for supplying power to various components.
  • a power supply 280 (such as a battery) for supplying power to various components.
  • the power supply can be logically connected to the processor 270 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system.
  • the mobile phone may further include a connectivity chip 290, in which a GNSS module may be integrated, as well as a wireless fidelity (WiFi) module, a Bluetooth module, and near field communication (NFC). ) Module or one or more of a frequency modulation (FM) module, which are not repeated in this application.
  • a connectivity chip 290 in which a GNSS module may be integrated, as well as a wireless fidelity (WiFi) module, a Bluetooth module, and near field communication (NFC).
  • WiFi wireless fidelity
  • NFC near field communication
  • FM frequency modulation
  • FIG. 3 is a schematic flowchart of a satellite signal processing method according to an embodiment of the present application. The method can be applied to a receiver. Referring to FIG. 3, the method includes the following steps.
  • the first satellite signal After the first satellite signal is captured, the first satellite signal is tracked and locked to obtain a first signal parameter of the first satellite signal.
  • the first signal parameter includes a first Doppler frequency shift and a first code phase.
  • Doppler shift is a reflection of the Doppler effect in the radio field. It is defined as: due to the relative movement between the transmitter and the receiver, the frequency of the signal received by the receiver will be the same as that of the transmitter. A difference is generated between the frequencies of the transmitted signals. The difference is the Doppler frequency shift.
  • the first Doppler frequency shift refers to the Doppler frequency shift corresponding to the first satellite signal.
  • the code phase refers to the phase of the chip in the pseudo code (for example, the CA code) used by the satellite signal, and the first code phase is the phase of the chip in the pseudo code used by the first satellite signal.
  • the receiver can receive the first satellite signal through the antenna, and when receiving the first satellite signal, it can perform radio frequency processing, capture, and tracking lock on the first satellite signal.
  • the radio frequency processing may include processing such as filtering, amplification, mixing, and analog-to-digital conversion.
  • the acquisition process is used for rough estimation of the signal parameters of the first satellite signal. For example, the acquisition process is used for the first satellite signal.
  • the Doppler frequency shift and code phase are roughly estimated; the tracking and locking process is used to accurately process the signal parameters of the first satellite signal to obtain the first signal parameters, for example, the tracking and locking process roughly estimates the acquisition process to obtain
  • the Doppler frequency shift and code phase of the first satellite signal are accurately processed to obtain a first Doppler frequency shift and a first code phase.
  • S302 Determine a second signal parameter of a second satellite signal that is homologous to the first satellite signal according to the first signal parameter.
  • the second signal parameter includes a second Doppler frequency shift and a second code phase.
  • the first satellite signal and the second satellite signal are homologous, that is, the first satellite signal and the second satellite signal are satellite signals transmitted by the same satellite, and the first satellite signal and the second satellite signal may be two in the same mode. Satellite signals with different frequency points. At this time, the first satellite signal and the second satellite signal have the same modulation time point. Therefore, the first signal parameter can be used to determine the second signal parameter of the second satellite signal.
  • the second Doppler frequency shift refers to a Doppler frequency shift corresponding to the second satellite signal, and the second code phase is a phase of a chip in a pseudo code (for example, a CA code) used by the second satellite signal.
  • the second Doppler frequency shift is determined according to the first Doppler frequency shift and the relationship between the frequency point of the first satellite signal and the frequency point of the second satellite signal; optionally, according to the formula (1 ) Determine the second Doppler frequency shift f d2 , where f d1 is the first Doppler frequency shift, f 1 is the frequency of the first satellite signal, and f 2 is the frequency of the second satellite signal.
  • f d1 is the first Doppler frequency shift
  • f 1 is the frequency of the first satellite signal
  • f 2 is the frequency of the second satellite signal.
  • the first One satellite signal is B1I
  • the second satellite signal is BIC.
  • the frequency point f 1 of the first satellite signal is 1561.098 MHz (megahertz)
  • the frequency point f 2 of the second satellite signal is 1575.42 MHz.
  • ⁇ CA1 is the first code phase
  • V CA1 is the pseudo code rate of the first satellite signal
  • V CA2 is the pseudo code rate of the second satellite signal.
  • the first satellite signal is B1I and the second satellite signal is BIC
  • the pseudo code rate V CA1 of the first satellite signal is 2.046 Mbps (megabits per second)
  • the pseudo code rate V CA2 of the second satellite signal is 1.023 Mbps
  • ⁇ CA2 ⁇ CA1 / 2.
  • the signal parameter of the satellite signal may further include a bit synchronization boundary, which refers to a chip in a pseudo code corresponding to two boundaries of 1-bit data.
  • the first signal parameter may further include a first-bit synchronization boundary
  • the second signal parameter may include a second-bit synchronization boundary.
  • the receiver may further include the first-bit synchronization boundary, the pseudo code period of the first satellite signal, and the first The relationship between the pseudo-code periods of the two satellite signals determines the second synchronization boundary.
  • the first Doppler frequency shift f d1 in the above formula (1) and the first code phase ⁇ CA1 in the formula (2) are at Obtained after performing bit synchronization on the first satellite signal.
  • BIT 1 is the first-bit synchronization boundary
  • T 1 is the pseudo-code period of the first satellite signal
  • T 2 is the pseudo-period of the second satellite signal.
  • the code period, mod is the remainder.
  • the first satellite signal is B1I
  • the second satellite signal is BIC
  • the T 1 pseudo code period of the first satellite signal is 1 ms (milliseconds)
  • the first-bit synchronization boundary and the second-bit synchronization boundary are exemplified with the first satellite signal being B1I and the second satellite signal being BIC.
  • the length of 1-bit data is 20ms (that is, the navigation message period corresponding to the first satellite signal is 20ms), and the pseudo-code rate of B1I is 2.046Mbps.
  • Figure 4 assumes that the CA code is within 1ms. The number of chips is 2046 (that is, 0 to 2045); for the second satellite signal B1C, the length of 1-bit data is 10ms (that is, the navigation message period corresponding to the second satellite signal is 10ms), and the pseudo-code rate of B1C is 1.023Mbps, In FIG.
  • S303 Track and lock the second satellite signal according to the second signal parameter.
  • the receiver can determine whether the second satellite signal is a valid signal according to the second Doppler frequency shift and the second code phase.
  • the second satellite signal can be used only when it is determined that the second satellite signal is a valid signal.
  • the satellite signal performs subsequent positioning, that is, when it is determined that the second satellite signal is a valid signal, the following steps are continued. If it is determined that the second satellite signal is an invalid signal, the process may be performed again at the above S302.
  • the receiver may, in a navigation message period corresponding to the second satellite signal, correspond to the second satellite signal according to the second Doppler frequency shift and the second code phase.
  • the IF signal is subjected to correlation processing to obtain a correlation peak corresponding to each preset code phase in the plurality of preset code phases; a signal detection rate is determined according to the correlation peaks corresponding to the plurality of preset code phases, and if the signal detection rate is greater than a preset Threshold, determine that the second satellite signal is a valid signal, and if the signal detection rate is less than or equal to a preset threshold, determine that the second satellite signal is an invalid signal.
