A multi-antenna Beidou communication and navigation joint processing method and device in complex scenarios

Abstract

The present invention discloses a multi-antenna Beidou communication and navigation joint processing method and device in complex scenarios, relating to the field of satellite communication technology. The present invention provides multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, and changes the working mode of the Beidou terminal to a multi-receive and multi-transmit working mode and a multi-receive and single-transmit working mode, so as to perform multi-antenna joint reception and communication and navigation joint processing, and simultaneously perform Beidou signal tracking processing and navigation positioning solution, thereby realizing navigation positioning in complex attitude change scenarios, and adaptively estimating the optimal signal transmission channel and short message communication transmission parameters, and performing short message communication, thereby realizing continuous and stable operation of navigation positioning and short message communication in complex attitude change scenarios, offsetting the influence caused by maneuvering changes such as attitude swing, rolling, and rotation of the carrier, and improving the availability and success rate of navigation positioning and short message communication services.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a multi-antenna Beidou communication and navigation joint processing method, device, equipment and medium in complex scenarios. Background Art

[0002] The Beidou Navigation Satellite System (BDS) is a global satellite navigation system independently developed and built by China, which can provide global positioning, navigation, timing and short message communication services. The Beidou Navigation Satellite System has two different services: Radio Navigation Satellite Service (RNSS) and Radio Determination Satellite Service (RDSS). RNSS is a passive positioning service. Users can independently measure the distance to at least four satellites and calculate position, speed and navigation parameters by receiving satellite radio navigation signals. RDSS integrates active positioning and communication, which can realize the positioning, timing and communication of a single user terminal, and can also realize mutual position reporting. Beidou short message communication is a typical application of RDSS.

[0003] Beidou short message communication includes two types: regional short message and global short message. Regional short message communication (RSMC) uses geostationary orbit (GEO) satellites to provide regional short message communication services to users in China and surrounding areas. The maximum length of a single short message communication is 14,000 bits, which is approximately equivalent to 1,000 Chinese characters. Beidou satellites that can provide regional short message services, in addition to the original 5 GEO satellites of Beidou-2, also have 3 GEO satellites of Beidou-3, which send short message information to user terminals through the S band. Global short message communication (GSMC) uses 14 medium earth orbit (MEO) satellites to achieve global coverage of message communication services, providing short message communication services to global users. The maximum length of a single short message communication is 560 bits, which is approximately equivalent to 40 Chinese characters. When using the Beidou short message terminal, it is necessary to set up an uplink signal transmission channel, select one of the visible Beidou satellites as the uplink access satellite, and send the short message inbound signal through the L band.

[0004] Beidou's short message communication is open to authorized users. User terminals need to use Beidou SIM cards to obtain authorization. This card stipulates the communication level (the amount of data sent each time), frequency (communication time interval), whether the user is encrypted, and other information of short message communication. The Beidou SIM cards that general users can get usually have a frequency of about 60s.

[0005] The integrated application of Beidou navigation and positioning with short message communication not only enhances the service capabilities of the Beidou system, but also provides innovative and integrated Beidou terminal solutions for multiple industry applications. However, in some complex application scenarios, the carrier has rapid maneuvering changes such as attitude swing, roll, and rotation. The single-antenna transceiver design can easily cause the antenna to be blocked by the mounting carrier during attitude changes, resulting in interruption of Beidou RNSS navigation signals and short message communication signals. This makes it difficult for navigation positioning and short message communication to work continuously and stably in complex attitude change scenarios, affecting the availability and success rate of positioning and short message communication functions. Summary of the Invention

[0006] The embodiments of the present invention provide a multi-antenna Beidou navigation and communication joint processing method and device in complex scenarios, which can solve the problem in the existing technology that the current methods are difficult to achieve continuous and stable operation of navigation positioning and short message communication in complex posture change scenarios.

[0007] An embodiment of the present invention provides a multi-antenna Beidou communication and navigation joint processing method in a complex scenario, including the following steps:

[0008] Set up multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, and install them on the carrier surface at the same time, and set the working mode of the Beidou terminal to multi-receive multi-transmit working mode and multi-receive single-transmit working mode;

[0009] In the multi-receive multi-transmit mode and the multi-receive single-transmit mode, an independent RF channel is used to track the signal of each receiving antenna, generate the carrier-to-noise ratio of each tracking signal, and generate the elevation angle of the tracked Beidou navigation satellite. Based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked Beidou navigation satellite, the Beidou navigation satellite is selected as the short message uplink channel transmission, and the optimal signal transmission channel and short message communication transmission parameters are estimated.

