A guidance and tracking method and system for multi-antenna diversity receiver

Abstract

The present invention discloses a guidance and tracking method and system for a multi-antenna diversity receiver. The method includes opening a new tracking channel for the same satellite at all frequencies of all antennas of the multi-antenna diversity receiver to perform traction and tracking; after the loop of each tracking channel is updated, the guidance and tracking information is synchronously updated; the guidance and tracking information includes the code phase, carrier Doppler, and message information of satellites that have completed frame synchronization and passed message verification in all tracking channels; after a timing trigger triggers the guidance and tracking operation, the guidance and tracking information is used to calculate the current code phase, carrier Doppler, and message information of the same satellite at the remaining antennas or frequencies of the multi-antenna diversity receiver; and the calculated code phase, carrier Doppler, and message information are used to guide the tracking engine. The solution provided by the present invention can further improve tracking sensitivity and increase the success rate of tracking.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a guidance and tracking method and system applied to a multi-antenna diversity receiver. Background Art

[0002] With the widespread use of satellite navigation receivers, various application scenarios are placing increasing demands on the performance and functionality of receivers. Some applications require not only positioning and velocity measurement, but also direction and attitude determination capabilities, and some require normal satellite reception even under rotating conditions. Against this backdrop, multi-antenna diversity receivers have been designed. They simultaneously receive signals from multiple antennas distributed at different locations on the carrier and input these signals into the receiver. This ensures relatively good satellite reception quality in all directions, resulting in higher and more stable positioning and velocity measurement accuracy. Because multi-antenna diversity receivers require that the input signal from each antenna be treated as an independent signal branch, the number of signal components that need to be received and processed increases exponentially. Consequently, multi-antenna scenarios present numerous technical challenges.

[0003] The tracking process is crucial for satellite positioning. It is the core step in ensuring the receiver maintains a lock on satellite signals and analyzes dynamic parameters in real time. By tracking signal characteristics such as carrier phase, pseudorange, and Doppler shift, the system accurately measures the relative motion between the satellite and the receiver, compensating for delays and frequency shifts in signal propagation. This ensures continuous, stable, and real-time positioning in mobile and complex environments, ensuring high accuracy and reliability in the final position solution.

[0004] How to improve the tracking sensitivity and tracking speed of multi-antenna diversity receivers in multi-antenna scenarios is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In order to solve the technical problem of how to improve the tracking sensitivity and tracking speed of a multi-antenna diversity receiver in a multi-antenna scenario, an embodiment of the present invention provides a guidance tracking method and system applied to a multi-antenna diversity receiver.

[0006] The technical solution of the embodiment of the present invention is achieved as follows:

[0007] An embodiment of the present invention provides a guidance and tracking method applied to a multi-antenna diversity receiver, the method comprising:

[0008] A new tracking channel is opened for the same satellite at all frequencies of all antennas of the multi-antenna diversity receiver to be pulled and tracked;

[0009] After the loop of each tracking channel in the tracking channel is updated, the guidance tracking information is synchronously updated; the guidance tracking information includes the code phase, carrier Doppler and message information of the satellites in all tracking channels that have completed frame synchronization and passed message verification;

[0010] After the timing trigger triggers the guided tracking operation, the guided tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas of the multi-antenna diversity receiver or the same satellite at the remaining frequency points at the current moment; and the calculated code phase, carrier Doppler and message information are used to pull the tracking engine;

[0011] The method of using the guidance tracking information to calculate the code phase, carrier Doppler, and message information of the guidance tracking triggering moment of the remaining antennas or the remaining frequency points of the multi-antenna diversity receiver and the same satellite includes:

[0012] If the guidance tracking information includes guidance tracking information of the same satellite with the same frequency but different antennas, the guidance tracking information of the same satellite with the same frequency but different antennas is used for calculation;

[0013] If there is no guidance tracking information of the same satellite with the same frequency but different antennas in the guidance tracking information, and there is guidance tracking information of the same satellite with the same frequency but different frequencies, the guidance tracking information of the same satellite with the same frequency but different frequencies is used for calculation;

[0014] If there is no guidance tracking information of the same satellite with the same frequency but different antennas in the guidance tracking information, and there is no guidance tracking information of the same satellite with the same frequency but different frequencies, the guidance tracking information of the same satellite with different frequencies but different frequencies is used for calculation.