  • the intermediate frequency signal corresponding to the second satellite signal may refer to a signal after the receiver receives the second satellite signal through an antenna and performs radio frequency processing on the second satellite signal.
  • Correlation processing can be implemented by multiple correlators, each correlator includes an I channel and a Q channel, and each correlator corresponds to a preset code phase, within the navigation message period corresponding to the second satellite signal
  • For the preset code phases corresponding to each correlator perform coherent integral accumulation of I and Q channels and N non-coherent accumulation, to obtain the correlation peak corresponding to each preset code phase among multiple preset code phases.
  • the correlation peak corresponding to each preset code phase is determined according to the following formula (4); where m ⁇ [1, M] is The number of correlators, P m is the m-th correlation peak, I mj is the I-th value of the j-th correlator jms, Q mj is the Q-value of the m-th correlator jms, and N is incoherent Accumulation times.
  • the intermediate frequency signal (represented as an input signal in FIG. 5) of the second satellite signal is correlated according to the second Doppler frequency shift and the second code phase
  • w IF in FIG. 5 represents the first Two Doppler frequency shift
  • ⁇ 0 is the second code phase
  • ⁇ 0 is ⁇ CA2 in S302 above
  • ⁇ 0 is the carrier phase
  • ⁇ 1 to ⁇ M represents the correlation distance between the correlators
  • ⁇ 0 and ⁇ 1 to ⁇ M can be set by a person skilled in the art according to the actual situation
  • cos (w IF + ⁇ 0 ) and sin (w IF + ⁇ 0 ) respectively denote the signals of the I channel and the signals of the Q channel in the correlation processing
  • the correlation peaks of multiple correlators output by BIC are shown in FIG. 6.
  • the abscissa in FIG. 6 represents the correlation peaks ⁇ 1 to ⁇ M.
  • the coordinates indicate the correlation peaks under different correlation peaks.
  • M is equal to 18 as an example for description.
  • the receiver can determine the signal detection rate according to the following formulas (5) to (8), and determine the second when the signal detection rate is greater than the preset threshold TH. Satellite signals are valid signals.
  • ascend indicates ascending order
  • d indicates the reciprocal of the correlation distance (for example, the value of d can be 2, 4, 6, or 8, etc.)
  • the value of M can generally be greater than 3d
  • max indicates the maximum value.
  • the receiver may acquire a third code phase of the second satellite signal, where the third code phase is the corrected code phase of the second code phase, for example, the third code phase is the above
  • the receiver tracks and locks the second satellite signal according to the second Doppler frequency shift, the third code phase, and the second bit synchronization boundary.
  • the receiver may directly The second bit synchronization boundary is determined by the Doppler frequency shift and the second code phase, and then the second satellite signal is tracked and locked according to the second Doppler frequency shift, the third code phase, and the second bit synchronization boundary. In this case, the receiver need not perform the steps corresponding to the above formulas (5) to (8).
  • the receiver may directly determine the second-bit synchronization boundary according to the Doppler frequency shift and code phase of the L5 signal calculated in the above S302.
  • the L1 signal is a satellite signal with a nominal carrier frequency of 1575.42MHz
  • the L5 signal is a satellite signal at a nominal carrier frequency of 1176.45MHz
  • the L1 signal and the L5 signal can be GPSL1C / A and GPSL5C, or GALE1 and GALE5A.
  • S304 Complete positioning according to the locked first satellite signal and the locked second satellite signal.
  • the receiver can complete positioning according to the locked first satellite signal and the locked second satellite signal. For example, the receiver can also pass The provided method locks the satellite signals of other multiple satellites, and then determines the physical location of the receiver based on the satellite signals of the locked multiple satellites, and provides navigation services for users and the like.
  • the receiver is described here as an example of a multi-frequency receiver for receiving B1I and B1C.
  • the multi-frequency receiver includes a radio frequency processing module for radio frequency processing, a capture module for performing a capture process, a tracking module for performing a tracking lock process, and a positioning module for performing a positioning function.
  • the connection relationship between the modules when the receiver executes the above method can be shown in FIG. 7, that is, the multi-frequency receiver includes a B1I radio frequency processing module, a B1I capture module, and a B1I tracking module for processing B1I signals.
  • the B1I tracking module includes a bit synchronization sub-module for performing a bit synchronization function, and the output of the bit synchronization sub-module is connected to the B1C tracking module, that is, the first signal parameter (for example, the first A Doppler frequency shift, a first code phase, and a first bit synchronization boundary are transmitted to the B1C tracking module, so that the B1C tracking module uses the first signal parameter to track and lock the B1C signal.
  • the first signal parameter for example, the first A Doppler frequency shift, a first code phase, and a first bit synchronization boundary are transmitted to the B1C tracking module, so that the B1C tracking module uses the first signal parameter to track and lock the B1C signal.
  • the receiver is described here as a multi-frequency receiver for receiving L1 and L5 as an example.
  • the multi-frequency receiver includes a radio frequency processing module for radio frequency processing, a capture module for performing a capture process, a tracking module for performing a tracking lock process, and a positioning module for performing a positioning function.
  • the connection relationship between the modules when the receiver executes the above method can be shown in FIG. 8, that is, the multi-frequency receiver includes an L1 radio frequency processing module, an L1 capture module, and an L1 tracking module for processing L1 signals, which are used for processing L5 signals.
  • the L1 tracking module includes a bit synchronization sub-module for performing a bit synchronization function.
  • the output of the bit synchronization sub-module can be connected to the L5 tracking module, that is, the first signal parameter (for example, the first A Doppler shift, the first code phase, and the first bit synchronization boundary) are transmitted to the L5 tracking module; or, the input of the bit synchronization sub-module is connected to the L5 tracking module, that is, the first signal before the bit synchronization of the L1 signal Parameters such as the first Doppler frequency shift and the first code phase are transmitted to the L5 tracking module.
  • the first signal parameter for example, the first A Doppler shift, the first code phase, and the first bit synchronization boundary
  • the receiver determines the second signal parameter of the second satellite signal by using the first signal parameter of the first satellite signal, and tracks and locks the second satellite signal according to the second signal parameter, thereby eliminating the need to directly capture the second satellite signal. Satellite signals, thereby reducing the power consumption of the device and improving satellite search speed.
  • each device such as a receiver, includes a hardware structure and / or a software module corresponding to each function.
  • a hardware structure and / or a software module corresponding to each function.
  • the present application can be implemented in the form of hardware or a combination of hardware and computer software by combining the units and algorithm steps of the examples described in the embodiments disclosed herein. Whether a certain function is performed by hardware or computer software-driven hardware depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
  • the receiver may be divided into functional modules according to the foregoing method example.
  • each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
  • the above functional modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of the modules in the embodiments of the present application is schematic, and is only a logical function division. In actual implementation, there may be another division manner. The following uses the corresponding function to divide each functional module as an example for illustration:
  • FIG. 9 shows a possible structural diagram of a satellite signal processing device involved in the above embodiment.
  • the device may be a receiver or a chip built into the receiver.
  • the device includes a first processing unit 901, a second processing unit 902, and a positioning unit 903.
  • the first processing unit 901 is configured to support the device to execute S301 in the foregoing method embodiment;
  • the second processing unit 902 is configured to support the device to execute S302 and S303 in the above method embodiment;
  • the positioning unit 903 is configured to support the device S304 in the foregoing method embodiment is performed.