[0010] In the multi-receive and multi-transmit working mode, the corresponding short message communication transmitting antenna is switched to send short message communication information; in the multi-receive and single-transmit working mode, the corresponding short message communication transmission time is determined to send short message communication information.

[0011] Preferably, in the multi-receive and multi-transmit working mode, the beam pointing direction of each Beidou signal receiving antenna and each short message communication transmitting antenna is consistent and points in the same direction;

[0012] In the multi-receive and single-transmit working mode, the beam pointing direction of the short message communication transmitting antenna and one of the multiple Beidou signal receiving antennas is consistent and points in the same direction.

[0013] Preferably, generating the carrier-to-noise ratio of each tracking signal and generating the elevation angle of the tracked Beidou navigation star include:

[0014] In the multi-receive multi-transmit mode and the multi-receive single-transmit mode, N BeiDou signal receiving antennas capture and track the signals received by each BeiDou signal receiving antenna through their own independent RF channels to obtain the carrier-to-noise ratio of each tracking signal.

[0015] Based on the signals from the N tracked BeiDou signal receiving antennas, pseudorange and Doppler observations are generated respectively, and the user position and velocity are jointly obtained, as well as the elevation angle of the tracked BeiDou navigation star.

[0016] Preferably, the sending of short message communication information in the multi-receive and multi-transmit working mode includes:

[0017] In the multi-receive and multi-transmit mode, the BeiDou navigation satellite is selected as the short message uplink channel transmission based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite. The following conditions must be met simultaneously: the elevation angle value is greater than the minimum elevation angle threshold value and the carrier-to-noise ratio value of the currently tracked signal is the largest; the minimum elevation angle threshold value is 50°;

[0018] If the current time T c The time interval from the last short message sending time is greater than the time interval T set by the user a When , the optimal signal transmission channel and short message communication transmission parameters are estimated;

[0019] According to the estimated optimal signal transmission channel and short message communication transmission parameters, the Beidou navigation star number for uplink access is set, and the microwave switch is switched to the corresponding selected short message communication transmitting antenna to send short message communication information.

[0020] Preferably, when setting the short message communication transmission parameters in the multi-receive and multi-transmit working mode, the transmitting antenna in the same beam direction corresponding to the Beidou signal receiving antenna with the largest carrier-to-noise ratio value is selected, and this transmitting antenna is set as the short message communication transmitting antenna;

[0021] If the short message is sent at time T s After Δt s Within the time, the carrier-to-noise ratio change value of the tracked Beidou signal is detected. When the carrier-to-noise ratio change value exceeds the threshold, the short message resending mechanism is activated.

[0022] Preferably, the sending of short message communication information in the multiple-receive-single-transmit working mode includes:

[0023] In the multi-receiver single-transmitter working mode, the BeiDou navigation satellite is selected as the short message uplink channel transmission based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite. The following conditions must be met at the same time: the elevation angle value is greater than the minimum elevation angle threshold; in the Δt time interval before the current time Tc, the carrier-to-noise ratio peaks of the tracked signals of the N receiving antennas are compared, and the BeiDou navigation satellite with the largest carrier-to-noise ratio peak is selected;

[0024] Among them, the minimum elevation angle threshold is 50°, and the Δt value is greater than one rotation period of the carrier;

[0025] If the current time T c The time interval from the last short message sending time is greater than the time interval T set by the user a When , the optimal signal transmission channel and short message communication transmission parameters are estimated;

[0026] According to the estimated optimal signal transmission channel and short message communication transmission parameters, the Beidou navigation star number for uplink access is set, the corresponding short message communication transmission time is determined, and the short message communication information is sent.

