A multi-system high-precision satellite navigation signal enhancement method and antenna

Abstract

The present invention discloses a multi-system high-precision satellite navigation signal enhancement method and antenna, which relates to the field of radio navigation. The method comprises: using an antenna array to receive K satellite navigation signal sequences; traversing to evaluate signal quality and obtaining K signal reliability coefficients; when all are greater than or equal to a preset reliability coefficient threshold, constructing an error correction model; performing multi-scale interactive signal enhancement analysis on the satellite navigation signal sequence based on a preset receptive field set to obtain K satellite navigation enhancement signals; performing error correction to obtain K target satellite navigation signals; performing signal interactive fusion on the K target satellite navigation signals, and sending the target fused satellite navigation signal to the user end. The method solves the technical problem that the signal quality of the existing satellite navigation signal enhancement is difficult to guarantee, resulting in low accuracy and reliability of the satellite navigation system, and achieves the technical effect of improving signal quality, thereby improving the accuracy and reliability of the satellite navigation system.

Description

Technical Field

[0001] The present application relates to the field of radio navigation, and in particular to a multi-system high-precision satellite navigation signal enhancement method and antenna. Background Art

[0002] Satellite navigation systems play a vital role in modern society, and their accuracy directly affects the effectiveness and reliability of applications. From navigation services for daily travel to precise positioning in aerospace and other fields, they all rely on the support of satellite navigation systems. In the development of satellite navigation systems, a variety of methods have emerged to improve accuracy, including increasing the number of satellites, optimizing satellite distribution, and improving satellite signal transmission and reception technologies. However, in complex environments, such as urban canyons and mountainous areas, satellite signals will be blocked or weakened, resulting in a reduction in the number of satellites received by the receiver or a decrease in signal quality, thus affecting positioning accuracy.

[0003] Among the current related technologies, satellite navigation signal enhancement has the technical problem that the signal quality is difficult to ensure, resulting in low accuracy and reliability of the satellite navigation system. Summary of the invention

[0004] The present application provides a multi-system high-precision satellite navigation signal enhancement method and antenna, uses an antenna array to receive satellite navigation signals of multiple satellite navigation systems, performs quality assessment on the received satellite navigation signals, constructs a corresponding error correction model based on the assessment results, performs multi-scale interactive signal enhancement analysis on the satellite navigation signal sequence based on a preset receptive field set, extracts data features of different scales, uses the constructed error correction model to perform error correction on the enhanced satellite navigation signal to obtain a target satellite navigation signal, and based on the layout orientation of the antennas in the antenna array and the user terminal position of the target user, performs signal interactive fusion on multiple target satellite navigation signals to obtain a fused target fused satellite navigation signal, and other technical means, thereby achieving the technical effect of improving signal quality and thereby improving the accuracy and reliability of the satellite navigation system.

[0005] The present application provides a multi-system high-precision satellite navigation signal enhancement method, comprising: obtaining an antenna array, using the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, each antenna receiving a satellite navigation signal of a satellite navigation system; traversing the K satellite navigation signal sequences to perform signal quality assessment, and obtaining K signal reliability coefficients; when the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold, constructing an error correction model based on the error sources of the K satellite navigation systems, and obtaining K error correction coefficients. The invention relates to a method for extracting data of satellite navigation signal sequences at different scales by performing multi-scale interactive signal enhancement analysis on the K satellite navigation signal sequences based on a preset receptive field set, and obtaining K satellite navigation enhancement signals; performing error correction on the K satellite navigation enhancement signals using the K error correction models, and obtaining K target satellite navigation signals; performing signal interactive fusion on the K target satellite navigation signals based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, and sending the fused target fused satellite navigation signals to the user terminal of the target user.

[0006] In a possible implementation, the K satellite navigation signal sequences are traversed to perform signal quality assessment, K signal reliability coefficients are obtained, and the following processing is performed: indicators are extracted from the K satellite navigation signal sequences according to a preset signal quality indicator set to obtain K satellite navigation signal quality indicator sets; and the K satellite navigation signal quality indicator sets are analyzed using a signal quality evaluator to obtain the K signal reliability coefficients.

[0007] In a possible implementation, the following processing is performed: the preset signal quality indicator set includes a signal strength indicator, a signal-to-noise ratio indicator, a jitter indicator, and a delay indicator.

[0008] In a possible implementation, multi-scale interactive signal enhancement analysis is performed on the K satellite navigation signal sequences based on a preset receptive field set to obtain K satellite navigation enhancement signals, and the following processing is performed: signal extraction of different scales is performed on the K satellite navigation signal sequences according to the preset receptive field set to obtain K satellite navigation signal subsequence sets; K first satellite navigation signal subsequences and K second satellite navigation signal subsequences are randomly extracted from the K satellite navigation signal subsequence sets; multi-scale interactive signal enhancement analysis is performed based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhancement subsequences; multi-scale interactive signal enhancement analysis is performed on the K first satellite navigation signal enhancement subsequences and K third satellite navigation signal enhancement subsequences randomly extracted from the K satellite navigation signal sequences to obtain K second satellite navigation signal enhancement subsequences; after multiple multi-scale interactive signal enhancement analyses, K target satellite navigation signal enhancement subsequences are obtained; and signal weighted averaging is performed on the K target satellite navigation signal enhancement subsequences to obtain the K satellite navigation enhancement signals.

