A multi-antenna satellite navigation signal acquisition method, device and equipment

Abstract

The application discloses a multi-antenna satellite navigation signal acquisition method, device and equipment. The method comprises the following steps: down-converting satellite navigation signals received by multiple antennas into intermediate frequency signals, wherein the satellite navigation signals arrive at each antenna at different times; selecting one intermediate frequency signal as a reference signal, and delaying the remaining intermediate frequency signals in a preset order according to the reference signal; superimposing the intermediate frequency signals corresponding to each antenna after the delay to obtain a to-be-acquired signal; acquiring the to-be-acquired signal; and determining whether the satellite navigation signal is successfully acquired according to a correlation peak threshold decision result. Through the above method, the signal correlation between each antenna is reduced, the strengthening and canceling influence between correlation peak values is weakened, parallel processing of multi-antenna signals can be realized, and the time consumption of the acquisition process is reduced.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and in particular to a method, apparatus and equipment for acquiring multi-antenna satellite navigation signals. Background Technology

[0002] Aircraft typically rely on satellite navigation for primary navigation and positioning. The rapid and accurate acquisition of satellite navigation signals is a key factor affecting positioning performance. Because the large cross-section and rotational motion of the aircraft can easily obstruct satellite navigation signals, aircraft satellite navigation receiving antennas usually utilize multiple microstrip antennas, conformally attached to the surface, such as... Figure 1 During flight, signals from the same satellite may be received by different antennas. Differences in antenna installation position and orientation can cause phase shifts in the received signals. Directly superimposing these signal components from multiple antennas into a single signal is equivalent to artificially introducing multiple strong multipath signals, resulting in unknown destructive or constructive effects and potentially leading to signal acquisition failure. Therefore, existing navigation acquisition algorithms require processing signals from individual antennas sequentially, resulting in long acquisition times and impacting the aircraft's initial positioning time. Using more hardware resources to process satellite navigation signals from multiple antennas in parallel significantly increases hardware resource consumption and power consumption. Summary of the Invention

[0003] To reduce the correlation between signals from different antennas, thereby enabling parallel processing of multi-antenna signals and reducing the time and power consumption of the acquisition process, this application provides a multi-antenna satellite navigation signal acquisition method, apparatus, and device.

[0004] In a first aspect, embodiments of this application provide a multi-antenna satellite navigation signal acquisition method, the method comprising:

[0005] The satellite navigation signals received by multiple antennas are down-converted into intermediate frequency signals, wherein the satellite navigation signals arrive at each antenna at different times;

[0006] Select one intermediate frequency signal as the reference signal, and delay the remaining intermediate frequency signals in a preset order according to the reference signal;

[0007] The intermediate frequency signals corresponding to each antenna after the delay are superimposed to obtain the signal to be acquired.

[0008] The signal to be captured is captured, and the success of the satellite navigation signal capture is determined based on the relevant peak threshold decision result.

[0009] In one or more embodiments, the intermediate frequency (IF) signals corresponding to each antenna are delayed in a preset order based on one of the IF signals, including:

[0010] Starting with the reference signal, the remaining intermediate frequency signals are delayed by i units according to the preset order;

[0011] Where i represents the order of the intermediate frequency signals corresponding to each antenna in a preset sequence, the order of the reference number is 0, and the unit delay is a preset value.

[0012] In one or more embodiments, determining whether the satellite navigation signal has been successfully acquired based on relevant results includes:

[0013] The signal to be captured is captured to obtain the peak value of at least one related peak;

[0014] If the peak value of the maximum correlation peak does not exceed the acquisition threshold, then the signal acquisition under satellite navigation is determined to have failed; or

[0015] If the peak value of a relevant peak exceeds the acquisition threshold, then the signal acquisition under satellite navigation is determined to be successful.

[0016] In one or more embodiments, capturing the signal to be captured to obtain the peak value of at least one related peak includes:

[0017] The signal to be captured is mixed with the local carrier signal, and then the pseudocode is stripped from the mixed signal using a correlator based on the local pseudocode signal.

[0018] The signal to be captured after stripping the pseudocode is coherently integrated and incoherently integrated to obtain the peak value of at least one correlated peak.