[0015] In one embodiment, the guidance tracking information is used to calculate the code phase, carrier Doppler, and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including:

[0016] Calculating the time difference between the update time of the guidance tracking information and the current time;

[0017] extrapolating the code phase and carrier Doppler in the guidance tracking information to the current moment according to the time difference;

[0018] The code phase and carrier Doppler calculated up to the current moment are used to calculate the code phase and carrier Doppler of the same satellite at the other antennas or other frequencies at the current moment.

[0019] In one embodiment, extrapolating the code phase and carrier Doppler in the guidance tracking information to the current time according to the time difference includes:

[0020] Calculating a code Doppler based on the carrier Doppler in the guidance tracking information, adding the code Doppler to the code phase in the guidance tracking information and multiplying it by the time difference to obtain the code phase at a current moment;

[0021] The carrier Doppler in the guidance tracking information is directly used as the carrier Doppler at the current moment.

[0022] In one embodiment, the guidance tracking information is used to calculate the code phase, carrier Doppler, and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including:

[0023] Obtain the pre-stored hardware delay between different antennas;

[0024] Performing hardware delay compensation on the code phase in the guidance tracking information by multiplying the hardware delay by the code rate;

[0025] After performing hardware delay compensation on the carrier Doppler in the guidance tracking information according to the hardware delay, the carrier Doppler is further calculated to obtain the carrier Doppler at the moment when the signal reaches the antenna array face;

[0026] The code phase after hardware delay compensation and the carrier Doppler at the time the signal reaches the antenna array are used to calculate the code phase and carrier Doppler of the same satellite at other antennas or other frequencies at the current moment.

[0027] In one embodiment, the guidance tracking information is used to calculate the code phase, carrier Doppler, and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including:

[0028] Calculating the current moment's telegram information based on the telegram information in the guidance tracking information;

[0029] Use the current message information to perform cross-bit coherent integration.

[0030] In one embodiment, after using the estimated code phase, carrier Doppler, and message information to perform tracking engine pulling, the method further includes:

[0031] If the tracking engine fails to be pulled using the estimated code phase, carrier Doppler and message information, the chip pulling range in the pulling phase is increased.

[0032] In one embodiment, increasing the chip pulling range in the pulling phase includes:

[0033] With the current code phase as the center, search for dozens of code chips to the left and right until the preset threshold is exceeded and the search stops.

[0034] An embodiment of the present invention also provides a guidance and tracking system for a multi-antenna diversity receiver, comprising: a processor and a memory for storing a computer program that can be run on the processor; wherein the processor executes the steps of the above-mentioned method when running the computer program.

[0035] This embodiment has the following beneficial effects:

[0036] (1) Direct tracking through the tracking channel without going through the capture engine greatly speeds up the launch speed.

[0037] (2) The signal transmission and switching between different antennas are very fast, which is particularly beneficial for carrier rotation application scenarios.

[0038] (3) Greatly improved the sensitivity of satellite reception.

[0039] (4) High tolerance for hardware delay errors between different antennas.

[0040] (5) It is not restricted by frequency and can be applied between satellites with the same frequency in the same navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 1 is a flow chart of a guidance and tracking method applied to a multi-antenna diversity receiver according to an embodiment of the present invention;

[0042] Figure 2 This is a flowchart of a practical scenario in the first embodiment of the present invention;

[0043] Figure 3 This is a diagram of the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] Compared to conventional single-antenna receivers, multi-antenna diversity receivers utilize antennas distributed across the carrier at multiple locations and angles. This design allows the receiver to obtain a comprehensive satellite reception profile regardless of its position, velocity, orientation, and attitude. To achieve comprehensive satellite reception, each antenna must be differentiated, and satellites receiving the same frequency from different antennas must be treated as distinct signals. Improving the tracking sensitivity and speed of multi-antenna diversity receivers in multi-antenna scenarios is a pressing technical challenge.