[0009] In a possible implementation, a multi-scale interactive signal enhancement analysis is performed based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhanced subsequences, and the following processing is performed: according to the acquisition time of the satellite navigation signal, a same-time signal inner product mapping analysis is performed on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K mapping similarity sets; the K mapping similarity sets are normalized by using a normalization function, and the processing results are embedded in an initially empty matrix to obtain K first interactive mapping normalized matrices; a convolution operation is performed on the K second satellite navigation signal subsequences and the corresponding K first interactive mapping normalized matrices to obtain K first satellite navigation signal enhanced subsequences;

[0010] In a possible implementation, the following processing is performed: the normalization function is:

[0011] ;

[0012] in, is the normalized value corresponding to the i-th mapping similarity in the mapping similarity set, e is the base of the natural logarithm, m is the total number of mapping similarities in the mapping similarity set, It is a first satellite navigation signal collected at the i-th time point in the first satellite navigation signal subsequence and a second satellite navigation signal collected at the i-th time point in the second satellite navigation signal subsequence.

[0013] In a possible implementation, based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, the K target satellite navigation signals are interactively fused, the fused target fused satellite navigation signal is sent to the user terminal of the target user, and the following processing is performed: based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, the distances from the K antennas to the user terminal position are determined to obtain K signal weighting coefficients; based on the K signal weighting coefficients, the K target satellite navigation signals are interactively fused to obtain a target fused satellite navigation signal.

[0014] The present application also provides an antenna, including a multi-system high-precision satellite navigation signal enhancement system, the system including: an antenna array acquisition module, used to acquire an antenna array, and use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, each antenna receiving a satellite navigation signal of a satellite navigation system; a signal quality assessment module, used to traverse the K satellite navigation signal sequences to perform signal quality assessment and obtain K signal reliability coefficients; an error correction model construction module, used to construct an error correction model based on the error sources of the K satellite navigation systems when the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold , obtaining K error correction models; a multi-scale interactive signal enhancement analysis module, used to perform multi-scale interactive signal enhancement analysis on the K satellite navigation signal sequences based on a preset receptive field set, to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales for the satellite navigation signal sequence; an error correction module, used to perform error correction on the K satellite navigation enhancement signals using the K error correction models, to obtain K target satellite navigation signals; a signal interactive fusion module, used to perform signal interactive fusion on the K target satellite navigation signals based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, and send the fused target fused satellite navigation signal to the user terminal of the target user.

[0015] A multi-system high-precision satellite navigation signal enhancement method and antenna proposed in the present application first obtain an antenna array, use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, each antenna receives a satellite navigation signal of a satellite navigation system, then traverses the K satellite navigation signal sequences to perform signal quality assessment, obtains K signal reliability coefficients, and when the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold, constructs an error correction model based on the error sources of the K satellite navigation systems, obtains K error correction models, and then based on the preset sense The receptive field set performs multi-scale interactive signal enhancement analysis on K satellite navigation signal sequences to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales on the satellite navigation signal sequence, and then uses K error correction models to perform error correction on the K satellite navigation enhancement signals to obtain K target satellite navigation signals, and finally based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, the K target satellite navigation signals are interactively fused, and the fused target fused satellite navigation signal is sent to the user terminal of the target user, thereby achieving the technical effect of improving signal quality, and then improving the accuracy and reliability of the satellite navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the accompanying drawings of the embodiment of the present invention will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the system according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.

[0017] Figure 1 A flowchart of a multi-system high-precision satellite navigation signal enhancement method provided in an embodiment of the present application.

[0018] Figure 2 A schematic structural diagram of a multi-system high-precision satellite navigation signal enhancement system included in an antenna provided in an embodiment of the present application.

[0019] Explanation of the reference numerals: antenna array acquisition module 10 , signal quality assessment module 20 , error correction model construction module 30 , multi-scale interactive signal enhancement analysis module 40 , error correction module 50 , signal interactive fusion module 60 . DETAILED DESCRIPTION

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0021] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0022] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms "first\second" involved are merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.

[0023] The present application embodiment provides a multi-system high-precision satellite navigation signal enhancement method, such as Figure 1 As shown, the method includes:

[0024] Step S100, obtain an antenna array, and use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, and each antenna receives a satellite navigation signal of a satellite navigation system.