[0019] In one or more embodiments, after determining that the satellite navigation signal acquisition is successful, the method further includes:

[0020] The peak value of the maximum correlation peak and the carrier frequency of the captured signal are used as the capture result;

[0021] Obtain the pseudocode phase p0 corresponding to the peak value of the maximum correlation peak, and determine the corresponding pseudocode phase interval based on p0;

[0022] The intermediate frequency signal before delay corresponding to each antenna is stripped using the captured carrier frequency to obtain the first stripped signal;

[0023] The first stripping signal corresponding to each antenna is multiplied by the local pseudocode signal generated by the antenna receiver to obtain the second stripping signal;

[0024] The second stripped signal is coherently integrated and incoherently integrated, and the target antenna for tracking is determined based on the incoherent integration result.

[0025] In one or more embodiments, the second stripped signal is incoherently integrated, and a target antenna for tracking is determined based on the incoherent integration result, including:

[0026] The second stripped signal is coherently integrated and incoherently integrated to obtain the incoherent integration value corresponding to each antenna.

[0027] When searching for the incoherent values ​​corresponding to each antenna, and determining that the maximum incoherent integral value located within the pseudocode phase interval is found, it is determined that the satellite navigation signal corresponding to the maximum incoherent integral value is the strongest among the target antennas, and it is determined that the target antennas will be used to track the corresponding satellite navigation signal.

[0028] In one or more embodiments, the pseudocode phase interval is determined in the following manner:

[0029] The phase fluctuation value is determined by multiplying the maximum value of the relevant peak in the relevant results by the unit time delay;

[0030] The difference between p0 and the phase fluctuation value is used as the lower limit of the pseudocode phase interval;

[0031] The sum of p0 and the phase float value is used as the upper limit of the pseudocode phase interval.

[0032] Secondly, embodiments of this application provide a multi-antenna satellite navigation signal acquisition device, the device comprising:

[0033] The signal delay superposition module is used to select one of the intermediate frequency signals corresponding to multiple satellite navigation signals as a reference signal, delay the remaining intermediate frequency signals according to the reference signal in a preset order, and superimpose the intermediate frequency signals corresponding to each antenna after delay to obtain the signal to be captured. The intermediate frequency signal is obtained by downconverting the received satellite navigation signal.

[0034] The signal acquisition module is used to mix the signal to be acquired with the local carrier signal, and then use a correlator to strip the pseudocode from the mixed signal based on the local pseudocode signal; the pseudocode-stripped signal to be acquired is then subjected to coherent integration and incoherent integration to obtain the peak value of at least one correlation peak.

[0035] The signal confirmation module is used to take the peak value of the largest correlation peak among the at least one correlation peak and the carrier frequency of the captured signal as the capture result; obtain the pseudo-code phase p0 corresponding to the peak value of the largest correlation peak, and determine the corresponding pseudo-code phase interval based on p0; perform carrier stripping on the intermediate frequency signal before delay corresponding to each antenna using the captured carrier frequency to obtain a first stripped signal; multiply the first stripped signal corresponding to each antenna with the local pseudo-code signal generated by the antenna receiver to obtain a second stripped signal; perform coherent integration and incoherent integration on the second stripped signal, and determine the target antenna for tracking based on the incoherent integration result, and determine to use the target antenna to track the corresponding satellite navigation signal.

[0036] Thirdly, embodiments of this application provide a multi-antenna satellite navigation signal acquisition device, the device comprising:

[0037] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect described above.

[0038] Fourthly, embodiments of this application provide a computer storage medium storing a computer program for causing a computer to perform the method described in the first aspect above.

[0039] This application provides a method, apparatus, and device for acquiring multi-antenna satellite navigation signals. It involves taking one intermediate frequency (IF) signal as a reference signal from the satellite navigation signals received by each antenna, delaying the remaining IF signals according to the reference signal, and then superimposing and acquiring the delayed signals. By superimposing the signals from each antenna after different delays, the correlation between the antenna signals is reduced, and the enhancement-cancellation effect between correlation peaks is weakened. This enables parallel processing of multi-antenna signals and reduces the time consumption of the acquisition process. Attached Figure Description

[0040] Figure 1 This is a schematic diagram illustrating a multi-antenna system for receiving navigation satellite signals from an aircraft, as exemplified by an exemplary embodiment of the present invention.