[0027] Preferably, the determining of the corresponding short message communication transmission time includes:

[0028] For Beidou navigation stars that have been determined to be transmitting short messages, the carrier-to-noise ratio value is tracked based on the signal received by the Beidou signal receiving antenna that is aligned with the short message communication transmitting antenna, to determine whether the current moment is in the rising phase of the carrier-to-noise ratio peak interval;

[0029] If it is in the rising phase, the current time is determined to be the short message transmission time; if it is not in the rising phase, the rising phase of the same Beidou signal receiving antenna carrier-to-noise ratio peak interval at the next moment adjacent to the current time is selected and determined as the short message communication transmission time;

[0030] The carrier-to-noise ratio peak interval refers to a time period in which the carrier-to-noise ratio value is greater than the difference between the carrier-to-noise ratio peak value and the attenuation threshold value; the rising section of the carrier-to-noise ratio peak interval refers to a time period in which the carrier-to-noise ratio value is greater than the difference between the carrier-to-noise ratio peak value and the attenuation threshold value, and the value increases over time.

[0031] An embodiment of the present invention further provides a multi-antenna Beidou communication and navigation joint processing device for complex scenarios, including:

[0032] The Beidou terminal is configured to be equipped with multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, which are simultaneously mounted on the surface of the carrier, and the operating mode of the Beidou terminal is configured to be a multi-receive multi-transmit mode or a multi-receive single-transmit mode;

[0033] A solution module is used to track the signal of each receiving antenna using an independent radio frequency channel in the multi-receive multi-transmit working mode and the multi-receive single-transmit working mode, generate the carrier-to-noise ratio of each tracking signal, and generate the elevation angle of the tracked Beidou navigation satellite; select the Beidou navigation satellite as the short message uplink channel transmission based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked Beidou navigation satellite, and estimate the optimal signal transmission channel and short message communication transmission parameters;

[0034] The short message communication module switches the corresponding short message communication transmitting antenna to send short message communication information in the multi-receive and multi-transmit working mode; in the multi-receive and single-transmit working mode, it determines the corresponding short message communication transmission time to send short message communication information.

[0035] An embodiment of the present invention further provides an electronic device, including a memory and a processor;

[0036] The memory is used to store computer programs;

[0037] The processor is used to implement the steps of the multi-antenna Beidou communication and navigation joint processing method in a complex scenario when executing the computer program stored in the memory.

[0038] An embodiment of the present invention also provides a computer-readable storage medium for storing a computer program. When the computer program is executed by a processor, the steps of the multi-antenna Beidou communication and navigation joint processing method in a complex scenario as described above are implemented.

[0039] The embodiments of the present invention provide a multi-antenna Beidou communication and navigation joint processing method and device in complex scenarios. Compared with the existing technology, the advantages thereof are as follows:

[0040] The present invention installs multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas on a carrier, and determines the working mode of the Beidou terminal as a multi-receive and multi-transmit working mode and a multi-receive and single-transmit working mode, so as to perform multi-antenna joint reception processing; then the Beidou signal is tracked and the navigation positioning solution is solved, the carrier-to-noise ratio and the Beidou navigation star elevation angle of each tracking signal are generated in real time, and the Beidou navigation star is selected as the short message uplink channel transmission, and the optimal signal transmission channel and short message communication transmission parameters are adaptively estimated, so as to perform navigation positioning in the multi-receive and multi-transmit working mode and the multi-receive and single-transmit working mode at the same time. Positioning and short message communication; the present invention sets multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, and sets the working mode of the Beidou terminal to a multi-receive and multi-transmit working mode and a multi-receive and single-transmit working mode, so as to perform multi-antenna joint reception and communication and guidance joint processing, realize navigation and positioning in complex posture change scenarios, and adaptively estimate the best signal transmission channel and short message communication transmission parameters, and perform short message communication, thereby realizing continuous and stable operation of navigation and positioning and short message communication in complex posture change scenarios, and offsetting the influence brought about by maneuvering changes such as posture swing, rolling, and rotation of the carrier.

[0041] Moreover, the present invention installs multiple Beidou signal receiving antennas and short message communication transmitting antennas on the surface of the carrier, with the beams pointing in different directions, which overall expands the field of view of the receiving antenna and avoids the impact of the antenna beam maneuvering with the attitude on the receiving field of view.