  • the apparatus further includes a receiving unit 904 for receiving a first satellite signal and / or a second satellite signal. All relevant content of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.
  • the above-mentioned first processing unit 901, second processing unit 902, and positioning unit may be processors, the receiving unit 904 may be a receiver, the receiver and the transmitter may be integrated into a transceiver, and the transceiver is also It can be called a communication interface.
  • FIG. 10 is a structural diagram of a possible product form of a satellite signal processing device according to an embodiment of the present application.
  • the satellite signal processing device may be a satellite signal processing device.
  • the satellite signal processing device includes a processor 1002 and a transceiver 1003; and the processor 1002 is configured to perform a satellite signal processing action.
  • Control management for example, for supporting the device to perform one or more steps in S301 to S304 in the above method embodiment, and / or for other technical processes described herein;
  • the transceiver 1003 is used for supporting The device performs the steps of receiving the first satellite signal and / or the second satellite signal in the foregoing method embodiment.
  • the satellite signal processing device may further include a memory 1001.
  • the satellite signal processing device may be a satellite signal processing single board, and the satellite signal processing single board includes a processor 1002 and a transceiver 1003; the processor 1002 is configured to The actions perform control management, for example, for supporting the device to perform one or more steps in S301 to S304 in the above method embodiments, and / or for other technical processes described herein; the transceiver 1003, with The apparatus executes the steps of receiving the first satellite signal and / or the second satellite signal in the foregoing method embodiment.
  • the satellite signal processing board may further include a memory 1001.
  • the satellite signal processing device is also implemented by a general-purpose processor, which is commonly known as a chip.
  • the general-purpose processor includes: a processor 1002 and a communication interface 1003; optionally, the general-purpose processor may further include a memory 1001.
  • the satellite signal processing device can also be implemented using the following: one or more field-programmable gate array (FPGA), programmable logic device (programmable logic device, (PLD), controller, state machine, gate logic, discrete hardware components, any other suitable circuit, or any combination of circuits capable of performing the various functions described throughout this application.
  • FPGA field-programmable gate array
  • PLD programmable logic device
  • controller state machine
  • gate logic discrete hardware components
  • any other suitable circuit any combination of circuits capable of performing the various functions described throughout this application.
  • the processor 1002 may be a central processing unit, a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It may implement or execute various exemplary logical blocks, modules, and circuits described in connection with the present disclosure.
  • the processor may also be a combination that implements computing functions, such as a combination including one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so on.
  • the processor 1002, the communication interface / transceiver 1003, and the memory 1001 may be connected through a bus.
  • the bus 1004 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture.
  • PCI peripheral component interconnect
  • the bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only a thick line is used in FIG. 10, but it does not mean that there is only one bus or one type of bus.