[0045] Based on this, this embodiment uses information from satellites that have achieved frame synchronization and passed telegram verification on any antenna at any frequency within the same navigation system to accurately calculate the code phase and carrier Doppler values ​​for the same satellite on other antennas or frequencies. A new tracking channel is then created to directly use these calculated code phase and carrier Doppler values ​​to track and locate the satellite. Furthermore, since current telegram information is also available, cross-bit coherent integration can be performed during the tracking phase, significantly improving the tracking success rate and sensitivity. Furthermore, because the tracking channels are processed in parallel, multiple antennas and multiple frequencies can simultaneously track the same satellite, resulting in extremely high efficiency and rapid satellite acquisition and positioning. In rotating applications, each antenna may experience a frequent cycle of receiving signal, losing signal, receiving signal, and losing signal, but at least one antenna will have a relatively good satellite reception. This method ensures that any antenna, once in a favorable reception position, can quickly acquire all satellites. This is the greatest advantage of this embodiment.

[0046] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0047] The embodiment of the present invention provides a guidance tracking method applied to a multi-antenna diversity receiver, such as Figure 1 As shown, the method includes:

[0048] Step 101: A new tracking channel is opened for the same satellite at all frequencies of all antennas of the multi-antenna diversity receiver to be pulled and tracked;

[0049] Step 102: After the loop of each tracking channel is updated, the guidance tracking information is synchronously updated; the guidance tracking information includes the code phase, carrier Doppler, and message information of the satellites that have completed frame synchronization and passed message verification in all tracking channels;

[0050] Step 103: After the timing trigger triggers the guided tracking operation, the guided tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas of the multi-antenna diversity receiver or the same satellite at the remaining frequency points at the current moment; and the calculated code phase, carrier Doppler and message information are used to pull the tracking engine.

[0051] The method of this embodiment uses the known information of the same satellite in the same navigation system to directly guide the remaining antennas or the same satellite at other frequencies to enter tracking, which can improve the tracking sensitivity and the tracking success rate.

[0052] The implementation ideas of this embodiment are as follows:

[0053] (1) Obtain the code phase, carrier Doppler, and telegram information of the satellites that have completed frame synchronization and passed telegram verification in all tracking channels as guidance tracking information, and update and store this information regularly.

[0054] (2) In a timing trigger, use this guidance tracking information to calculate the current code phase, carrier Doppler and message information of other antennas or other frequency points with the same satellite, and immediately pull the tracking engine.

[0055] (3) When calculating tracking information, a principle is followed: when there is guidance tracking information from the same satellite with the same frequency but different antennas, it is used as the highest priority; secondly, guidance tracking information from the same satellite with the same frequency but different frequencies is used; and lastly, guidance tracking information from the same satellite with different frequencies but different frequencies is used.

[0056] During the calculation, for guidance and tracking information of the same satellite with the same frequency but different antennas, the carrier Doppler and code phase in the guidance and tracking information can be directly used. For guidance and tracking information of the same satellite with the same frequency but different frequencies, the carrier Doppler can be directly used, but the code phase of the guidance and tracking frequency at the time of guidance and tracking needs to be calculated based on the code frequency and code period using the code phase in the guidance and tracking information. For guidance and tracking information of the same satellite with different frequencies but different frequencies, the carrier Doppler of the guidance and tracking frequency needs to be calculated based on the ratio of the carrier frequencies of the two frequencies, and the code phase of the guidance and tracking frequency needs to be calculated based on the code frequency and code period.

[0057] (4) The hardware delay of different antennas needs to be taken into account during the estimation. It is best to calibrate this delay in advance and use hardware delay to compensate for code phase and Doppler to make the estimated result more accurate.

[0058] (5) The tracking channel can be processed in parallel, so the same satellite at all frequencies of all antennas can be pulled at the same time. The sensitivity of the tracking channel itself is higher than that of the capture engine, so the sensitivity of satellite reception can be improved.