[0042] In addition, the adaptive optimal transmission channel estimation and short message communication transmission parameter setting of the present invention avoids the adverse factors such as high power consumption and mutual crosstalk caused by simultaneous transmission of multiple transmitting antennas in the traditional method; at the same time, the traditional method requires multiple transmission channels to work simultaneously, and the large size is not conducive to system integration. The present invention only requires one transmission channel, which is conducive to improving the integration of the equipment and has higher practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A simplified flowchart of a multi-antenna BeiDou communication and navigation joint processing method in a complex scenario provided by an embodiment of the present invention;

[0044] Figure 2 A schematic diagram illustrating the implementation principle of a multi-antenna BeiDou communication and navigation joint processing method in a multi-receive and multi-transmit working mode in a complex scenario provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of antenna installation and rotation reception in a multi-receive and single-transmit working mode for a multi-antenna Beidou communication and navigation joint processing method in a complex scenario provided by an embodiment of the present invention;

[0046] Figure 4A schematic diagram of the change in the carrier-to-noise ratio of a Beidou satellite signal received under rotation in a multi-antenna Beidou communication and navigation joint processing method in a complex scenario provided by an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the implementation principle of a multi-antenna Beidou communication and navigation joint processing method in a complex scenario in a multi-receive and single-transmit working mode provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] See also Figure 1 The embodiment of the present invention provides a multi-antenna Beidou navigation and communication joint processing method in complex scenarios, which mainly solves the problems of navigation positioning and short message communication in complex scenarios; complex application scenarios mainly refer to the carrier's posture undergoing maneuvering changes such as swinging, rolling, and rotating. A single antenna is used to receive Beidou navigation signals or a single antenna is used to transmit short message communication signals. The antenna beam pointing changes greatly with the posture, and may even point to the ground, seriously affecting the signal receiving and sending field of view, resulting in the interruption of Beidou navigation signals and short message communication signals, and seriously affecting the availability and success rate of positioning and short message communication functions.

[0050] Therefore, in order to solve the problem of the impact of changes in antenna beam pointing caused by attitude changes on the field of view, the present invention adopts multiple Beidou signal receiving antennas and short message communication transmitting antennas, which are installed on the surface of the carrier. The beams point in different directions, expanding the field of view of the receiving antenna and avoiding the impact of the antenna beam on the receiving field of view due to attitude maneuvers.

[0051] The Beidou signal receiving antenna can receive Beidou signals, including navigation and short message communication downlink signals in the Beidou B1, B2, and B3 frequency bands, as well as downlink Beidou short message communication signals in the S band. It has the ability to receive navigation signals and Beidou short message downlinks.

[0052] When using the Beidou short message terminal for communication, users need to select and set one of the visible Beidou satellites as the uplink access satellite and send the short message inbound signal through the L band. Currently, there are 14 Beidou MEO satellites that can provide global short message services, and 5 Beidou-2 GEO satellites and 3 Beidou-3 GEO satellites that can provide regional short message services. Therefore, it is necessary to reasonably choose which Beidou navigation satellite to use as the uplink access satellite and determine the transmission channel for the short message transmission signal.

[0053] The quality of Beidou signals received and processed by user terminals is usually measured by the carrier-to-noise ratio (C / N0), which serves as an important reference for measuring the strength of received signals. On the other hand, the higher the elevation angle at which the Beidou terminal sends and receives short message signals, the lower the transmission power requirement and the better the communication quality. Therefore, the present invention takes into account two factors, the carrier-to-noise ratio of Beidou signal tracking and the Beidou satellite elevation angle, when estimating the optimal signal transmission channel.

[0054] The present invention completes joint navigation positioning solution through multi-antenna joint reception processing, and realizes the adaptive optimal signal transmission channel estimation and short message communication transmission parameter setting function; in view of the characteristics of posture changes in application scenarios, the present invention divides the working modes of the Beidou terminal into two types: multi-receive and multi-transmit working mode and multi-receive and single-transmit working mode; the multi-receive and multi-transmit working mode is applicable to application scenarios with posture changes, including forward and backward swings, left and right swings, rolling, slow rotation (speed less than 5rpm), etc.; the multi-receive and single-transmit working mode is applicable to application scenarios with periodic rapid rotation changes around the central axis (speed greater than 5rpm). The specific process includes:

[0055] 1. Multi-receive and multi-send working mode.

[0056] In the multi-receive and multi-transmit working mode, the Beidou signal receiving antenna and the Beidou short message communication transmitting antenna are consistent; through N (N≥2) Beidou signal receiving antennas and N Beidou short message communication transmitting antennas, the number of receiving antennas and transmitting antennas is the same, and the beam pointing of each receiving antenna and transmitting antenna is consistent and points in the same direction; Figure 2 The following figure shows the implementation principle of the multi-receive and multi-transmit working mode, which includes the following steps:

[0057] Step S1: N receiving antennas jointly receive and process Beidou signals. Through independent RF channels, each receiving antenna signal is captured and tracked, and the carrier-to-noise ratio of the tracked Beidou navigation signal and the corresponding receiving antenna identifier are output.