  • An embodiment of the present application further provides a satellite signal processing system.
  • the system includes a processor 1101, a memory 1102, and an antenna 1103.
  • the processor 1101, the memory 1102, and the antenna 1103 are connected through a bus 1104.
  • the antenna 1103 For receiving the first satellite signal and the second satellite signal, the memory 1102 is configured to store executable instructions, and the processor 1101 executes the executable instructions to cause the system to perform one of the satellite signal processing methods provided by the foregoing method embodiments. Or multiple steps.
  • the foregoing program instructions may be stored in a computer-readable storage medium.
  • Execution includes the steps of the foregoing method embodiments; and the foregoing storage media include: various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
  • the embodiments of the present application further provide a readable storage medium, in which computer-executable instructions are stored.
  • a device which may be a single-chip microcomputer, a chip, a controller, or the like
  • a processor executes the provided in this application Steps in the antenna switching method.
  • an embodiment of the present application further provides a computer program product including computer-executable instructions stored in a computer-readable storage medium; at least one processor of the device may be from the computer-readable storage medium.
  • the computer execution instruction is read, and the at least one processor executes the computer execution instruction to cause the device to perform the steps in the antenna switching method provided in the present application.

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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种卫星信号处理方法及装置，用于降低捕获卫星信号时的功耗，提高卫星搜索速度。该方法包括：在第一卫星信号被捕获后，跟踪锁定第一卫星信号，以获取第一卫星信号的第一信号参数，第一信号参数包括第一多普勒频移和第一码相位（S301）；根据第一信号参数确定与第一卫星信号同源的第二卫星信号的第二信号参数，第二信号参数包括第二多普勒频移和第二码相位（S302）；根据第二信号参数跟踪锁定第二卫星信号（S303）；根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位（S304）。

Description

一种卫星信号处理方法及装置 技术领域
本申请涉及通信技术领域，尤其涉及一种卫星信号处理方法及装置。
背景技术
全球导航卫星系统(global navigation satellite system，GNSS)接收机广泛应用于各种场景，属于通信领域的一种技术应用。通常GNSS接收机中会包括射频处理模块、捕获模块、跟踪模块和定位模块；其中，当接收到卫星信号后，射频处理模块用于对接收到的卫星信号进行预处理，捕获模块和跟踪模块用于对该卫星信号进行捕获和跟踪处理，定位模块用于实现最终的导航定位。
如图1所示，为一种应用于北斗3号系统的多频接收机的结构示意图，该多频接收机用于接收B1I和B1C两个频段的卫星信号。其中B1I为传统信号，其标称载波频率为1561.098MHz、伪码周期为1ms、伪码速率为2.046Mbps；B1C是一种新型北斗信号，其标称载波频率为1575.42MHz、伪码周期为10ms、伪码速率为1.023Mbps。该多频接收机分别包括B1I和B1C对应的射频处理模块、捕获模块和跟踪模块，还包括共用一个的定位模块。在多频接收机中，不同频段信号对应的捕获模块使用的捕获算法不同，对于伪码周期较长的卫星信号(比如，B1C信号)使用的捕获算法比较复杂，这样会占用接收机的大量资源、增加接收机功耗，相应的也会存在卫星搜索速度慢的问题。
发明内容
本申请的实施例提供一种卫星信号处理方法及装置，用于降低捕获卫星信号时的功耗，提高卫星搜索速度。
为达到上述目的，本申请的实施例采用如下技术方案：
第一方面，提供一种卫星信号处理方法，该方法包括：在第一卫星信号被捕获后，跟踪锁定第一卫星信号，以获取第一卫星信号的第一信号参数，第一信号参数包括第一多普勒频移和第一码相位；根据第一信号参数确定与第一卫星信号同源的第二卫星信号的第二信号参数，第二信号参数包括第二多普勒频移和第二码相位；根据第二信号参数跟踪锁定第二卫星信号；根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位。上述技术方案中，该装置通过利用第一卫星信号的第一信号参数确定第二卫星信号的第二信号参数，并根据第二信号参数跟踪锁定第二卫星信号，从而无需直接捕获第二卫星信号，进而降低该装置的功耗，提高卫星搜索速度。
在第一方面的一种可能的实现方式中，根据第一信号参数确定与第一卫星信号同源的第二卫星信号的第二信号参数，包括：根据第一多普勒频移、以及第一卫星信号的频点与第二卫星信号的频点之间的关系，确定第二多普勒频移；根据第一码相位、以及第一卫星信号的伪码速率与第二卫星信号的伪码速率之间的关系，确定第二码相位。上述可能的实现方式中，提供了一种简单有效的确定第二多普勒频移和第二码相 位的方式。
在第一方面的一种可能的实现方式中，第一信号参数还包括第一位同步边界，第二信号参数还包括第二位同步边界，该方法还包括：根据第一位同步边界、第一卫星信号的伪码周期与第二卫星信号的伪码周期之间的关系，确定第二位同步边界。上述可能的实现方式中，提供了一种简单有效的确定第二位同步边界的方式。
在第一方面的一种可能的实现方式中，根据第二信号参数跟踪锁定第二卫星信号，包括：根据第二多普勒频移和第二码相位确定第二卫星信号为有效信号；获取第二卫星信号的第三码相位，第三码相位是第二码相位校正后的码相位；根据第二多普勒频移、第三码相位和第二位同步边界跟踪锁定第二卫星信号。上述可能的实现方式中，能够提高跟踪锁定第二卫星信号的准确率。
在第一方面的一种可能的实现方式中，根据第二多普勒频移和第二码相位确定第二卫星信号为有效信号，包括：根据第二多普勒频移和第二码相位对第二卫星信号对应的中频信号做相关处理，以得到多个预设码相位中每个预设码相位对应的相关峰值；根据多个预设码相位对应的相关峰值确定信号检测率，若信号检测率大于预设门限，则确定第二卫星信号为有效信号。上述可能的实现方式中，提供了一种简单有效的确定第二卫星信号为有效信号的方式。