[0041] Figure 2 This is a schematic flowchart illustrating a multi-antenna satellite navigation signal acquisition method according to an exemplary embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram illustrating the multi-antenna delay acquisition and confirmation process for satellite navigation signals, as exemplified by an exemplary embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the correlation peaks as an example of an exemplary embodiment of the present invention;

[0044] Figure 5 A schematic cross-sectional view of an aircraft as exemplified by an exemplary embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of a multi-antenna satellite navigation signal acquisition device according to an exemplary embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of a multi-antenna satellite navigation signal acquisition device as an example of an exemplary embodiment of the present invention. Detailed Implementation

[0047] The technical solutions in the embodiments of this application will now be described clearly and in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] The methods in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0049] In one or more embodiments, the application scenarios of the embodiments of this application are specifically as follows: Figure 1 As shown:

[0050] Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application. The application environment includes multiple satellites (satellite 1, ..., satellite n) and an aircraft. The aircraft includes multiple antennas (antenna 1, antenna 2, antenna 3, ..., antenna n), which are conformally attached to the surface of the aircraft. Receivers are installed on the multiple antennas to receive satellite navigation signals transmitted by the satellites.

[0051] The aircraft rotates at a certain angular velocity, so the strength of the satellite navigation signals received by each antenna changes in real time. For example, at the first moment, antenna 1 is facing directly at satellite 1, so antenna 1 receives the strongest navigation signal from satellite 1. If at the second moment, antenna 1 is facing away from satellite 1, then antenna 1 will not receive the navigation signal from satellite 1. In addition, since the aircraft is flying at high speed, meaning its position changes in real time, the aircraft needs to receive satellite navigation signals in real time for its positioning.

[0052] The following is combined Figure 1 Application scenarios, refer to Figure 2This application describes a multi-antenna satellite navigation signal acquisition method according to exemplary embodiments. It should be noted that the above application scenarios are shown only for the purpose of understanding the principles of this application, and the embodiments of this application are not limited in any way. Rather, the embodiments of this application can be applied to any scenario in which they are used.

[0053] like Figure 2 As shown in the figure, this application provides a multi-antenna satellite navigation signal acquisition method, applied to an aircraft, the method comprising:

[0054] S201: Down-convert satellite navigation signals received by multiple antennas into intermediate frequency signals, wherein the satellite navigation signals arrive at each antenna at different times.

[0055] After receiving satellite navigation signals, each antenna down-converts the high-frequency signals to intermediate-frequency signals via a radio frequency front-end. For example... Figure 3 As shown, satellite navigation signals received by different antennas are sent to their corresponding radio frequency front-ends, and down-conversion processing is performed on satellite navigation signals received by multiple antennas. Figure 3 The signal E1 in the signal delay superposition module includes information about navigation signals from multiple satellites received by the antenna.

[0056] It should be noted that the module that confirms the reception of satellite navigation signals by each antenna needs to use the phase value corresponding to each intermediate frequency signal for confirmation. Therefore, after the intermediate frequency signal is acquired, it is necessary to store the intermediate frequency signal first, and then perform the acquisition steps S202 to S204.

[0057] S202: Select one of the intermediate frequency signals as the reference signal, and delay the remaining intermediate frequency signals in a preset order according to the reference signal;

[0058] Because the antennas are installed in different locations on the aircraft, the navigation signals from the same satellite arrive at each antenna at different times, resulting in a phase difference. In this case, if the subsequent superposition process is performed, it may cause multipath effects, making it impossible to capture the navigation signal from that satellite. Therefore, it is necessary to delay each intermediate frequency (IF) signal and randomly select one IF signal as the reference signal; no specific limitation is made here.

[0059] By delaying the intermediate frequency signal, the mutual interference between the components of the synthesized signal can be greatly reduced. The specific delay time can be selected from half a pseudo-code chip to one pseudo-code chip, depending on the size of the aircraft. For example... Figure 3 As shown in the intermediate frequency signal delay superposition module, with S1(t) as the reference, all other intermediate frequency signals are delayed.

[0060] S203: Superimpose the intermediate frequency signals corresponding to each antenna after the delay to obtain the signal to be acquired;

[0061] The method provided in this application embodiment can ensure the success rate of satellite navigation signal acquisition, and does not increase the use of hardware resources, thus saving power consumption to a certain extent.

[0062] S204: The signal to be captured is captured, and the satellite navigation signal is determined to be successfully captured based on the relevant peak threshold decision result.

[0063] The acquisition process of the signal to be acquired is a conventional process. For example, it can be acquired using the Partial Matched Correlation Fast Fourier Transform (PMF-FFT) method, or other acquisition methods can be used; no specific limitation is made here. A new signal is synthesized by superimposing the delayed signals from each antenna to reduce the correlation between the signals from different antennas, thereby enabling parallel processing of multi-antenna signals and reducing the time and power consumption of the acquisition process.

[0064] The specific process is as follows Figure 3 As shown in the new signal acquisition module, the signal to be acquired is mixed with the local carrier signal. Then, the mixed signal to be acquired and the local pseudo-code signal of the new signal acquisition module are stripped of pseudo-code using a correlator. The signal to be acquired after pseudo-code stripping is then coherently integrated and incoherently integrated to obtain at least one correlation peak or no correlation peak.