[0025] Specifically, the antenna array is an antenna system composed of multiple antennas arranged and interconnected in a certain pattern. The antenna array includes K antennas, each of which is specifically used to receive signals from a satellite navigation system. The satellite navigation systems include GPS, Beidou, Galileo, etc. Each system is composed of multiple satellites and is used to provide navigation and positioning services. The preset signal receiving window is a specified time range for receiving satellite navigation signals. This window can be set according to actual needs, such as in order to receive enough signal data for subsequent processing. Each antenna receives signal data from the corresponding satellite navigation system within the preset signal receiving window to form a signal sequence.

[0026] Step S200: traverse the K satellite navigation signal sequences to perform signal quality assessment and obtain K signal reliability coefficients.

[0027] Specifically, each satellite navigation signal sequence is checked or processed one by one. The quality of each signal sequence is evaluated based on factors such as signal strength, stability, and noise level to obtain a signal reliability coefficient, which is a quantitative indicator of signal quality. The higher the value, the more reliable the signal.

[0028] In a possible implementation, the K satellite navigation signal sequences are traversed to perform signal quality assessment and obtain K signal reliability coefficients. Step S200 further includes step S210, extracting indicators from the K satellite navigation signal sequences according to a preset signal quality indicator set to obtain K satellite navigation signal quality indicator sets. Specifically, the preset signal quality indicator set is a set of predefined indicators for measuring the quality of satellite navigation signals, including but not limited to signal strength (such as amplitude), stability (such as frequency fluctuation), noise level, signal-to-noise ratio (SNR), phase error, etc. For each satellite navigation signal sequence, the corresponding signal quality indicator value is extracted by mathematical processing or statistical analysis according to the preset signal quality indicator set.

[0029] Step S220, using a signal quality evaluator to analyze the K satellite navigation signal quality indicator sets to obtain the K signal reliability coefficients. Specifically, the signal quality evaluator is an algorithm specially designed to analyze satellite navigation signal quality indicators and evaluate signal reliability based on them, and it is constructed based on machine learning technology. The signal quality evaluator takes the received K satellite navigation signal quality indicator sets as input, evaluates the reliability of each signal by analyzing the relationship between these indicators, the trend of change, and their comparison with preset standards or thresholds, and outputs a signal reliability coefficient to represent the reliability of each satellite navigation signal. This value is a real number between 0 and 1, and the higher the value, the more reliable the signal. This implementation method can quantitatively evaluate the reliability of satellite navigation signals by extracting and analyzing signal quality indicators, providing an accurate basis for subsequent error correction and signal enhancement. The signal quality evaluator is constructed based on an algorithm to improve the accuracy and efficiency of satellite navigation signal quality evaluation.

[0030] In a possible implementation, step S210 further includes step S211, wherein the preset signal quality indicator set includes a signal strength indicator, a signal-to-noise ratio indicator, a jitter indicator, and a delay indicator. Specifically, the preset signal quality indicator set includes four specific indicators, wherein the satellite navigation signal received by each antenna in the antenna array is converted into an electrical signal, and then a signal strength measurement module (such as a power meter) is used to measure the amplitude or power of these electrical signals to obtain a signal strength indicator. The signal-to-noise ratio (SNR) is the ratio of signal power to noise power. A signal processor is used to perform Fourier transform or other spectrum analysis techniques on the received signal to separate the signal and noise components, and calculate the signal-to-noise ratio indicator. Jitter refers to a small fluctuation in the frequency or phase of a signal. A circuit such as a phase-locked loop (PLL) or a frequency-locked loop (FLL) is used to monitor the frequency or phase fluctuations of the received satellite navigation signal, and the jitter amount is calculated to obtain a jitter indicator. Delay refers to the time required for a signal to be transmitted from a satellite and received by a ground receiver. A high-precision time measurement module (such as an atomic clock) is used to record the transmission time and reception time of the satellite navigation signal, and the difference between the two is calculated as the delay indicator. This implementation method clarifies the preset signal quality indicator set, including signal strength indicator, signal-to-noise ratio indicator, jitter indicator and delay indicator. These indicators cover the main quality characteristics of the signal and can fully reflect the strength and clarity, stability and transmission speed of the satellite navigation signal. By accurately measuring these indicators, the quality of the satellite navigation signal can be more accurately evaluated, and a reliable basis can be provided for subsequent error correction and signal enhancement.

[0031] Step S300: When the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold, an error correction model is constructed based on the error sources of the K satellite navigation systems to obtain K error correction models.