在第一方面的一种可能的实现方式中，第三码相位是多个预设码相位对应的相关峰值中最大的相关峰值对应的预设码相位。上述可能的实现方式中，能够提高确定的第二卫星信号的码相位的准确度。
在第一方面的一种可能的实现方式中，第二信号参数还包括第二位同步边界，该方法还包括：根据第二多普勒频移和第二码相位，确定第二位同步边界。上述可能的实现方式中，提供了一种确定第二卫星信号的第二位同步边界的方式。
在第一方面的一种可能的实现方式中，第一卫星信号为B1I信号，第二卫星信号为B1C信号；或者，第一卫星信号为L1信号，第二卫星信号为L5信号。上述可能的实现方式中，提供了几种可能的第一卫星信号和第二卫星信号。
第二方面，提供一种卫星信号处理装置，该装置包括：第一处理单元，用于在第一卫星信号被捕获后，跟踪锁定第一卫星信号，以获取第一卫星信号的第一信号参数，第一信号参数包括第一多普勒频移和第一码相位；第二处理单元，用于根据第一信号参数确定与第一卫星信号同源的第二卫星信号的第二信号参数，第二信号参数包括第二多普勒频移和第二码相位；第二处理单元，还用于根据第二信号参数跟踪锁定第二卫星信号；定位单元，用于根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位。
在第二方面的一种可能的实现方式中，第二处理单元具体用于：根据第一多普勒频移、以及第一卫星信号的频点与第二卫星信号的频点之间的关系，确定第二多普勒频移；根据第一码相位、以及第一卫星信号的伪码速率与第二卫星信号的伪码速率之间的关系，确定第二码相位。
在第二方面的一种可能的实现方式中，第一信号参数还包括第一位同步边界，第二信号参数还包括第二位同步边界，第二处理单元还用于：根据第一位同步边界、第一卫星信号的伪码周期与第二卫星信号的伪码周期之间的关系，确定第二位同步边界。
在第二方面的一种可能的实现方式中，在跟踪锁定第二卫星信号的过程中，第二处理单元具体用于：根据第二多普勒频移和第二码相位确定第二卫星信号为有效信号；获取第二卫星信号的第三码相位，第三码相位是第二码相位校正后的码相位；根据第二多普勒频移、第三码相位和第二位同步边界跟踪锁定第二卫星信号。
在第二方面的一种可能的实现方式中，在确定第二卫星信号为有效信号时，第二处理单元具体用于：根据第二多普勒频移和第二码相位对第二卫星信号对应的中频信号做相关处理，以得到多个预设码相位中每个预设码相位对应的相关峰值；根据多个预设码相位对应的相关峰值确定信号检测率，若信号检测率大于预设门限，则确定第二卫星信号为有效信号。
在第二方面的一种可能的实现方式中，第三码相位是多个预设码相位对应的相关峰值中最大的相关峰值对应的预设码相位。
在第二方面的一种可能的实现方式中，第二信号参数还包括第二位同步边界，第二处理单元还用于：根据第二多普勒频移和第二码相位，确定第二位同步边界。
在第二方面的一种可能的实现方式中，第一卫星信号为B1I信号，第二卫星信号为B1C信号；或者，第一卫星信号为L1信号，第二卫星信号为L5信号。
第三方面，提供一种芯片，该芯片包括处理器和用于存储处理器的可执行指令的存储器；其中，处理器被配置为支持该芯片执行如第一方面或者第一方面的任一项所提供的卫星信号处理方法。
第四方面，提供一种卫星信号处理系统，该系统包括处理器、存储器和天线；其中，天线用于接收第一卫星信号和第二卫星信号，存储器用于存储可执行指令，处理器执行可执行指令以使系统执行如第一方面或者第一方面的任一项所提供的卫星信号处理方法。
第五方面，提供一种存储介质，用于存储计算机程序，当该计算机程序在计算机上运行时，使得该计算机执行如第一方面或者第一方面的任一项所提供的卫星信号处理方法。
第六方面，提供一种计算机程序产品，当该计算机程序产品在计算机上运行时，使得该计算机执行如第一方面或者第一方面的任一项所提供的卫星信号处理方法。
可以理解地，上述提供的任一种卫星信号处理方法的装置、系统、计算机存储介质或者计算机程序产品均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。
附图说明
图1为现有技术中一种接收机的结构示意图；
图2为本申请实施例提供的一种手机的结构示意图；
图3为本申请实施例提供的一种卫星信号处理方法的流程示意图；
图4为本申请实施例提供的一种位同步边界的示意图；
图5为本申请实施例提供的一种相关处理的示意图；
图6为本申请实施例提供的一种不同码相位对应的相关峰的示意图；
图7为本申请实施例提供的一种接收机的结构示意图；
图8为本申请实施例提供的另一种接收机的结构示意图；
图9为本申请实施例提供的一种卫星信号处理装置的结构示意图；
图10为本申请实施例提供的一种卫星信号处理装置的结构示意图；
图11为本申请实施例提供的一种卫星信号处理系统的结构示意图。
具体实施方式
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。另外，在本申请的实施例中，“第一”、“第二”等字样并不对数量和执行次序进行限定。
本申请实施例可适用于全球导航卫星系统(global navigation satellite system，GNSS)接收机中，该GNSS接收机可以为多模多频接收机，即该GNSS接收机能够同时接收同一模式下的两个频点或者两个频点以上的GNSS导航信号，该多模可以包括GPS模式、GLONASS模式、北斗模式、GALILEO模式、SBAS模式或者QZSS等中的多个。比如，该GNSS可以为北斗3号系统的多频接收机，用于同时接收B1I和B1C两个频点的卫星信号。其中，B1I为传统信号，其标称载波频率为1561.098MHz、伪码周期为1ms、伪码速率为2.046Mbps；B1C是一种新型北斗信号，其标称载波频率为1575.42MHz、伪码周期为10ms、伪码速率为1.023Mbps。在实际应用中，该多频接收机可以为导航仪、手机、平板电脑、计算机、智能穿戴设备、车载设备或便携式设备等，或者该多频接收机可以为上述设备中内置的芯片，为方便描述，可以将上面提到的设备统称为卫星信号处理装置。
图2为本申请实施例提供的一种卫星信号处理装置的结构示意图，该卫星信号处理装置以手机为例进行说明，该手机包括：射频(radio frequency，RF)电路210、存储器220、输入单元230、显示单元240、传感器组件250、音频电路260、处理器270、以及电源280等部件。本领域技术人员可以理解，图2中示出的手机结构并不构成对手机的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
下面结合图2对该手机的各个构成部件进行具体的介绍：
RF电路210可用于收发信息或通话过程中信号的接收和发送。通常，RF电路210包括但不限于天线、至少一个放大器、收发信机、耦合器、LNA(low noise amplifier，低噪声放大器)、双工器等。可选的，所述天线可以包括多个接收天线和多个发射天线。此外，RF电路210还可以通过无线通信与网络和其他设备通信。所述无线通信可以使用任一通信标准或协议，包括但不限于全球移动通讯系统(global system of mobile communication，GSM)、通用分组无线服务(general packet radio service，GPRS)、码分多址(code division multiple access，CDMA)、宽带码分多址(wideband code division multiple access，WCDMA)、长期演进(long term evolution，LTE)等。
存储器220可用于存储软件程序以及模块，处理器270通过运行存储在存储器220的软件程序以及模块，从而执行该手机的各种功能应用以及数据处理。存储器220可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序等；存储数据区可存储根据该手机的使用所创建的数据(比如音频 数据、图像数据、电话本等)等。此外，存储器220可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
输入单元230可用于接收输入的数字或字符信息，以及产生与该手机的用户设置以及功能控制有关的键信号输入。具体地，输入单元230可包括触摸屏231以及其他输入设备232。触摸屏231，也称为触控面板，可收集用户在其上或附近的触摸操作(比如用户使用手指、触笔等任何适合的物体或附件在触摸屏231上或在触摸屏231附近的操作)，并根据预先设定的程式驱动相应的连接装置。其他输入设备232可包括但不限于物理键盘、功能键(比如音量控制按键、电源开关按键等)、轨迹球、鼠标、操作杆等中的一种或多种。