[0058] Among them, when outputting the carrier-to-noise ratio and antenna identification of the tracked Beidou navigation signal, if there are two receiving antennas receiving the same Beidou satellite signal, the carrier-to-noise ratio with the maximum value and the corresponding receiving antenna identification are output.

[0059] Step S2: Joint positioning solution of N receiving antennas, using the tracked N receiving antenna signals to generate pseudorange and Doppler observations, jointly solve the user position and velocity, and calculate the elevation angle of the tracked Beidou navigation satellite.

[0060] Step S3: N short message communication transmitting antenna processing method, current time T cThe time interval from the last short message sending time is greater than the time interval T set by the user a When the short message transmission channel is estimated and the short message communication transmission parameter setting is performed, the Beidou navigation star number for uplink access is set, the microwave switch is switched to the selected short message transmission antenna, and the short message communication information sending operation is started.

[0061] Among them, the best signal transmission channel estimation is based on the tracked, real-time Beidou signal carrier-to-noise ratio and the elevation angle of the Beidou navigation star. The Beidou navigation star that can be used as the short message uplink channel transmission must meet the following two conditions at the same time: the elevation angle value is greater than the minimum elevation angle threshold and the carrier-to-noise ratio value of the tracked signal at the current moment is the largest; among them, the minimum elevation angle threshold is generally set to 50°.

[0062] Among them, the short message communication transmission parameter setting selects the transmitting antenna in the same beam direction corresponding to the signal receiving antenna with the largest carrier-to-noise ratio value as mentioned above, and sets it as the short message communication transmitting antenna.

[0063] Step S4: The short message resending mechanism detects the change in the carrier-to-noise ratio of the tracked Beidou signal within Δts after the short message transmission time Ts is initiated. When the carrier-to-noise ratio change exceeds a threshold, the short message resending mechanism is initiated. The value of Δts is related to the length of the Beidou short message communication time and is generally greater than 3 seconds.

[0064] Among them, the short message information resending mechanism mainly considers that if there is rapid posture maneuvering during communication, it will affect the quality of this communication; and rapid posture maneuvering will bring about a direct change in the carrier-to-noise ratio of the received signal. By monitoring the change in the carrier-to-noise ratio, it is possible to evaluate whether there is a posture change.

[0065] 2. Multiple-receive and single-transmit working mode.

[0066] In the multi-receive single-transmit working mode, the multi-antenna Beidou communication and navigation joint processing method and device uses N (N≥2) Beidou signal receiving antennas and 1 Beidou short message signal transmitting antenna. The beam pointing direction of the Beidou short message communication transmitting antenna and one of the receiving antennas is consistent and points in the same direction; the N receiving antennas are installed in an equally spaced manner on a plane perpendicular to the carrier's rotation axis to form a nearly omnidirectional antenna field of view. Specifically, Figure 3 shown.

[0067] Since the receiving antenna gain pattern has the largest axial gain, when the antenna beam is facing the direction of the received signal, the carrier-to-noise ratio is at its peak, and the carrier-to-noise ratio of the received signals before and after this moment shows an upward and downward trend; when the receiving antenna is blocked by the carrier itself, the received signal is basically isolated and interrupted, and the carrier-to-noise ratio is the smallest, or even 0; therefore, the receiving antenna rotates rapidly with the carrier, causing the carrier-to-noise ratio of the received signal to show a periodic and repeatable change pattern. The schematic diagram of the carrier-to-noise ratio change of a Beidou satellite signal received when the antenna is rotating is shown below. Figure 4 shown.

[0068] Since the incident angles of different Beidou navigation star signals are different, the carrier-to-noise ratio peaks of different navigation star signals are different. For the carrier-to-noise ratio value of the tracked signal, the Beidou navigation star with the largest carrier-to-noise ratio peak and the navigation elevation angle within a reasonable range is selected as the uplink access star. At this time, the short message transmission has the best signal transmission channel.