[0032] Specifically, the preset reliability coefficient threshold is a pre-set standard used to determine whether the satellite navigation signal is reliable enough for subsequent error correction and signal enhancement processing. This threshold is determined based on the needs of the actual application scenario and the performance of the satellite navigation system. When all K signal reliability coefficients are greater than or equal to the preset reliability coefficient threshold, the quality of these satellite navigation signals is considered to be reliable and suitable for subsequent error correction and signal enhancement processing. If this condition is not met, that is, there is at least one signal reliability coefficient less than the preset reliability coefficient threshold, it indicates that the quality of some satellite navigation signals is not reliable enough and is not suitable for subsequent error correction and signal enhancement processing. In this case, it is necessary to re-evaluate the layout of the antenna array, the selection of the satellite navigation system or the signal reception conditions to improve the quality of the signal.

[0033] For each satellite navigation system, first identify its main error sources, which include satellite orbit error, clock error, atmospheric effects (such as ionosphere and troposphere delay), multipath effect, etc. Collect data related to these error sources through ground monitoring stations, space monitoring or other data sources. These data include satellite orbit parameters, clock bias, atmospheric condition monitoring data, etc. Use mathematical or statistical methods to build error correction models for each satellite navigation system based on the collected error data. These models can include polynomial fitting, Kalman filtering, machine learning algorithms, etc., for predicting and correcting errors. The constructed error correction models can include ionosphere correction models, multipath effect correction models, orbit and clock correction models, troposphere correction models, etc. Verify the constructed error correction model to ensure that it can accurately correct the errors in the satellite navigation signal. If the model performance is poor, it needs to be optimized or rebuilt.

[0034] Step S400: performing multi-scale interactive signal enhancement analysis on the K satellite navigation signal sequences based on a preset receptive field set to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales from the satellite navigation signal sequence.

[0035] Specifically, the preset receptive field set is a set of data extraction windows of different scales, which is used to extract information of different scales from the satellite navigation signal sequence. The preset receptive field set is used to perform multi-scale analysis on the satellite navigation signal sequence, and the signal is enhanced through information interaction of different scales.

[0036] In one possible implementation, multi-scale interactive signal enhancement analysis is performed on the K satellite navigation signal sequences based on a preset receptive field set to obtain K satellite navigation enhancement signals, and step S400 further includes step S410, performing signal extraction of different scales on the K satellite navigation signal sequences according to the preset receptive field set to obtain a set of K satellite navigation signal subsequences. Specifically, the preset receptive field set includes data extraction windows or filters of multiple different scales. These windows or filters are used to capture different frequency components or time scale features in the satellite navigation signal sequence. For each satellite navigation signal sequence, signal extraction is performed using windows or filters of different scales in the preset receptive field set to generate a series of satellite navigation signal subsequences of different scales. These subsequences reflect the characteristics of the original signal at different scales.

[0037] Step S420, randomly extracting K first satellite navigation signal subsequences and K second satellite navigation signal subsequences from the K satellite navigation signal subsequence sets, respectively. Specifically, randomly selecting two subsequences from each satellite navigation signal subsequence set to introduce randomness and diversity for subsequent multi-scale interactive signal enhancement analysis.

[0038] Step S430, performing multi-scale interactive signal enhancement analysis based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhanced subsequences. Specifically, for each satellite navigation signal sequence, interactive analysis is performed using signal subsequences of different scales to capture the interaction and dependency of signals at different scales, which can be achieved through cross-correlation, convolution, fusion, etc. Based on the result of the multi-scale interaction, the signal is enhanced to improve its quality, signal-to-noise ratio or other performance indicators.

[0039] Step S440, performing multi-scale interactive signal enhancement analysis on the K first satellite navigation signal enhancement subsequences and K third satellite navigation signal enhancement subsequences randomly selected from the K satellite navigation signal sequences to obtain K second satellite navigation signal enhancement subsequences. Specifically, this step is a further multi-scale interactive signal enhancement analysis, which further enriches and enhances signal features by introducing a new signal subsequence (third satellite navigation signal enhancement subsequence).

[0040] Step S450, after multiple multi-scale interactive signal enhancement analysis, K enhanced subsequences of target satellite navigation signals are obtained. Specifically, through multiple iterations of multi-scale interactive signal enhancement analysis, signal characteristics are gradually optimized and enhanced, and finally K enhanced subsequences of target satellite navigation signals are obtained, which have stronger signal characteristics and higher quality at multiple scales.

[0041] Step S460, respectively perform signal weighted averaging on the K target satellite navigation signal enhancement subsequences to obtain the K satellite navigation enhancement signals. Specifically, after multiple multi-scale interactive signal enhancement analysis, multiple target satellite navigation signal enhancement subsequences are obtained for each satellite navigation system (K in total), and these subsequences are generated in different iterations, and they each capture the characteristics of the original signal under different conditions. In order to integrate the information of these subsequences to form a unified, enhanced satellite navigation signal, all target satellite navigation signal enhancement subsequences of each satellite navigation system are weighted averaged, that is, different weights are assigned to each subsequence according to its quality, importance or other relevant indicators, and then the weighted average is calculated to obtain the satellite navigation enhancement signal of the system. This implementation method fully utilizes the characteristic information of the satellite navigation signal at different scales by introducing multi-scale interactive signal enhancement analysis, thereby improving the quality and reliability of the signal. Through random sampling and multiple iterative analysis, the diversity and robustness of the signal are further enhanced, so that the finally obtained satellite navigation enhancement signal has higher accuracy and stability.