显示单元240可用于显示由用户输入的信息或提供给用户的信息以及该手机的各种菜单。显示单元240可包括显示面板241，可选的，可以采用液晶显示器(liquid crystal display，LCD)、有机发光二极管(organic light-emitting diode，OLED)等形式来配置显示面板241。进一步地，触摸屏231可覆盖显示面板241，当触摸屏231检测到在其上或附近的触摸操作后，传送给处理器270以确定触摸事件的类型，随后处理器270根据触摸事件的类型在显示面板241上提供相应的视觉输出。虽然在图2中，触摸屏231与显示面板241是作为两个独立的部件来实现手机的输入和输入功能，但是在某些实施例中，可以将触摸屏231与显示面板241集成而实现该手机的输入和输出功能。
传感器组件250包括一个或多个传感器，用于为该手机提供各个方面的状态评估。其中，传感器组件250可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器，通过传感器组件250可以检测到该手机的加速/减速、方位、打开/关闭状态，组件的相对定位，或该手机的温度变化等。此外，传感器组件250还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。
音频电路260、扬声器261、麦克风262可提供用户与该手机之间的音频接口。音频电路260可将接收到的音频数据转换后的电信号，传输到扬声器261，由扬声器261转换为声音信号输出；另一方面，麦克风262将收集的声音信号转换为电信号，由音频电路260接收后转换为音频数据，再将音频数据输出至RF电路210以发送给比如另一手机，或者将音频数据输出至存储器220以便进一步处理。
处理器270是该手机的控制中心，利用各种接口和线路连接整个手机的各个部分，通过运行或执行存储在存储器220内的软件程序和/或模块，以及调用存储在存储器220内的数据，执行该手机的各种功能和处理数据，从而对手机进行整体监控。可选的，处理器270可包括一个或多个处理单元；优选的，处理器270可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器270中。
该手机还包括给各个部件供电的电源280(比如电池)，优选的，电源可以通过电源管理系统与处理器270逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。
进一步地，该手机还可以包括连接(connectivity)芯片290，该连接芯片290中 可以集成GNSS模块，以及无线保真(wireless fidelity，WiFi)模块、蓝牙模块、近距离无线通信(near field communication，NFC)模块或调频(frequency modulation，FM)模块中的一种或多种，本申请在此不再赘述。
图3为本申请实施例提供的一种卫星信号处理方法的流程示意图，该方法可应用于接收机中，参见图3，该方法包括以下几个步骤。
S301：在第一卫星信号被捕获后，跟踪锁定第一卫星信号，以获取第一卫星信号的第一信号参数，第一信号参数包括第一多普勒频移和第一码相位。
其中，多普勒频移(doppler shift)是多普勒效应在无线电领域的一种体现，其定义为：由于发射机和接收机间的相对运动，接收机接收到的信号频率将与发射机发出的信号频率之间产生一个差值，该差值就是多普勒频移，第一多普勒频移是指第一卫星信号对应的多普勒频移。码相位是指卫星信号所使用的伪码(比如，CA码)中码片的相位，第一码相位是第一卫星信号所使用的伪码中码片的相位。
该接收机可以通过天线接收第一卫星信号，并在接收到第一卫星信号时，可以对第一卫星信号进行射频处理、捕获和跟踪锁定。其中，该射频处理可以包括滤波、放大、混频和模数转换等处理；该捕获过程用于对第一卫星信号的信号参数进行粗略估计，比如，该捕获过程用于对第一卫星信号的多普勒频移和码相位进行粗略估计；该跟踪锁定过程用于对第一卫星信号的信号参数进行精确化处理，得到第一信号参数，比如，该跟踪锁定过程对该捕获过程粗略估计得到的第一卫星信号的多普勒频移和码相位进行精确化处理，得到第一多普勒频移和第一码相位。
S302：根据第一信号参数确定与第一卫星信号同源的第二卫星信号的第二信号参数，第二信号参数包括第二多普勒频移和第二码相位。
其中，第一卫星信号与第二卫星信号同源，即第一卫星信号和第二卫星信号是由同一卫星发射的卫星信号，且第一卫星信号与第二卫星信号可以是同一模式下两个频点不同的卫星信号，此时第一卫星信号和第二卫星信号有相同的调制时间点，因此，可以利用第一信号参数确定第二卫星信号的第二信号参数。第二多普勒频移是指第二卫星信号对应的多普勒频移，第二码相位是第二卫星信号所使用的伪码(比如，CA码)中码片的相位。
具体的，根据第一多普勒频移、以及第一卫星信号的频点与第二卫星信号的频点之间的关系，确定第二多普勒频移；可选的，根据公式(1)确定第二多普勒频移f d2，式中f d1为第一多普勒频移、f 1为第一卫星信号的频点、f 2为第二卫星信号的频点，比如，第一卫星信号是B1I，第二卫星信号是BIC，则第一卫星信号的频点f 1为1561.098MHz(兆赫兹)，第二卫星信号的频点f 2为1575.42MHz。
Figure PCTCN2018105568-appb-000001
根据第一码相位、以及第一卫星信号的伪码速率与第二卫星信号的伪码速率之间的关系，确定第二码相位；可选的，根据公式(2)确定第二码相位φ CA2，式中φ CA1为第一码相位、V CA1为第一卫星信号的伪码速率、V CA2为第二卫星信号的伪码速率，比如，第一卫星信号是B1I，第二卫星信号是BIC，则第一卫星信号的伪码速率V CA1为2.046Mbps(兆比特每秒)，第二卫星信号的伪码速率V CA2为1.023Mbps，φ CA2＝ φ CA1/2。
Figure PCTCN2018105568-appb-000002
进一步的，卫星信号的信号参数中还可以包括位同步边界，位同步边界是指1比特(bit)数据的两个边界所对应的伪码中的码片。相应的，第一信号参数还可以包括第一位同步边界，第二信号参数可以包括第二位同步边界，该接收机还可以根据第一位同步边界、第一卫星信号的伪码周期与第二卫星信号的伪码周期之间的关系，确定第二位同步边界。需要说明的是，在第一信号参数包括第一位同步边界时，上述公式(1)中的第一多普勒频移f d1、和公式(2)中的第一码相位φ CA1是在对第一卫星信号执行位同步之后获取的。
可选的，根据公式(3)确定第二位同步边界BIT 2，式中BIT 1为第一位同步边界、T 1为第一卫星信号的伪码周期、T 2为第二卫星信号的伪码周期，mod是取余，比如，第一卫星信号是B1I，第二卫星信号是BIC，第一卫星信号的T 1伪码周期为1ms(毫秒)，第二卫星信号的T 2伪码周期为10ms，BIT 2＝mod(BIT 1，10)。
Figure PCTCN2018105568-appb-000003
如图4所示，以第一卫星信号是B1I、第二卫星信号是BIC对第一位同步边界和第二位同步边界进行举例说明。对于第一卫星信号B1I，1比特(bit)数据的长度是20ms(即第一卫星信号对应的导航电文周期为20ms)，B1I的伪码速率为2.046Mbps，图4中假设1ms内CA码中的码片为2046个(即0至2045)；对于第二卫星信号B1C，1bit数据的长度是10ms(即第二卫星信号对应的导航电文周期为10ms)，B1C的伪码速率为1.023Mbps，图4中假设1ms内CA的码片为1023个(即0至1022)，则2ms内的码片个数为2046个(即0至2045)。因为在卫星信号调制过程中，对于北斗多频卫星系统，B1I与B1C的码相位及位同步边界都是严格对齐的，所以20ms的B1I的位同步边界与B1C的位同步边界是对齐的，同时B1I位同步边界对应的码相位与B1C的码相位对齐，但差2倍的关系。
S303：根据第二信号参数跟踪锁定第二卫星信号。
当确定第二信号参数之后，该接收机可以根据第二多普勒频移和第二码相位确定第二卫星信号是否为有效信号，只有在确定第二卫星信号为有效信号时才能使用第二卫星信号进行后续的定位，即在确定第二卫星信号为有效信号时继续执行下述步骤，若确定第二卫星信号为无效信号时，可以转至上述S302重新执行。
具体的，在对第一卫星信号进行位同步之后，该接收机可以在第二卫星信号对应的导航电文周期内，根据第二多普勒频移和第二码相位对第二卫星信号对应的中频信号做相关处理，以得到多个预设码相位中每个预设码相位对应的相关峰值；根据多个预设码相位对应的相关峰值确定信号检测率，若该信号检测率大于预设门限，则确定第二卫星信号为有效信号，若该信号检测率小于或等于预设门限，则确定第二卫星信号为无效信号。其中，第二卫星信号对应的中频信号可以是指该接收机在通过天线接收到第二卫星信号，并对其进行射频处理之后的信号。
其中，做相关处理可以通过多个相关器来实现，每个相关器包括一个I路和一个 Q路，且每个相关器对应一个预设码相位，在第二卫星信号对应的导航电文周期内对每个相关器对应的预设码相位，分别进行I路和Q路的相干积分累加、以及N次非相干累加，即得到多个预设码相位中每个预设码相位对应的相关峰值。比如，第二卫星信号对应的导航电文周期为10ms(即0至9)，则根据如下公式(4)确定每个预设码相位对应的相关峰值；式中，m∈[1，M]为相关器的个数，P m为第m个相关峰值，I mj为第m个相关器第jms的I路值，Q mj为第m个相关器第jms的Q路值，N为非相干的累加次数。