[0069] Compared with the multi-receive and multi-transmit working mode, although there is only one short message transmitting antenna, because the antenna is in a rotating state, for the signal determined to be the uplink access satellite, the carrier-to-noise ratio change of the satellite signal received by the receiving antenna with the same pointing direction as the transmitting antenna is monitored to determine the short message communication transmission time, and ensure that the transmitting antenna beam points to the uplink access navigation satellite during the communication time period.

[0070] Due to the influence of attitude rotation, the carrier-to-noise ratio peak appears periodically with the rotation. There is a rising segment of the carrier ratio before the peak and a falling segment of the carrier ratio after the peak. Beidou short message communication usually takes 1 to 3 seconds, so the rising segment of the carrier-to-noise ratio close to the peak is a more reasonable choice for short message transmission.

[0071] like Figure 5 The following figure shows the implementation principle of the processing method for the multi-receive single-transmit working mode, which specifically includes the following steps:

[0072] Step S1: N receiving antennas jointly receive and process Beidou signals. Through independent RF channels, each receiving antenna signal is captured and tracked, and the carrier-to-noise ratio of the tracked Beidou navigation signal and the corresponding receiving antenna identifier are output.

[0073] Among them, the carrier-to-noise ratio and antenna identification of the tracked Beidou navigation signal are output. If there are two receiving antennas receiving the same Beidou satellite signal, the maximum carrier-to-noise ratio and the corresponding receiving antenna identification are output.

[0074] Step S2: Joint positioning solution of N receiving antennas, using the tracked N receiving antenna signals to generate pseudorange and Doppler observations, jointly solve the user position and velocity, and calculate the elevation angle of the tracked Beidou navigation satellite.

[0075] Step S3: Single short message communication transmission processing method, current time T c The time interval from the last short message sending time is greater than the time interval T set by the user a When the short message communication is sent, the best signal transmission channel estimation and short message communication transmission parameter setting are performed, the Beidou navigation star number for uplink access is set, the short message communication transmission time is determined, and the short message communication sending operation is realized.

[0076] Among them, the best signal transmission channel is estimated; based on the tracked, real-time Beidou signal carrier-to-noise ratio and the elevation angle of the Beidou navigation star, the Beidou navigation star that can be used as the short message uplink channel transmission must meet the following two conditions at the same time: the elevation angle value is greater than the minimum elevation angle threshold, and the minimum elevation angle threshold is generally 50°; within the Δt time interval before the current time Tc, the carrier-to-noise ratio peaks of the tracked signals of the N receiving antennas are compared, and the Beidou navigation star with the largest carrier-to-noise ratio peak is selected; among them, the Δt value should generally be greater than one rotation period of the device.

[0077] Among them, the short message communication transmission time is determined; for the Beidou navigation star signal that has been determined as short message transmission, the carrier-to-noise ratio value is tracked according to the signal received by the Beidou receiving antenna that is consistent with the direction of the transmitting antenna, and it is determined whether the current moment is in the rising segment of the carrier-to-noise ratio peak interval. If it is in the rising segment, the current moment is determined to be the short message transmission time; otherwise, the rising segment of the carrier-to-noise ratio peak interval of the same receiving antenna at the next moment adjacent to the current moment is selected and determined as the short message communication transmission time.

[0078] The carrier-to-noise ratio peak interval refers to the time period when the carrier-to-noise ratio value is greater than the difference between the carrier-to-noise ratio peak value and the attenuation threshold. The attenuation threshold is related to the gain pattern of the short message transmitting antenna and is generally set to 5dB.

[0079] The rising segment of the C / N peak interval refers to a time period in which the C / N value is greater than the difference between the C / N peak value and the attenuation threshold, and the value increases over time.

[0080] The present invention studies a multi-antenna Beidou navigation and communication joint processing method in complex scenarios. By means of a multi-antenna joint reception positioning and short message transmission parameter processing method, navigation positioning and short message communication functions in complex attitude change scenarios are realized, thereby improving the service performance and system reliability of the Beidou navigation and communication terminal and reducing the system complexity.

[0081] The present invention realizes functions such as navigation positioning, adaptive optimal transmission channel estimation and short message communication transmission parameter setting in complex attitude change scenarios through a multi-antenna joint reception positioning and communication and navigation joint processing method, solves the Beidou communication and navigation joint processing problem under complex attitude change conditions, and further improves the availability and success rate of Beidou positioning and short message communication functions.

