Efficient complex environment multipath signal calculation method

Abstract

The invention relates to the field of satellite navigation, and provides an efficient complex environment multipath signal calculation method which comprises the following steps: importing a three-dimensional complex scene, and setting a boundary condition of multipath calculation; calculating N sets according to the information of the triangular facets in the scene; obtaining a visual triangular facet set of triangular facets in the satellite and the scene; obtaining user carrier information and a visual triangular facet set of triangular facets in the scene, wherein the intersection of Ms and Mu is a triangular facet set where the satellite and the user carrier are visible together, and the satellite is connected with the user carrier after passing through any triangular facet to form a potential primary multipath reflection path; traversing the multipath points of each triangular surface in the calculation set; and if the multi-path points are located in the enclosed area of the triangular surface, determining that multiple paths exist, and calculating and generating parameters of the multi-path signal through the multi-path points. Through a set intersection mode, the multi-path signal simulation efficiency in a complex environment is greatly improved.

Description

technical field [0001] The invention relates to the field of satellite navigation, in particular to an efficient calculation method for multipath signals in complex environments. Background technique [0002] In the field of satellite navigation, multipath effect has become the main source of error affecting high-precision positioning application scenarios, and multipath simulation based on real scenarios has become more and more important. At present, there are usually two methods for multipath simulation in the industry. One is to impose a fixed delay and attenuation on the basis of the direct satellite navigation signal; the other is to take into account the real environment of the satellite navigation terminal, using The ray tracing method calculates the multipath propagation path of all navigation satellites and satellite navigation terminals, and then calculates the time delay and power attenuation according to the path. [0003] The first scheme does not take into ac...

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Problems solved by technology

[0003] The first scheme does not take into account the real geographical environment of the satellite navigation terminal, and the simulated multipath signal cannot actually test and evaluate the performance of the satellite navigation terminal; the second scheme uses the ray tracing method to calculate all multipath propagation paths, However, there is a disadvantage of large amount of calculation. The algorithm complexity of this scheme is proportional to the square of the number of triangles in the real scene. In a complex environment such as an urban environment, the number of triangles contained in a scene is on the order of 100,000 to millions. like figure 1 As shown, the multipath signal of the triangular surface in the complex environment is calculated. For the complex environment, the calculation amount of the scheme is huge, and it cannot meet the needs of real-time simulation calculation. Therefore, the ray tracing scheme is only suitable for the application scenarios with simple scenes or low real-time calculation requirements.

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