[0042] In a possible implementation, a multi-scale interactive signal enhancement analysis is performed based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhanced subsequences, and step S430 further includes step S431, performing a same-time signal inner product mapping analysis on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences according to the acquisition time of the satellite navigation signal to obtain K mapping similarity sets. Specifically, for each satellite navigation system, signal samples at the same time point are selected from its first satellite navigation signal subsequence and the second satellite navigation signal subsequence, and the inner product between them is calculated. The inner product is used to measure the similarity between two signal subsequences, and the larger the inner product value, the more similar the two signal subsequences are. This process is repeated for all K satellite navigation systems, thereby obtaining K mapping similarity sets, each of which contains the similarity values ​​between different signal subsequences under the satellite navigation system.

[0043] Step S432, normalize the K mapping similarity sets using a normalization function, and embed the processing results into an initially empty matrix to obtain K first interactive mapping normalized matrices. Specifically, since the inner product values ​​vary due to different signal strengths and acquisition conditions, it is necessary to normalize the similarity values ​​to eliminate the impact of such differences on subsequent analysis. Normalization is to scale the similarity values ​​to a specific range (such as 0 to 1). Apply a normalization function (a function used to scale the similarity values ​​to a specific range) to each mapping similarity set to obtain a normalized similarity value. Then, embed these values ​​into an initially empty matrix in the order of their corresponding satellite navigation systems and signal subsequences. This process generates a first interactive mapping normalized matrix for each satellite navigation system, which contains normalized similarity values ​​and reflects the interactive mapping relationship between different signal subsequences under the same satellite navigation system.

[0044] Step S433, performing convolution operations on the K second satellite navigation signal subsequences and the corresponding K first interactive mapping normalization matrices to obtain K first satellite navigation signal enhancement subsequences. Specifically, the convolution is used to interactively analyze the second satellite navigation signal subsequence with the first interactive mapping normalization matrix, so as to extract useful signal features and improve signal quality. The convolution operation is to slide and multiply and sum the second satellite navigation signal subsequence with the rows or columns of the first interactive mapping normalization matrix. For each satellite navigation system, the second satellite navigation signal subsequence is convolved with the corresponding first interactive mapping normalization matrix. This process generates a first satellite navigation signal enhancement subsequence for each satellite navigation system. This implementation method fully utilizes the similarity and interaction relationship between different satellite navigation signal subsequences by introducing the same-time signal inner product mapping analysis and convolution operation. The same-time signal inner product mapping analysis can capture the similarity of signals at different time points, while the normalization process eliminates the influence of signal strength and acquisition conditions on similarity calculation. The convolution operation further utilizes this similarity relationship and generates satellite navigation signal enhancement subsequences with higher quality and stronger features through the interaction and fusion of signal features. These enhancement subsequences provide more accurate and reliable data support for subsequent signal processing and navigation services;

[0045] In a possible implementation, step S432 further includes step S4321, and the normalization function is:

[0046] ;

[0047] in, is the normalized value corresponding to the i-th mapping similarity in the mapping similarity set, e is the base of the natural logarithm, m is the total number of mapping similarities in the mapping similarity set, The first satellite navigation signal collected at the i-th time point in the first satellite navigation signal subsequence and the second satellite navigation signal collected at the i-th time point in the second satellite navigation signal subsequence. Specifically, the normalization function calculates the exponent of each similarity value (based on the natural logarithm), then sums the exponent values, and divides each exponent value by the sum, thereby obtaining a normalized similarity value. This implementation ensures the consistency and comparability of the mapping similarity values ​​in subsequent processing by introducing the normalization function.

[0048] Step S500: performing error correction on the K satellite navigation enhancement signals using the K error correction models to obtain K target satellite navigation signals.

[0049] Specifically, the error correction model is used to correct the satellite navigation enhancement signal to reduce or eliminate the error and obtain the target satellite navigation signal.

[0050] Step S600, based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, perform signal interactive fusion on the K target satellite navigation signals, and send the fused target fused satellite navigation signal to the user terminal of the target user.