[0082] The present invention uses multi-antenna joint reception and communication and navigation joint processing to adaptively estimate the optimal receiving channel and set short message transmission parameters based on the real-time generated Beidou navigation elevation angle and the signal's carrier-to-noise ratio parameters. This solves the difficult problem of continuous and stable operation of navigation positioning and short message communication in complex attitude change scenarios, improves Beidou positioning service performance, short message communication capability and system reliability, and realizes joint processing and integrated design of communication and navigation.

[0083] The adaptive optimal transmission channel estimation and short message communication transmission parameter setting in the present invention avoid the disadvantages of high power consumption and mutual crosstalk caused by the simultaneous transmission of multiple transmitting antennas in the traditional method; at the same time, because the traditional method requires multiple transmission channels to work simultaneously, the size is large and not conducive to system integration, while the method of the present invention only requires one transmission channel, which is conducive to improving the integration of the equipment and has higher practicality.

[0084] The present invention realizes Beidou signal tracking and processing and navigation positioning solution through a multi-antenna joint reception and processing method. According to the real-time generated Beidou navigation star elevation angle, carrier-to-noise ratio and other measurement parameters, it adaptively completes the optimal transmission channel estimation and short message communication transmission parameter setting functions, thus solving the problem that Beidou positioning and short message communication are difficult to operate continuously and stably in complex posture change scenarios, and improving the availability and success rate of navigation positioning and short message communication services.

[0085] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A multi-antenna BeiDou communication and navigation joint processing method in complex scenarios, characterized by: The following steps are involved: Set up multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, and install them on the carrier surface at the same time, and set the working mode of the Beidou terminal to multi-receive multi-transmit working mode and multi-receive single-transmit working mode; In the multi-receive multi-transmit mode and the multi-receive single-transmit mode, an independent RF channel is used to track the signal of each receiving antenna, generate the carrier-to-noise ratio of each tracking signal, and generate the elevation angle of the tracked Beidou navigation satellite; Based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite, the BeiDou navigation satellite is selected as the uplink channel for short message transmission, and the optimal signal transmission channel and short message communication transmission parameters are estimated; In the multi-receive and multi-transmit working mode, the corresponding short message communication transmitting antenna is switched to send short message communication information; in the multi-receive and single-transmit working mode, the corresponding short message communication transmission time is determined to send short message communication information.

2. The multi-antenna BeiDou navigation and communication joint processing method in complex scenarios according to claim 1 is characterized in that: In the multi-receive and multi-transmit working mode, the beam pointing direction of each Beidou signal receiving antenna and each short message communication transmitting antenna is consistent and points in the same direction; In the multi-receive and single-transmit working mode, the beam pointing direction of the short message communication transmitting antenna and one of the multiple Beidou signal receiving antennas is consistent and points in the same direction.

3. The multi-antenna BeiDou navigation and communication joint processing method in complex scenarios according to claim 1 is characterized in that: Generating the carrier-to-noise ratio of each tracking signal and generating the elevation angle of the tracked Beidou navigation star includes: In the multi-receive multi-transmit mode and the multi-receive single-transmit mode, N BeiDou signal receiving antennas capture and track the signals received by each BeiDou signal receiving antenna through their own independent RF channels to obtain the carrier-to-noise ratio of each tracking signal. Based on the signals from the N tracked BeiDou signal receiving antennas, pseudorange and Doppler observations are generated respectively, and the user position and velocity are jointly obtained, as well as the elevation angle of the tracked BeiDou navigation star.

4. The multi-antenna BeiDou navigation and communication joint processing method in complex scenarios according to claim 1, characterized in that: The sending of short message communication information in the multi-receive and multi-transmit working mode includes: In the multi-receive and multi-transmit mode, the BeiDou navigation satellite is selected as the short message uplink channel transmission based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite. The following conditions must be met simultaneously: the elevation angle value is greater than the minimum elevation angle threshold value and the carrier-to-noise ratio value of the currently tracked signal is the largest; the minimum elevation angle threshold value is 50°; If the current time T c The time interval from the last short message sending time is greater than the time interval T set by the user a When , the optimal signal transmission channel and short message communication transmission parameters are estimated; According to the estimated optimal signal transmission channel and short message communication transmission parameters, the Beidou navigation star number for uplink access is set, and the microwave switch is switched to the corresponding selected short message communication transmitting antenna to send short message communication information.