[0059] (6) Since the previous complete frame of telegram information and the current moment of telegram information are available, the value of the telegram at a later moment in a short period of time can be estimated. Therefore, cross-bit coherent integration can be performed without completing frame synchronization, further improving the sensitivity of traction tracking.

[0060] See also Figure 2 , which is a flowchart of a practical scenario in the first embodiment of the present invention. This embodiment uses the known information of any satellite of any antenna in the same navigation system to directly guide the same satellite of any antenna in the same navigation system at any frequency into tracking and traction. The detailed flowchart is as follows:

[0061] (1) Regularly obtain guidance tracking information from the tracking channel information.

[0062] (2) Timing triggering guides the execution of tracking operations.

[0063] (3) Calculate the code phase, Doppler and message information at the timing trigger time based on the channel information update time.

[0064] (4) When calculating, if there is a hardware delay calibration value between antennas, it is necessary to calculate the code phase and carrier Doppler value that need to be corrected based on this value to make the calculation more accurate and increase the tracking success rate.

[0065] (5) Calculate the code phase, Doppler and message information of the target frequency star through the guidance and tracking information of the source frequency star.

[0066] (6) During the tracking and traction phase, the traction range of the code phase is increased to prevent the accumulation of various errors that lead to inaccurate estimated code phase and thus tracking failure.

[0067] (7) The guided tracking process is completed.

[0068] The key contents of this embodiment are as follows:

[0069] 1. Real-time acquisition of tracking information

[0070] Because tracking requires relatively small code phase and Doppler errors, high data accuracy and real-time performance are crucial. Generally speaking, successful tracking requires a code phase error within a few chips and a Doppler error within a few hundred hertz. These two values ​​can be used to infer the tolerable distance and speed errors, and thus the maximum update interval. To minimize errors, the method in this embodiment directly updates at the maximum frequency. This means that after each loop update of the tracking channel, the most recently calculated code phase and Doppler information is stored to ensure accuracy and real-time performance. Subsequent use of this information ensures it is up-to-date, ensuring the success rate of tracking and traction.

[0071] 2. Real-time calculation of guidance tracking information

[0072] Because the guidance-to-tracking operation is executed within a timer trigger, there's a time difference between the trigger's triggering and the tracking information's update. This time difference is definitely smaller than the tracking information update interval. Calculations show that, at a speed of 10 km / s, an update interval of 10 ms, and a code length of 30 m, the estimated code phase error is 3.3 chips. This error is significant for some tracking engines with a narrow code phase pull-in range, so it's best to eliminate it at its source. The Doppler error is essentially negligible.

[0073] Therefore, after acquiring information from the tracking channel, it is used for tracking only when the timer triggers. Therefore, it is necessary to calculate the time difference between the current time and the time of the last information update, calculate the code Doppler based on the carrier Doppler, and then infer the current tracking code phase by adding the stored code phase and multiplying the code Doppler by the time difference. Because the carrier Doppler value has a wide tolerance range, the stored carrier Doppler value can be used directly for tracking. This is the key technology of this embodiment method.

[0074] After extrapolating the code phase and carrier Doppler values ​​to the current moment, if the extrapolated frequency differs from or is different from the guidance information source frequency, these two values ​​must be converted to the current extrapolated frequency. This conversion can be done based on the relationship between carrier frequency, code frequency, code period, and signal structure (this can be directly converted based on the proportional relationship between frequencies). The same method is used to extrapolate message information (after extrapolating the frame count, bit count, and millisecond count based on time, the message structure can be used to further infer whether fixed content such as the satellite number, frame header, frame ID, and seconds of the week are currently being broadcast).