[0051] Specifically, the layout orientation refers to the position and direction of each antenna in the antenna array. The user terminal position refers to the position of the target user. According to the layout orientation of the antenna and the user terminal position, the signals of multiple satellite navigation systems are fused, that is, information from different sources or types are interacted and integrated to obtain more accurate navigation information. The fused target fused satellite navigation signal is sent to the user terminal of the target user (a device or system that receives and uses satellite navigation signals). The embodiment of the present application uses an antenna array to receive satellite navigation signals of multiple satellite navigation systems, evaluates the quality of the received satellite navigation signals, and constructs a corresponding error correction model based on the evaluation results. The satellite navigation signal sequence is subjected to multi-scale interactive signal enhancement analysis based on a preset receptive field set, and data features of different scales are extracted. The enhanced satellite navigation signal is error corrected using the constructed error correction model to obtain the target satellite navigation signal. Based on the layout orientation of the antenna in the antenna array and the user terminal position of the target user, multiple target satellite navigation signals are subjected to signal interactive fusion to obtain the fused target fused satellite navigation signal and other technical means, which achieves the technical effect of improving signal quality and thus improving the accuracy and reliability of the satellite navigation system.

[0052] In a possible implementation, based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, the K target satellite navigation signals are interactively fused, and the fused target fused satellite navigation signals are sent to the user terminal of the target user. Step S600 further includes step S610, based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, the distance from the K antennas to the user terminal position is determined, and K signal weighting coefficients are obtained. Specifically, the layout orientation of the antenna is represented by longitude and latitude or three-dimensional coordinates, and the user terminal position of the target user is also represented by longitude and latitude or three-dimensional coordinates. The straight-line distance from each antenna to the user terminal position is calculated using a geographic space distance calculation formula (such as Haversine formula, Vincenty formula, etc.). Based on the calculated straight-line distance, a certain strategy (such as inverse proportional relationship, exponential attenuation, etc.) is used to determine the signal weighting coefficient corresponding to each antenna. Among them, the closer the antenna is to the user terminal, the larger its signal weighting coefficient is, indicating that the signal of the antenna has a greater impact on the user terminal.

[0053] Step S620, based on the K signal weighting coefficients, the K target satellite navigation signals are interactively fused to obtain a target fused satellite navigation signal. Specifically, each target satellite navigation signal is multiplied by its corresponding signal weighting coefficient to adjust its weight in the fused signal. Then, the weighted signals are superimposed or averaged, and multiple signals are merged into one signal to obtain a fused target fused satellite navigation signal. This implementation method determines the signal weighting coefficient by combining the distance from the antenna to the user end. The antenna closer to the user end has a stronger signal strength and a lower path loss, so its signal is given a greater weight in the fusion process. This method improves the accuracy and stability of the fused signal, especially in complex environments (such as urban canyons and areas with severe multipath effects), and can significantly improve the performance and reliability of the satellite navigation system.

[0054] In the above, refer to Figure 1 A multi-system high-precision satellite navigation signal enhancement method according to an embodiment of the present invention is described in detail. Figure 2 A multi-system high-precision satellite navigation signal enhancement system is described as included in an antenna according to an embodiment of the present invention.

[0055] A multi-system high-precision satellite navigation signal enhancement system according to an embodiment of the present invention is used to solve the technical problem that the signal quality of existing satellite navigation signal enhancement is difficult to guarantee, resulting in low accuracy and reliability of the satellite navigation system, so as to achieve the technical effect of improving signal quality and further improving the accuracy and reliability of the satellite navigation system. A multi-system high-precision satellite navigation signal enhancement system includes: an antenna array acquisition module 10, a signal quality assessment module 20, an error correction model construction module 30, a multi-scale interactive signal enhancement analysis module 40, an error correction module 50, and a signal interactive fusion module 60.

[0056] The antenna array acquisition module 10 is used to acquire the antenna array, and use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, each antenna receiving a satellite navigation signal of a satellite navigation system; the signal quality evaluation module 20 is used to traverse the K satellite navigation signal sequences to perform signal quality evaluation and obtain K signal reliability coefficients; the error correction model construction module 30 is used to construct an error correction model based on the error sources of the K satellite navigation systems when the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold, and obtain K error correction models; multi-scale interactive signal enhancement module 20 is used to perform signal quality evaluation and obtain K signal reliability coefficients; A strong analysis module 40 is used to perform multi-scale interactive signal enhancement analysis on the K satellite navigation signal sequences based on a preset receptive field set to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales for the satellite navigation signal sequence; an error correction module 50 is used to perform error correction on the K satellite navigation enhancement signals using the K error correction models to obtain K target satellite navigation signals; a signal interactive fusion module 60 is used to perform signal interactive fusion on the K target satellite navigation signals based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, and send the fused target fused satellite navigation signal to the user terminal of the target user.

[0057] The specific configuration of the signal quality assessment module 20 will be described in detail below. As described above, the K satellite navigation signal sequences are traversed to perform signal quality assessment to obtain K signal reliability coefficients. The signal quality assessment module 20 may further include: an indicator extraction unit for extracting indicators from the K satellite navigation signal sequences according to a preset signal quality indicator set to obtain K satellite navigation signal quality indicator sets; and a signal quality assessment unit for analyzing the K satellite navigation signal quality indicator sets using a signal quality evaluator to obtain the K signal reliability coefficients.