5. The multi-antenna BeiDou communication and navigation joint processing method in complex scenarios according to claim 4 is characterized in that: In the multi-receive and multi-transmit working mode, when setting the short message communication transmission parameters, select the transmitting antenna in the same beam direction corresponding to the Beidou signal receiving antenna with the largest carrier-to-noise ratio value, and set this transmitting antenna as the short message communication transmitting antenna; If the short message is sent at time T s After Δt s Within the time, the carrier-to-noise ratio change value of the tracked Beidou signal is detected. When the carrier-to-noise ratio change value exceeds the threshold, the short message resending mechanism is activated.

6. The multi-antenna BeiDou communication and navigation joint processing method in complex scenarios according to claim 1, characterized in that: The sending of short message communication information in the multiple-receive-single-transmit working mode includes: In the multi-receiver single-transmitter working mode, the BeiDou navigation satellite is selected as the short message uplink channel transmission based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite. The following conditions must be met at the same time: the elevation angle value is greater than the minimum elevation angle threshold; in the Δt time interval before the current time Tc, the carrier-to-noise ratio peaks of the tracked signals of the N receiving antennas are compared, and the BeiDou navigation satellite with the largest carrier-to-noise ratio peak is selected; Among them, the minimum elevation angle threshold is 50°, and the Δt value is greater than one rotation period of the carrier; If the current time T c The time interval from the last short message sending time is greater than the time interval T set by the user a When , the optimal signal transmission channel and short message communication transmission parameters are estimated; According to the estimated optimal signal transmission channel and short message communication transmission parameters, the Beidou navigation star number for uplink access is set, the corresponding short message communication transmission time is determined, and the short message communication information is sent.

7. The multi-antenna BeiDou navigation and communication joint processing method in complex scenarios according to claim 6, characterized in that: The determining of the corresponding short message communication transmission time includes: For Beidou navigation stars that have been determined to be transmitting short messages, the carrier-to-noise ratio value is tracked based on the signal received by the Beidou signal receiving antenna that is aligned with the short message communication transmitting antenna, to determine whether the current moment is in the rising phase of the carrier-to-noise ratio peak interval; If it is in the rising phase, the current time is determined to be the short message transmission time; if it is not in the rising phase, the rising phase of the same Beidou signal receiving antenna carrier-to-noise ratio peak interval at the next moment adjacent to the current time is selected and determined as the short message communication transmission time; The carrier-to-noise ratio peak interval refers to a time period in which the carrier-to-noise ratio value is greater than the difference between the carrier-to-noise ratio peak value and the attenuation threshold value; the rising section of the carrier-to-noise ratio peak interval refers to a time period in which the carrier-to-noise ratio value is greater than the difference between the carrier-to-noise ratio peak value and the attenuation threshold value, and the value increases over time.

8. A multi-antenna Beidou navigation and communication joint processing device in complex scenarios, characterized by: include: The Beidou terminal is configured to be equipped with multiple Beidou signal receiving antennas and multiple short message communication transmitting antennas, which are simultaneously mounted on the surface of the carrier, and the operating mode of the Beidou terminal is configured to be a multi-receive multi-transmit mode or a multi-receive single-transmit mode; A solution module is used to track the signal of each receiving antenna using an independent RF channel in both the multi-receive multi-transmit mode and the multi-receive single-transmit mode, generate the carrier-to-noise ratio of each tracking signal, and generate the elevation angle of the tracked Beidou navigation satellite; Based on the carrier-to-noise ratio of each tracking signal and the elevation angle of the tracked BeiDou navigation satellite, the BeiDou navigation satellite is selected as the uplink channel for short message transmission, and the optimal signal transmission channel and short message communication transmission parameters are estimated; The short message communication module switches the corresponding short message communication transmitting antenna to send short message communication information in the multi-receive and multi-transmit working mode; in the multi-receive and single-transmit working mode, it determines the corresponding short message communication transmission time to send short message communication information.

9. An electronic device, characterized in that: include: memory and processor; The memory is used to store computer programs; The processor is configured to implement the steps of a multi-antenna Beidou communication and navigation joint processing method in a complex scenario as described in any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed by a processor, implements the steps of a multi-antenna Beidou communication and navigation joint processing method in a complex scenario as described in any one of claims 1 to 7.

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