[0065] In one or more embodiments, determining whether the satellite navigation signal has been successfully acquired based on the peak value of the relevant peak includes:

[0066] If the peak value of the maximum correlation peak does not exceed the acquisition threshold, then the signal acquisition under satellite navigation is determined to have failed; or

[0067] If the peak value of any relevant peak exceeds the acquisition threshold, then the signal acquisition under satellite navigation is determined to be successful; or

[0068] If no relevant peak is obtained, it is determined that the satellite navigation signal acquisition has failed.

[0069] like Figure 4 The result after correlation is shown, including n correlation peaks. The second correlation peak has the largest peak value, indicating that the antenna corresponding to this peak has the strongest signal at this moment. If the peak value of the second correlation peak does not exceed the acquisition threshold, it indicates that none of the antennas have received the satellite navigation signal. If both the peak values ​​of the first and second correlation peaks exceed the acquisition threshold, it indicates that the navigation signal has been successfully acquired. Since subsequent positioning of the aircraft only requires the satellite navigation signal received by one antenna, only the peak value of the second correlation peak and its corresponding phase are used as the acquisition result.

[0070] This application provides a multi-antenna satellite navigation signal acquisition method. It involves taking one intermediate frequency (IF) signal as a reference signal from the satellite navigation signals received by each antenna, delaying the remaining IF signals according to the reference signal, and then superimposing and acquiring the delayed signals. By superimposing the signals from each antenna with different delays, the correlation between the signals from each antenna is reduced, thus solving the problem of unknown effects such as cancellation or constructive phase transitions and improving the success rate of satellite navigation signal acquisition.

[0071] To avoid the problem of signal cancellation caused by the phase difference between the intermediate frequency signals received by each antenna, the intermediate frequency signals are phase-delayed.

[0072] In one or more embodiments, the intermediate frequency (IF) signals corresponding to each antenna are delayed in a preset order based on one of the IF signals, including:

[0073] Starting with the reference signal, the remaining intermediate frequency signals are delayed by i units according to the preset order;

[0074] Where i represents the order of the intermediate frequency signals corresponding to each antenna in a preset sequence, the order of the reference signals is 0, and the unit time delay is a preset value. The preset sequence is either the order of the antenna labels from largest to smallest, or the order of the antenna labels from smallest to largest.

[0075] For example, taking the intermediate frequency signal S1(t) of antenna 1 as the reference signal, the order of the intermediate frequency signal corresponding to antenna 1 in the preset sequence is 0. The intermediate frequency signals corresponding to each antenna are delayed in ascending order of antenna number. The order of the intermediate frequency signal corresponding to antenna 2 in the preset sequence is 1. Then, S2(t) is delayed by a unit time delay to obtain S2(t-Δt). The order of the intermediate frequency signal corresponding to antenna 3 in the preset sequence is 2. Then, S3(t) is delayed by a unit time delay to obtain S2(t-2Δt), where Δt is the preset unit time delay. If the intermediate frequency (IF) signals corresponding to each antenna are delayed sequentially in descending order of antenna number, and if there are 3 antennas, and if the IF signal S1(t) of antenna 1 is used as the reference signal, then the IF signal corresponding to antenna 1 is in the preset order of 0, and the IF signal corresponding to antenna 3 is in the preset order of 1. Then, S3(t) is delayed by a unit time delay to obtain S3(t-Δt), and the IF signal corresponding to antenna 2 is in the preset order of 2. Then, S2(t) is delayed by a unit time delay to obtain S2(t-2Δt).

[0076] If the maximum correlation peak exceeds a threshold, it indicates that the satellite navigation signal has been received by an antenna, but it is uncertain which antennas received it, and the true phase of the pseudocode is unknown. Therefore, it is necessary to confirm whether each antenna contains the satellite navigation signal and its pseudocode phase to facilitate the initiation of corresponding signal tracking. Based on this, embodiments of this application provide a method for confirming the acquisition result.

[0077] In one or more embodiments, after determining that the satellite navigation signal has been successfully acquired, the method further includes:

[0078] The peak value of the maximum correlation peak and the carrier frequency of the captured signal are used as the capture result;

[0079] Obtain the pseudocode phase p0 corresponding to the peak value of the maximum correlation peak, and determine the corresponding pseudocode phase interval based on p0;

[0080] The intermediate frequency signal before delay corresponding to each antenna is stripped using the captured carrier frequency to obtain the first stripped signal;

[0081] The first stripping signal corresponding to each antenna is multiplied by the local pseudocode signal generated by the antenna receiver to obtain the second stripping signal;

[0082] The second stripped signal is coherently integrated and incoherently integrated, and the target antenna for tracking is determined based on the incoherent integration result.