[0075] 3. Calibrate hardware delay to compensate and reduce calculation error

[0076] Due to differences in antenna hardware and circuitry, the delay from the signal reaching the antenna array to its input into the baseband chip varies. The delay introduced by most antenna hardware and circuitry is typically in the microsecond range, a significant error for tracking. Therefore, the hardware delay must be calibrated in advance and stored in flash memory. When extrapolating tracking information, this hardware delay must be compensated for in the code phase. Furthermore, unlike acquisition, tracking must also consider the impact of hardware delay on Doppler, as tracking is far less tolerant of Doppler errors than acquisition. During extrapolation, the current time is compensated for the hardware delay and extrapolated to the time the signal reaches the antenna array. The precise Doppler value at the time of arrival is then calculated based on the Doppler fluctuations. Variations in hardware delay between products are generally minimal, at most in the nanosecond range. The tracking engine can ensure success by increasing the chip pull range during the pull phase.

[0077] 4. Tracking engine multi-chip pulling technology

[0078] Due to variations between individual products within a batch, hardware latency typically varies by nanoseconds. For the smallest chip length of 100 nanoseconds, this error is typically within a single chip, making it tolerable. However, in extreme cases where hardware latency varies significantly, reaching microseconds, solutions have been prepared to increase fault tolerance and make this method more practical.

[0079] To increase tracking accuracy and efficiency, typical tracking and pulling phases only identify peaks based on a few correlator values ​​before performing code phase pulling. Consequently, errors of only a few chips can be tolerated. This method, bypassing the capture engine for direct tracking, saves acquisition time, allowing for slightly longer tracking. Therefore, if pulling fails on the current code phase, the system continues searching for dozens of chips to the left and right, centered around the current code phase. The search stops only if no peak is found. This method increases the code phase pulling range during the pull phase and improves tolerance for individual product variations.

[0080] The method of this embodiment has the following beneficial effects:

[0081] (1) Use the code phase / carrier Doppler / telegram information obtained from tracking a satellite of the same navigation system at a previous moment to calculate the code phase / carrier Doppler / telegram information of the same satellite at any antenna and any frequency at the current moment.

[0082] (2) The calculated code phase and carrier Doppler are used to directly guide the same satellite for traction tracking. Multiple tracking channels are processed in parallel without occupying the capture engine, which greatly speeds up the satellite launch speed and improves the sensitivity of satellite reception.

[0083] (3) Using the inferred message information, cross-bit coherent integration can be performed at all stages to further improve tracking sensitivity.

[0084] (4) During the tracking traction phase, the traction range of the code chip is increased to increase fault tolerance.

[0085] (5) Calibrate the hardware delay between antennas in advance, and use this hardware delay to calculate the code phase and Doppler that need to be compensated to ensure the success rate of tracking.

[0086] In order to implement the method of an embodiment of the present invention, an embodiment of the present invention also provides a guidance and tracking system applied to a multi-antenna diversity receiver, including: a processor and a memory for storing a computer program that can be run on the processor; wherein, when the processor is used to run the computer program, it executes the steps of the above-mentioned method.

[0087] The above-mentioned system provided in this embodiment and the above-mentioned method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0088] To implement the method of an embodiment of the present invention, an embodiment of the present invention further provides a computer program product. The computer program product includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of the above method.

[0089] Based on the hardware implementation of the above program modules and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides an electronic device (computer device). Specifically, in one embodiment, the computer device can be a terminal, and its internal structure diagram can be as follows: Figure 3As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown in the figure) connected via a system bus. The processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor A01, the method of any of the above embodiments is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display. The input device A05 of the computer device can be a touch layer covering the display screen, or it can be a key, trackball, or touchpad provided on the computer device housing, or it can be an external keyboard, touchpad, or mouse.

[0090] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0091] The device provided by an embodiment of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method of any one of the above embodiments is implemented.