[0058] The indicator extraction unit may further include: a preset signal quality indicator set construction subunit for constructing a preset signal quality indicator set, wherein the preset signal quality indicator set includes a signal strength indicator, a signal-to-noise ratio indicator, a jitter indicator and a delay indicator.

[0059] The specific configuration of the multi-scale interactive signal enhancement analysis module 40 will be described in detail below. As described above, based on the preset receptive field set, the K satellite navigation signal sequences are subjected to multi-scale interactive signal enhancement analysis to obtain K satellite navigation enhancement signals. The multi-scale interactive signal enhancement analysis module 40 may further include: a different-scale signal extraction unit for performing signal extraction of different scales on the K satellite navigation signal sequences according to the preset receptive field set to obtain a set of K satellite navigation signal subsequences; a random extraction unit for randomly extracting K first satellite navigation signal subsequences and K second satellite navigation signal subsequences from the set of K satellite navigation signal subsequences; and a multi-scale interactive signal enhancement analysis unit for extracting K first satellite navigation signal subsequences and K second satellite navigation signal subsequences based on the K first A satellite navigation signal subsequence and K second satellite navigation signal subsequences are subjected to multi-scale interactive signal enhancement analysis to obtain K first satellite navigation signal enhancement subsequences; the K first satellite navigation signal enhancement subsequences are subjected to multi-scale interactive signal enhancement analysis with K third satellite navigation signal enhancement subsequences randomly selected from the K satellite navigation signal sequences to obtain K second satellite navigation signal enhancement subsequences; and K target satellite navigation signal enhancement subsequences are obtained after multiple multi-scale interactive signal enhancement analyses; and a signal weighted averaging unit is used to perform signal weighted averaging on the K target satellite navigation signal enhancement subsequences respectively to obtain the K satellite navigation enhancement signals.

[0060] Wherein, based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences, a multi-scale interactive signal enhancement analysis is performed to obtain K first satellite navigation signal enhanced subsequences, and the multi-scale interactive signal enhancement analysis unit may further include: a same-time signal inner product mapping analysis subunit is used to perform a same-time signal inner product mapping analysis on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences according to the acquisition time of the satellite navigation signal to obtain K mapping similarity sets; a normalization processing subunit is used to perform normalization processing on the K mapping similarity sets using a normalization function, and embed the processing result into an initially empty matrix to obtain K first interactive mapping normalized matrices; a convolution operation subunit is used to perform a convolution operation on the K second satellite navigation signal subsequences and the corresponding K first interactive mapping normalized matrices to obtain K first satellite navigation signal enhanced subsequences;

[0061] The normalization processing subunit may further include: a normalization function construction microunit for constructing a normalization function, wherein the normalization function is:

[0062] ;

[0063] in, is the normalized value corresponding to the i-th mapping similarity in the mapping similarity set, e is the base of the natural logarithm, m is the total number of mapping similarities in the mapping similarity set, It is a first satellite navigation signal collected at the i-th time point in the first satellite navigation signal subsequence and a second satellite navigation signal collected at the i-th time point in the second satellite navigation signal subsequence.

[0064] The specific configuration of the signal interaction fusion module 60 will be described in detail below. As described above, based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, the K target satellite navigation signals are interactively fused, and the fused target fused satellite navigation signal is sent to the user terminal of the target user. The signal interaction fusion module 60 may further include: a distance determination unit for determining the distance from the K antennas to the user terminal position based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, and obtaining K signal weighting coefficients; a signal interaction fusion unit for performing signal interaction fusion on the K target satellite navigation signals based on the K signal weighting coefficients to obtain a target fused satellite navigation signal.