[0083] The second stripped signal is incoherently integrated, and the target antenna for tracking is determined based on the incoherent integration result, including:

[0084] The second stripped signal is coherently integrated and incoherently integrated to obtain the incoherent integration value corresponding to each antenna.

[0085] When searching for the incoherent values ​​corresponding to each antenna, and determining that the maximum incoherent integral value located within the pseudocode phase interval is found, it is determined that the satellite navigation signal corresponding to the maximum incoherent integral value is the strongest among the target antennas, and it is determined that the target antennas will be used to track the corresponding satellite navigation signal.

[0086] Its specific implementation method is as follows Figure 3As shown in the satellite navigation signal confirmation module, the first step is to perform carrier stripping on the intermediate frequency (IF) signal before delay corresponding to each antenna based on the carrier frequency (Doppler frequency) f0 of the signal to be acquired, obtaining a first stripped signal (zero-frequency signal). The first stripped signal corresponding to each antenna is then multiplied by the local pseudo-code signal to obtain a second stripped signal. The zero-frequency signal contains a pseudo-code signal modulated with a pseudo-random sequence. If the zero-frequency signal is aligned (or mostly aligned) with the local pseudo-code signal, multiplying the zero-frequency signal with the local pseudo-code signal achieves pseudo-code stripping. After carrier stripping and pseudo-code stripping, the IF signal becomes a DC signal submerged in noise. Therefore, this signal is integrated for 1ms (the pseudo-code period is mostly 1ms, while the data modulated by the navigation signal is generally an integer ms) to achieve coherent integration. Since the coherent integration values ​​over multiple milliseconds may contain data jump bits, they cannot be directly added. Therefore, the modulus of the two 1ms coherent integration values ​​over multiple milliseconds is taken, and then they are added, i.e., incoherent integration is performed to obtain the incoherent integration value corresponding to each antenna.

[0087] The pseudocode phase interval is determined through the following implementation method:

[0088] The phase fluctuation value is determined by multiplying the number of correlation peaks (n) in the correlation results by the unit time delay; the difference between p0 and the phase fluctuation value is used as the lower limit of the pseudo-code phase interval; the sum of p0 and the phase fluctuation value is used as the upper limit of the pseudo-code phase interval, i.e., the pseudo-code phase interval is: [p0-n*Δt, p0-n*Δt], where n is the number of correlation peaks in the correlation results and Δt is the unit time delay. Since the phase is adjusted before the satellite navigation signal is acquired, it is necessary to restore the advanced or delayed phase when confirming the satellite navigation signal.

[0089] The following describes in detail a multi-antenna satellite navigation signal acquisition method provided in this application embodiment, using a certain aircraft as an example.

[0090] Figure 5 This is a schematic cross-sectional view of an aircraft, which includes three patch antennas on its outer surface.

[0091] The signals received by each antenna {E1, E2, E3} are down-converted to intermediate-frequency signals {S1(t), S2(t), S3(t)} by the RF front-end. The phase value corresponding to S1(t) is p1, the phase value corresponding to S2(t) is p2, and the phase value corresponding to S3(t) is p3. Take half a chip τ / 2 of the pseudo-code as the unit delay. Taking the intermediate-frequency signal S1(t) of the first antenna as the reference signal, the preset order is the order of the antenna labels from small to large. That is, the order of the intermediate-frequency signal corresponding to the second antenna in the preset order is 1, and after a delay of τ / 2, it is S2(t - τ / 2). The order of the intermediate-frequency signal corresponding to the third antenna in the preset order is 2, and after a delay of τ, it is S3(t - τ). After delaying and superimposing the signals to synthesize a new signal S'(t), the correlation between S'(t) and the pseudo-code generated by the antenna receiver is performed to obtain the signal to be captured.