[0092] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It is understood that the memory of the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory may be magnetic disk or tape memory. Volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0100] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0101] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A guidance and tracking method for a multi-antenna diversity receiver, characterized in that: The method comprises: A new tracking channel is opened for the same satellite at all frequencies of all antennas of the multi-antenna diversity receiver to be pulled and tracked; After the loop of each tracking channel in the tracking channel is updated, the guidance tracking information is synchronously updated; the guidance tracking information includes the code phase, carrier Doppler and message information of the satellites in all tracking channels that have completed frame synchronization and passed message verification; After the timing trigger triggers the guided tracking operation, the guided tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas of the multi-antenna diversity receiver or the same satellite at the remaining frequency points at the current moment; and the calculated code phase, carrier Doppler and message information are used to pull the tracking engine; The method of using the guidance tracking information to calculate the code phase, carrier Doppler, and message information of the guidance tracking triggering moment of the remaining antennas or the remaining frequency points of the multi-antenna diversity receiver and the same satellite includes: If the guidance tracking information includes guidance tracking information of the same satellite with the same frequency but different antennas, the guidance tracking information of the same satellite with the same frequency but different antennas is used for calculation; If there is no guidance tracking information of the same satellite with the same frequency but different antennas in the guidance tracking information, and there is guidance tracking information of the same satellite with the same frequency but different frequencies, the guidance tracking information of the same satellite with the same frequency but different frequencies is used for calculation; If there is no guidance tracking information of the same satellite with the same frequency but different antennas in the guidance tracking information, and there is no guidance tracking information of the same satellite with the same frequency but different frequencies, the guidance tracking information of the same satellite with different frequencies but different frequencies is used for calculation.

2. The guidance and tracking method for a multi-antenna diversity receiver according to claim 1, wherein: The guidance tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including: Calculating the time difference between the update time of the guidance tracking information and the current time; extrapolating the code phase and carrier Doppler in the guidance tracking information to the current moment according to the time difference; The code phase and carrier Doppler calculated up to the current moment are used to calculate the code phase and carrier Doppler of the same satellite at the other antennas or other frequencies at the current moment.

3. The guidance and tracking method for a multi-antenna diversity receiver according to claim 2, wherein: Calculating the code phase and carrier Doppler in the guidance tracking information to the current time according to the time difference, including: Calculating a code Doppler based on the carrier Doppler in the guidance tracking information, adding the code Doppler to the code phase in the guidance tracking information and multiplying it by the time difference to obtain the code phase at a current moment; The carrier Doppler in the guidance tracking information is directly used as the carrier Doppler at the current moment.

4. The guidance and tracking method for a multi-antenna diversity receiver according to claim 1, wherein: The guidance tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including: Obtain the pre-stored hardware delay between different antennas; Performing hardware delay compensation on the code phase in the guidance tracking information by multiplying the hardware delay by the code rate; After performing hardware delay compensation on the carrier Doppler in the guidance tracking information according to the hardware delay, the carrier Doppler is further calculated to obtain the carrier Doppler at the moment when the signal reaches the antenna array face; The code phase after hardware delay compensation and the carrier Doppler at the time the signal reaches the antenna array are used to calculate the code phase and carrier Doppler of the same satellite at other antennas or other frequencies at the current moment.

5. The guidance and tracking method for a multi-antenna diversity receiver according to claim 1, wherein: The guidance tracking information is used to calculate the code phase, carrier Doppler and message information of the remaining antennas or the same satellite at the remaining frequency points of the multi-antenna diversity receiver at the current moment, including: Calculating the current moment's telegram information based on the telegram information in the guidance tracking information; Use the current message information to perform cross-bit coherent integration.

6. The guidance and tracking method for a multi-antenna diversity receiver according to claim 1, wherein: After using the estimated code phase, carrier Doppler, and message information to track the engine, the method further includes: If the tracking engine fails to be pulled using the estimated code phase, carrier Doppler and message information, the chip pulling range in the pulling phase is increased.

7. The guidance and tracking method for a multi-antenna diversity receiver according to claim 6, wherein: Increase the chip pulling range in the pulling phase, including: With the current code phase as the center, search for dozens of code chips to the left and right until the preset threshold is exceeded and the search stops.

8. A guidance and tracking system for a multi-antenna diversity receiver, characterized in that: include: A processor and a memory for storing a computer program that can be run on the processor; wherein, when the processor is used to run the computer program, the steps of the method according to any one of claims 1 to 7 are performed.

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