Figure PCTCN2018105568-appb-000004
比如，如图5所示，根据第二多普勒频移和第二码相位对第二卫星信号的中频信号(图5中表示为输入信号)做相关处理，图5中的w IF表示第二多普勒频移(w IF即与上述S302中的f d2对应)，τ 0表示第二码相位(τ 0即为上述S302中的φ CA2)，φ 0表示载波相位，δ 1至δ M分别表示各个相关器之间的相关间距，且φ 0和δ 1至δ M(M为正整数，用于表示相关器的个数)可以由本领域技术人员根据实际情况进行设置，cos(w IF+φ 0)和sin(w IF+φ 0)分别表示用于做相关处理中的I路的信号和Q路的信号，c(t-τ 0-δ 1)至c(t-τ 0-δ M)分别表示I路和Q路的M个相关器的输出信号。以第一卫星信号是B1I、第二卫星信号是BIC为例，则BIC的多个相关器输出的相关峰值如图6所示，图6中的横坐标表示相关峰δ 1至δ M，纵坐标表示不同相关峰下的相关峰值，图6中以M等于18为例进行说明。
另外，在确定多个预设码相位对应的相关峰值之后，该接收机可以按照以下公式(5)至(8)确定信号检测率，并在该信号检测率大于预设门限TH时确定第二卫星信号为有效信号。以下公式中，ascend表示升序排列，d表示相关间距的倒数(比如，d的取值可以为2、4、6或者8等)，M的取值一般可以大于3d，max表示取最大值。
P asm＝ascend(P m)           (5)
Figure PCTCN2018105568-appb-000005
Figure PCTCN2018105568-appb-000006
Figure PCTCN2018105568-appb-000007
在确定第二卫星信号为有效信号后，该接收机可以将获取第二卫星信号的第三码相位，第三码相位是第二码相位校正后的码相位，比如，第三码相位是上述多个预设码相位对应的相关峰值中最大的相关峰值对应的预设码相位，即上述P m(m∈[1，M])中最大的相关峰值对应的预设码相位。进而，该接收机根据第二多普勒频移、第三码相位和第二位同步边界跟踪锁定第二卫星信号。
或者，在上述S302中该接收机确定第二多普勒频移和第二码相位之后，该接收机未通过上述公式(3)确定第二位同步边界，则该接收机可以直接根据第二多普勒频移和第二码相位确定第二位同步边界，进而根据第二多普勒频移、第三码相位和第二位同步边界跟踪锁定第二卫星信号。此时，该接收机无需执行上述公式(5)至(8)对 应的步骤。
比如，第一卫星信号为L1信号，第二卫星信号为L5信号，则该接收机可以直接根据上述S302中计算出的L5信号的多普勒频移和码相位确定第二位同步边界。其中，L1信号是标称载波频率为1575.42MHz的卫星信号，L5信号是标称载波频率为1176.45MHz上的卫星信号；可选的，L1信号和L5信号可以是GPSL1C/A与GPSL5C、或者是GALE1与GALE5A等。
S304：根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位。
当该接收机锁定第一卫星信号和第二卫星信号后，该接收机可以根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位，比如，该接收机还可以通过本申请所提供的方法锁定其他多个卫星的卫星信号，进而根据锁定的多个卫星的卫星信号确定出该接收机的物理位置，并为用户提供导航服务等。
为便于理解，这里以该接收机为用于接收B1I和B1C的多频接收机为例进行说明。假设该多频接收机中包括用于射频处理的射频处理模块、用于执行捕获过程的捕获模块、用于执行跟踪锁定过程的跟踪模块和用于执行定位功能的定位模块，则当该多频接收机执行上述方法时各模块间的连接关系可以如图7所示，即该多频接收机包括用于处理B1I信号的B1I射频处理模块、B1I捕获模块和B1I跟踪模块，用于处理B1C信号的B1C射频处理模块和B1C跟踪模块，以及定位模块。其中，B1I跟踪模块中包括用于执行位同步功能的位同步子模块，且位同步子模块的输出与B1C跟踪模块连接，即用于将B1I信号位同步之后的第一信号参数(比如，第一多普勒频移、第一码相位和第一位同步边界)传输给B1C跟踪模块，以使B1C跟踪模块利用第一信号参数跟踪锁定B1C信号。
又比如，这里以该接收机为用于接收L1和L5的多频接收机为例进行说明。假设该多频接收机中包括用于射频处理的射频处理模块、用于执行捕获过程的捕获模块、用于执行跟踪锁定过程的跟踪模块和用于执行定位功能的定位模块，则当该多频接收机执行上述方法时各模块间的连接关系可以如图8所示，即该多频接收机包括用于处理L1信号的L1射频处理模块、L1捕获模块和L1跟踪模块，用于处理L5信号的L5射频处理模块和L5跟踪模块，以及定位模块。其中，L1跟踪模块中包括用于执行位同步功能的位同步子模块，位同步子模块的输出可以与L5跟踪模块连接，即用于将L1信号位同步之后的第一信号参数(比如，第一多普勒频移、第一码相位和第一位同步边界)传输给L5跟踪模块；或者，位同步子模块的输入与L5跟踪模块连接，即用于L1信号位同步之前的第一信号参数(比如，第一多普勒频移和第一码相位)传输给L5跟踪模块。
在本申请实施例中，接收机通过利用第一卫星信号的第一信号参数确定第二卫星信号的第二信号参数，并根据第二信号参数跟踪锁定第二卫星信号，从而无需直接捕获第二卫星信号，进而降低该装置的功耗，提高卫星搜索速度。
上述主要从接收机的角度对本申请实施例提供的方案进行了介绍。可以理解的是，各个设备，例如接收机，为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实 现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对接收机进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述功能模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。下面以采用对应功能划分各个功能模块为例进行说明：
在采用集成的单元的情况下，图9示出了上述实施例中所涉及的卫星信号处理装置的一种可能的结构示意图。该装置可以为接收机，或者内置于接收机的芯片，该装置包括：第一处理单元901、第二处理单元902和定位单元903。其中，第一处理单元901用于支持该装置执行上述方法实施例中的S301；第二处理单元902用于支持该装置执行上述方法实施例中的S302、S303；定位单元903用于支持该装置执行上述方法实施例中的S304。进一步地，该装置还包括用于接收第一卫星信号、和/或第二卫星信号的接收单元904。上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在采用硬件实现的基础上，上述第一处理单元901、第二处理单元902和定位单元可以为处理器，接收单元904可以为接收器，接收器和发送器可以集成为收发器，收发器也可以称为通信接口。
图10为本申请实施例所涉及的卫星信号处理装置可能的产品形态的结构图。
作为一种可能的产品形态，该卫星信号处理装置可以为卫星信号处理设备，所述卫星信号处理设备包括处理器1002和收发器1003；所述处理器1002，用于对卫星信号处理的动作进行控制管理，例如，用于支持该装置执行上述方法实施例中的S301至S304中的一个或者多个步骤，和/或用于本文所描述的其他技术过程；所述收发器1003，用于支持该装置执行上述方法实施例中接收第一卫星信号和/或第二卫星信号的步骤。可选地，所述卫星信号处理设备还可以包括存储器1001。
作为另一种可能的产品形态，该卫星信号处理装置可以为卫星信号处理单板，所述卫星信号处理单板包括处理器1002和收发器1003；所述处理器1002，用于对该装置的动作进行控制管理，例如，用于支持该装置执行上述方法实施例中的S301至S304中的一个或者多个步骤，和/或用于本文所描述的其他技术过程；所述收发器1003，用于该装置执行上述方法实施例中接收第一卫星信号和/或第二卫星信号的步骤。可选地，所述卫星信号处理单板还可以包括存储器1001。
作为另一种可能的产品形态，该卫星信号处理装置也由通用处理器来实现，即俗称的芯片来实现。该通用处理器包括：处理器1002和通信接口1003；可选地，该通用处理器还可以包括存储器1001。
作为另一种可能的产品形态，该卫星信号处理装置也可以使用下述来实现：一个或多个现场可编程门阵列(field-programmable gate array，FPGA)、可编程逻辑器件(programmable logic device,PLD)、控制器、状态机、门逻辑、分立硬件部件、任何 其它适合的电路、或者能够执行本申请通篇所描述的各种功能的电路的任意组合。