[0092] The signal to be captured is respectively mixed with the local carrier signal, and the pseudo-code is stripped by using the correlator through the local pseudo-code signal, and coherent integration and non-coherent integration are performed to obtain 3 correlation peaks. The Doppler frequency of the captured signal is f0, the peak value of the maximum correlation peak is m, and its corresponding pseudo-code phase is p0, as Figure 4 shown in the second correlation peak. After carrier stripping of {S1(t), S2(t), S3(t)} respectively at the Doppler frequency f0, the corresponding first stripped signals are obtained: {S

[0094] , , 22 ,

[0093] , 33 , , 33 , 11 , 11 , 22 (t), S 22 (t), S 33 (t)}; After pseudo-code signal stripping of {S 11 (t), S 22 (t), S 33 (t)}, the corresponding second stripped signals are obtained: {S' 11 (t), S' 22 (t), S' 33 (t)}; After coherent integration and then non-coherent integration of {S' 11 (t), S' 22 (t), S' 33 (t)} respectively, the non-coherent integration values a corresponding to S' 11 (t), the non-coherent integration value b corresponding to S' 22 (t), and the non-coherent integration value c corresponding to S' 33 (t) are obtained;

[0093] Search among the non-coherent integration values a, b, and c. If it is determined that both a and b are within the pseudo-code phase interval [p0 - 3*τ / 2, p0 + 3*τ / 2] and a < b, then the satellite navigation signal received by the second antenna corresponding to b is used to track the aircraft.

[0094] Based on the same inventive concept, this application also provides a multi-antenna satellite navigation signal acquisition device 600, such as... Figure 6 As shown, the device includes:

[0095] The signal delay superposition module 601 is used to select one of the intermediate frequency signals corresponding to multiple satellite navigation signals as a reference signal, delay the remaining intermediate frequency signals according to the reference signal in a preset order, and superimpose the intermediate frequency signals corresponding to each antenna after delay to obtain the signal to be captured. The intermediate frequency signal is obtained by downconverting the received satellite navigation signal.

[0096] The signal acquisition module 602 is used to perform frequency mixing processing on the signal to be acquired and the local carrier signal, and then use a correlator to strip the pseudocode from the signal to be acquired after frequency mixing processing based on the local pseudocode signal; and to perform coherent integration and incoherent integration on the signal to be acquired after pseudocode stripping to obtain the peak value of at least one correlation peak.

[0097] The signal confirmation module 603 is used to take the peak value of the largest correlation peak among the at least one correlation peak and the carrier frequency of the captured signal as the capture result; obtain the pseudo-code phase p0 corresponding to the peak value of the largest correlation peak, and determine the corresponding pseudo-code phase interval based on p0; perform carrier stripping on the intermediate frequency signal before delay corresponding to each antenna using the captured carrier frequency to obtain a first stripped signal; multiply the first stripped signal corresponding to each antenna with the local pseudo-code signal generated by the antenna receiver to obtain a second stripped signal; perform coherent integration and incoherent integration on the second stripped signal, and determine the target antenna for tracking based on the incoherent integration result, and determine to use the target antenna to track the corresponding satellite navigation signal.

[0098] In one or more embodiments, the device further includes a delay module for delaying the intermediate frequency (IF) signals corresponding to each antenna in a preset order, based on one of the IF signals, including:

[0099] Starting with the reference signal, the remaining intermediate frequency signals are delayed by i units according to the preset order;

[0100] Where i represents the order of the intermediate frequency signals corresponding to each antenna in a preset sequence, the order of the reference signal is 0, and the unit delay is a preset value.

[0101] In one or more embodiments, the device further includes a determining module for determining whether the satellite navigation signal has been successfully acquired based on relevant results, including:

[0102] The signal to be captured is captured to obtain the peak value of at least one related peak;

[0103] If the peak value of the maximum correlation peak does not exceed the acquisition threshold, then the signal acquisition under satellite navigation is determined to have failed; or

[0104] If the peak value of a relevant peak exceeds the acquisition threshold, then the signal acquisition under satellite navigation is determined to be successful.

[0105] In one or more embodiments, the signal confirmation module 603 is configured to perform incoherent integration on the second stripped signal and determine the target antenna for tracking based on the incoherent integration result, including:

[0106] The second stripped signal is coherently integrated and incoherently integrated to obtain the incoherent integration value corresponding to each antenna.

[0107] When searching for the incoherent values ​​corresponding to each antenna, and determining that the maximum incoherent integral value located within the pseudocode phase interval is found, it is determined that the satellite navigation signal corresponding to the maximum incoherent integral value is the strongest among the target antennas, and it is determined that the target antennas will be used to track the corresponding satellite navigation signal.

[0108] In one or more embodiments, the signal confirmation module 603 is configured to determine the pseudocode phase interval in the following manner:

[0109] The phase fluctuation value is determined by multiplying the peak value of the largest correlation peak in the relevant results by the product of the peak value and the unit time delay.