[0065] A multi-system high-precision satellite navigation signal enhancement system provided in an embodiment of the present invention can execute a multi-system high-precision satellite navigation signal enhancement method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0066] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules may be used and run on the user terminal and / or server, and the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0067] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A multi-system high-precision satellite navigation signal enhancement method, characterized in that: The method comprises: Acquire an antenna array, and use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, and each antenna receives a satellite navigation signal of a satellite navigation system; Traversing the K satellite navigation signal sequences to perform signal quality assessment and obtain K signal reliability coefficients; When the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold, constructing an error correction model based on the error sources of the K satellite navigation systems to obtain K error correction models; Based on a preset receptive field set, multi-scale interactive signal enhancement analysis is performed on the K satellite navigation signal sequences to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales from the satellite navigation signal sequence; Performing error correction on the K satellite navigation enhancement signals using the K error correction models to obtain K target satellite navigation signals; Based on the layout orientations of the K antennas in the antenna array and the position of the user terminal of the target user, interactively fusing the K target satellite navigation signals, and sending the fused target fused satellite navigation signal to the user terminal of the target user; Traversing the K satellite navigation signal sequences to perform signal quality assessment and obtain K signal reliability coefficients, including: Extracting indicators from the K satellite navigation signal sequences according to a preset signal quality indicator set to obtain K satellite navigation signal quality indicator sets; Analyzing the K satellite navigation signal quality indicator sets using a signal quality evaluator to obtain the K signal reliability coefficients; Based on a preset receptive field set, multi-scale interactive signal enhancement analysis is performed on the K satellite navigation signal sequences to obtain K satellite navigation enhancement signals, including: Perform signal extraction of different scales on the K satellite navigation signal sequences according to a preset receptive field set to obtain a set of K satellite navigation signal subsequences; Randomly extracting K first satellite navigation signal subsequences and K second satellite navigation signal subsequences from the K satellite navigation signal subsequence sets respectively; Performing multi-scale interactive signal enhancement analysis based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhanced subsequences; performing multi-scale interactive signal enhancement analysis on the K first satellite navigation signal enhancement subsequences and K third satellite navigation signal enhancement subsequences randomly selected from the K satellite navigation signal sequences to obtain K second satellite navigation signal enhancement subsequences; After multiple multi-scale interactive signal enhancement analyses, K target satellite navigation signal enhancement subsequences are obtained; Signal weighted averaging is performed on the K target satellite navigation signal enhancement subsequences respectively to obtain the K satellite navigation enhancement signals.

2. A multi-system high-precision satellite navigation signal enhancement method as claimed in claim 1, characterized in that: The preset signal quality indicator set includes a signal strength indicator, a signal-to-noise ratio indicator, a jitter indicator and a delay indicator.

3. A multi-system high-precision satellite navigation signal enhancement method as claimed in claim 1, characterized in that: Performing multi-scale interactive signal enhancement analysis based on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences to obtain K first satellite navigation signal enhanced subsequences includes: performing same-time signal inner product mapping analysis on the K first satellite navigation signal subsequences and the K second satellite navigation signal subsequences according to the acquisition time of the satellite navigation signals to obtain K mapping similarity sets; Normalizing the K mapping similarity sets using a normalization function, and embedding the processing results into an initially empty matrix to obtain K first interaction mapping normalized matrices; A convolution operation is performed on the K second satellite navigation signal subsequences and the corresponding K first interaction mapping normalization matrices to obtain K first satellite navigation signal enhancement subsequences.

4. A multi-system high-precision satellite navigation signal enhancement method as claimed in claim 3, characterized in that: The normalization function is: ； in, is the normalized value corresponding to the i-th mapping similarity in the mapping similarity set, e is the base of the natural logarithm, m is the total number of mapping similarities in the mapping similarity set, It is a first satellite navigation signal collected at the i-th time point in the first satellite navigation signal subsequence and a second satellite navigation signal collected at the i-th time point in the second satellite navigation signal subsequence.

5. The multi-system high-precision satellite navigation signal enhancement method according to claim 1, characterized in that: Based on the layout orientations of the K antennas in the antenna array and the position of the user terminal of the target user, interactively fusing the K target satellite navigation signals, and sending the fused target fused satellite navigation signal to the user terminal of the target user, including: Based on the layout orientations of the K antennas in the antenna array and the user terminal position of the target user, determining the distances from the K antennas to the user terminal position, and obtaining K signal weighting coefficients; The K target satellite navigation signals are interactively fused based on the K signal weighting coefficients to obtain a target fused satellite navigation signal.

6. An antenna, comprising a multi-system high-precision satellite navigation signal enhancement system, the system being applied to a multi-system high-precision satellite navigation signal enhancement method according to any one of claims 1 to 5, the system comprising: an antenna array acquisition module, used to acquire an antenna array, and use the antenna array to receive K satellite navigation signal sequences of K satellite navigation systems in a preset signal receiving window, wherein K is an integer greater than or equal to 1, wherein the antenna array includes K antennas, and each antenna receives a satellite navigation signal of a satellite navigation system; A signal quality assessment module, used to traverse the K satellite navigation signal sequences to perform signal quality assessment and obtain K signal reliability coefficients; an error correction model construction module, configured to construct an error correction model based on the error sources of the K satellite navigation systems to obtain K error correction models when the K signal reliability coefficients are all greater than or equal to a preset reliability coefficient threshold; A multi-scale interactive signal enhancement analysis module, used to perform multi-scale interactive signal enhancement analysis on the K satellite navigation signal sequences based on a preset receptive field set to obtain K satellite navigation enhancement signals, wherein the preset receptive field set is used to extract data of different scales from the satellite navigation signal sequence; an error correction module, used to perform error correction on the K satellite navigation enhancement signals using the K error correction models to obtain K target satellite navigation signals; The signal interaction fusion module is used to perform signal interaction fusion on the K target satellite navigation signals based on the layout orientation of the K antennas in the antenna array and the user terminal position of the target user, and send the fused target fused satellite navigation signal to the user terminal of the target user.

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