上述处理器1002可以是中央处理器单元，通用处理器，数字信号处理器，专用集成电路，现场可编程门阵列或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。所述处理器也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，数字信号处理器和微处理器的组合等等。图10中，处理器1002、通信接口/收发器1003和存储器1001可通过总线连接，总线1004可以是外设部件互连标准(peripheral component interconnect，PCI)总线或扩展工业标准结构(extended industry standard architecture，EISA)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图10中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
本申请实施例还提供一种卫星信号处理系统，如图11所示，该系统包括处理器1101、存储器1102和天线1103，处理器1101、存储器1102和天线1103通过总线1104连接；其中，天线1103用于接收第一卫星信号和第二卫星信号，存储器1102用于存储可执行指令，处理器1101执行所述可执行指令以使该系统执行上述方法实施例所提供的卫星信号处理方法中的一个或者多个步骤。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序指令可以存储于计算机可读取存储介质中，该程序指令在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
一方面，本申请实施例还提供一种可读存储介质，可读存储介质中存储有计算机执行指令，当一个设备(可以是单片机，芯片、控制器等)或者处理器执行本申请所提供的天线切换方法中的步骤。
一方面，本申请实施例还提供一种计算机程序产品，该计算机程序产品包括计算机执行指令，该计算机执行指令存储在计算机可读存储介质中；设备的至少一个处理器可以从计算机可读存储介质读取该计算机执行指令，至少一个处理器执行该计算机执行指令使得设备执行本申请所提供的天线切换方法中的步骤。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (18)

  1. 一种卫星信号处理方法，其特征在于，所述方法包括：
    在第一卫星信号被捕获后，跟踪锁定所述第一卫星信号，以获取所述第一卫星信号的第一信号参数，所述第一信号参数包括第一多普勒频移和第一码相位；
    根据所述第一信号参数确定与所述第一卫星信号同源的第二卫星信号的第二信号参数，所述第二信号参数包括第二多普勒频移和第二码相位；
    根据所述第二信号参数跟踪锁定所述第二卫星信号；
    根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位。
  2. 根据权利要求1所述的卫星信号处理方法，其特征在于，所述根据所述第一信号参数确定与所述第一卫星信号同源的第二卫星信号的第二信号参数，包括：
    根据所述第一多普勒频移、以及所述第一卫星信号的频点与第二卫星信号的频点之间的关系，确定第二多普勒频移；
    根据所述第一码相位、以及所述第一卫星信号的伪码速率与第二卫星信号的伪码速率之间的关系，确定第二码相位。
  3. 根据权利要求1或2所述的卫星信号处理方法，其特征在于，所述第一信号参数还包括第一位同步边界，所述第二信号参数还包括第二位同步边界，所述装置还包括：
    根据所述第一位同步边界、所述第一卫星信号的伪码周期与第二卫星信号的伪码周期之间的关系，确定所述第二位同步边界。
  4. 根据权利要求3所述的卫星信号处理方法，其特征在于，所述根据所述第二信号参数跟踪锁定所述第二卫星信号，包括：
    根据所述第二多普勒频移和所述第二码相位确定所述第二卫星信号为有效信号；
    获取所述第二卫星信号的第三码相位，所述第三码相位是所述第二码相位校正后的码相位；
    根据所述第二多普勒频移、所述第三码相位和所述第二位同步边界跟踪锁定所述第二卫星信号。
  5. 根据权利要求4所述的卫星信号处理方法，其特征在于，所述根据所述第二多普勒频移和所述第二码相位确定所述第二卫星信号为有效信号，包括：
    根据所述第二多普勒频移和所述第二码相位对所述第二卫星信号对应的中频信号做相关处理，以得到多个预设码相位中每个预设码相位对应的相关峰值；
    根据所述多个预设码相位对应的相关峰值确定信号检测率，若所述信号检测率大于预设门限，则确定所述第二卫星信号为有效信号。
  6. 根据权利要求5所述的卫星信号处理方法，其特征在于，所述第三码相位是所述多个预设码相位对应的相关峰值中最大的相关峰值对应的预设码相位。
  7. 根据权利要求1或2所述的卫星信号处理方法，其特征在于，所述第二信号参数还包括第二位同步边界，所述装置还包括：
    根据所述第二多普勒频移和所述第二码相位，确定所述第二位同步边界。
  8. 根据权利要求1-7任一项所述的卫星信号处理方法，其特征在于，所述第一卫 星信号为B1I信号，所述第二卫星信号为B1C信号；或者，所述第一卫星信号为L1信号，所述第二卫星信号为L5信号。
  9. 一种卫星信号处理装置，其特征在于，所述装置包括：
    第一处理单元，用于在第一卫星信号被捕获后，跟踪锁定所述第一卫星信号，以获取所述第一卫星信号的第一信号参数，所述第一信号参数包括第一多普勒频移和第一码相位；
    第二处理单元，用于根据所述第一信号参数确定与所述第一卫星信号同源的第二卫星信号的第二信号参数，所述第二信号参数包括第二多普勒频移和第二码相位；
    所述第二处理单元，还用于根据所述第二信号参数跟踪锁定所述第二卫星信号；
    定位单元，用于根据锁定后的第一卫星信号和锁定后的第二卫星信号完成定位。
  10. 根据权利要求9所述的卫星信号处理装置，其特征在于，所述第二处理单元，具体用于：
    根据所述第一多普勒频移、以及所述第一卫星信号的频点与第二卫星信号的频点之间的关系，确定第二多普勒频移；
    根据所述第一码相位、以及所述第一卫星信号的伪码速率与第二卫星信号的伪码速率之间的关系，确定第二码相位。
  11. 根据权利要求9或10所述的卫星信号处理装置，其特征在于，所述第一信号参数还包括第一位同步边界，所述第二信号参数还包括第二位同步边界，所述第二处理单元，还用于：
    根据所述第一位同步边界、所述第一卫星信号的伪码周期与第二卫星信号的伪码周期之间的关系，确定所述第二位同步边界。
  12. 根据权利要求11所述的卫星信号处理装置，其特征在于，在跟踪锁定所述第二卫星信号的过程中，所述第二处理单元具体用于：
    根据所述第二多普勒频移和所述第二码相位确定所述第二卫星信号为有效信号；
    获取所述第二卫星信号的第三码相位，所述第三码相位是所述第二码相位校正后的码相位；
    根据所述第二多普勒频移、所述第三码相位和所述第二位同步边界跟踪锁定所述第二卫星信号。
  13. 根据权利要求12所述的卫星信号处理装置，其特征在于，在确定所述第二卫星信号为有效信号时，所述第二处理单元具体用于：
    根据所述第二多普勒频移和所述第二码相位对所述第二卫星信号对应的中频信号做相关处理，以得到多个预设码相位中每个预设码相位对应的相关峰值；
    根据所述多个预设码相位对应的相关峰值确定信号检测率，若所述信号检测率大于预设门限，则确定所述第二卫星信号为有效信号。
  14. 根据权利要求13所述的卫星信号处理装置，其特征在于，所述第三码相位是所述多个预设码相位对应的相关峰值中最大的相关峰值对应的预设码相位。
  15. 根据权利要求9或10所述的卫星信号处理装置，其特征在于，所述第二信号参数还包括第二位同步边界，所述第二处理单元，还用于：
    根据所述第二多普勒频移和所述第二码相位，确定所述第二位同步边界。
  16. 根据权利要求9-15任一项所述的卫星信号处理装置，其特征在于，所述第一卫星信号为B1I信号，所述第二卫星信号为B1C信号；或者，所述第一卫星信号为L1信号，所述第二卫星信号为L5信号。
  17. 一种芯片，其特征在于，所述芯片包括处理器和用于存储所述处理器的可执行指令的存储器；其中，所述处理器被配置为支持所述芯片执行如权利要求1-8任一项所述的卫星信号处理方法。
  18. 一种卫星信号处理系统，其特征在于，所述系统包括处理器、存储器和天线；其中，所述天线用于接收所述第一卫星信号和所述第二卫星信号，所述存储器用于存储可执行指令，所述处理器执行所述可执行指令以使所述系统执行如权利要求1-8任一项所述的卫星信号处理方法。
PCT/CN2018/105568 2018-09-13 2018-09-13 一种卫星信号处理方法及装置 WO2020051850A1 (zh)

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