[0110] The difference between p0 and the phase fluctuation value is used as the lower limit of the pseudocode phase interval;

[0111] The sum of p0 and the phase float value is used as the upper limit of the pseudocode phase interval.

[0112] Based on the same inventive concept, this application also provides a multi-antenna satellite navigation signal acquisition device, the device comprising:

[0113] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the aforementioned multi-antenna satellite navigation signal acquisition method.

[0114] like Figure 7 As shown, the satellite beam adjustment device 700 includes a processor 701, a memory 702, and a communication interface 703; and an antenna 705. The processor 701, memory 702, communication interface 703, and antenna 705 are interconnected via a bus 704.

[0115] The processor 701 is used to read and execute instructions from the memory 702, so that the at least one processor can execute the multi-antenna satellite navigation signal acquisition method provided in the above embodiments.

[0116] In one or more embodiments, the processor 701 is configured to downconvert satellite navigation signals received by multiple antennas into intermediate frequency signals, wherein the satellite navigation signals arrive at each antenna at different times;

[0117] Select one intermediate frequency signal as the reference signal, and delay the remaining intermediate frequency signals in a preset order according to the reference signal;

[0118] The intermediate frequency signals corresponding to each antenna after the delay are superimposed to obtain the signal to be acquired.

[0119] The signal to be captured is captured, and the success of the satellite navigation signal capture is determined based on the relevant peak threshold decision result.

[0120] In one or more embodiments, the processor 701 is configured to delay the intermediate frequency (IF) signals corresponding to each antenna in a preset order, based on one of the IF signals, including:

[0121] Starting with the reference signal, the remaining intermediate frequency signals are delayed by i units according to the preset order;

[0122] Where i represents the order of the intermediate frequency signals corresponding to each antenna in a preset sequence, the order of the reference signal is 0, and the unit delay is a preset value.

[0123] In one or more embodiments, the processor 701 is configured to determine whether the satellite navigation signal has been successfully acquired based on a relevant peak threshold determination result, including:

[0124] The signal to be captured is captured to obtain the peak value of at least one related peak;

[0125] If the peak value of the maximum correlation peak does not exceed the acquisition threshold, then the satellite navigation signal acquisition is determined to have failed; or

[0126] If the peak value of any relevant peak exceeds the acquisition threshold, then the satellite navigation signal is determined to have been successfully acquired.

[0127] In one or more embodiments, the processor 701 is configured to capture the signal to be captured to obtain the peak value of at least one related peak, including:

[0128] The signal to be captured is mixed with the local carrier signal, and then the pseudocode is stripped from the mixed signal using a correlator based on the local pseudocode signal.

[0129] The signal to be captured after stripping the pseudocode is coherently integrated and incoherently integrated to obtain the peak value of at least one correlated peak.

[0130] In one or more embodiments, after determining that the satellite navigation signal has been successfully acquired, the processor 701 further includes:

[0131] The peak value of the maximum correlation peak and the carrier frequency of the captured signal are used as the capture result;

[0132] Obtain the pseudocode phase p0 corresponding to the peak value of the maximum correlation peak, and determine the corresponding pseudocode phase interval based on p0;

[0133] The intermediate frequency signal before delay corresponding to each antenna is stripped using the captured carrier frequency to obtain the first stripped signal;

[0134] The first stripping signal corresponding to each antenna is multiplied by the local pseudocode signal generated by the antenna receiver to obtain the second stripping signal;

[0135] The second stripped signal is coherently integrated and incoherently integrated, and the target antenna for tracking is determined based on the incoherent integration result.

[0136] In one or more embodiments, the processor 701 is configured to perform incoherent integration on the second stripped signal and determine a target antenna for tracking based on the incoherent integration result, including:

[0137] The second stripped signal is coherently integrated and incoherently integrated to obtain the incoherent integration value corresponding to each antenna.

[0138] When searching for the incoherent values ​​corresponding to each antenna, and determining that the maximum incoherent integral value located within the pseudocode phase interval is found, it is determined that the satellite navigation signal corresponding to the maximum incoherent integral value is the strongest among the target antennas, and it is determined that the target antennas will be used to track the corresponding satellite navigation signal.

[0139] In one or more embodiments, the processor 701 is configured to determine the pseudocode phase interval in the following manner:

[0140] The phase fluctuation value is determined by multiplying the peak value of the largest correlation peak in the relevant results by the product of the peak value and the unit time delay.

[0141] The difference between p0 and the phase fluctuation value is used as the lower limit of the pseudocode phase interval;

[0142] The sum of p0 and the phase float value is used as the upper limit of the pseudocode phase interval.

[0143] The memory 702 is used to store various instructions and programs for the multi-antenna satellite navigation signal acquisition method provided in the above embodiments.

[0144] The 704 bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0145] The processor 701 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or any combination of CPU, NP, and GPU. It can also be a hardware chip. The aforementioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0146] In addition, this application also provides a computer-readable storage medium storing a computer program for causing a computer to perform the method described in any of the above embodiments.

[0147] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0149] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0150] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for acquiring multi-antenna satellite navigation signals, characterized in that, The method includes: The satellite navigation signals received by multiple antennas are down-converted into intermediate frequency signals, wherein the satellite navigation signals arrive at each antenna at different times; Select one intermediate frequency signal as the reference signal, and delay the remaining intermediate frequency signals in a preset order according to the reference signal; The intermediate frequency signals corresponding to each antenna after the delay are superimposed to obtain the signal to be acquired. The signal to be acquired is captured, and the peak value of at least one correlation peak is obtained. If the peak value of any correlation peak exceeds the acquisition threshold, the satellite navigation signal is determined to have been successfully acquired. The peak value of the largest correlation peak among the peak values ​​of the at least one correlation peak and the carrier frequency of the acquired signal are taken as the acquisition result. The pseudo-code phase p0 corresponding to the peak value of the largest correlation peak is obtained. The corresponding pseudo-code phase interval is determined according to p0. The intermediate frequency signal before the delay corresponding to each antenna is stripped using the acquired carrier frequency to obtain a first stripped signal. The first stripped signal corresponding to each antenna is multiplied with the local pseudo-code signal generated by the antenna receiver to obtain a second stripped signal. The second stripped signal is coherently integrated and incoherently integrated to obtain the incoherent integration value corresponding to each antenna. The incoherent values ​​corresponding to each antenna are searched. When the largest incoherent integration value located within the pseudo-code phase interval is found, the satellite navigation signal corresponding to the largest incoherent integration value is determined to be the strongest among the target antennas, and the target antenna is used to track the corresponding satellite navigation signal.

2. The method according to claim 1, characterized in that, The intermediate frequency (IF) signals corresponding to each antenna are delayed in a preset order based on one of the IF signals, including: Starting with the reference signal, the remaining intermediate frequency signals are delayed by i units according to the preset order; Where i represents the order of the intermediate frequency signals corresponding to each antenna in a preset sequence, the order of the reference signal is 0, and the unit delay is a preset value.

3. The method according to claim 1, characterized in that, The method further includes: If the peak value of the maximum correlation peak does not exceed the acquisition threshold, then the satellite navigation signal acquisition is determined to have failed.

4. The method according to claim 1, characterized in that, The step of capturing the signal to be captured to obtain the peak value of at least one related peak includes: The signal to be captured is mixed with the local carrier signal, and then the pseudocode is stripped from the mixed signal using a correlator based on the local pseudocode signal. The signal to be captured after stripping the pseudocode is coherently integrated and incoherently integrated to obtain the peak value of at least one correlated peak.

5. The method according to claim 1, characterized in that, The pseudocode phase interval is determined as follows: The phase fluctuation value is determined by multiplying the number of relevant peaks in the relevant results by the unit time delay; The difference between p0 and the phase fluctuation value is used as the lower limit of the pseudocode phase interval; The sum of p0 and the phase float value is used as the upper limit of the pseudocode phase interval.

6. A multi-antenna satellite navigation signal acquisition device, characterized in that, The device includes: The signal delay superposition module is used to select one of the intermediate frequency signals corresponding to multiple satellite navigation signals as a reference signal, delay the remaining intermediate frequency signals according to the reference signal in a preset order, and superimpose the intermediate frequency signals corresponding to each antenna after delay to obtain the signal to be captured. The intermediate frequency signal is obtained by downconverting the received satellite navigation signal. The signal acquisition module is used to mix the signal to be acquired with the local carrier signal, and then use a correlator to strip the pseudocode from the mixed signal based on the local pseudocode signal; the pseudocode-stripped signal to be acquired is then subjected to coherent integration and incoherent integration to obtain the peak value of at least one correlation peak. The signal confirmation module is used to take the peak value of the largest correlation peak among the at least one correlation peak and the carrier frequency of the captured signal as the capture result; obtain the pseudo-code phase p0 corresponding to the peak value of the largest correlation peak, and determine the corresponding pseudo-code phase interval based on p0; perform carrier stripping on the intermediate frequency signal before delay corresponding to each antenna using the captured carrier frequency to obtain a first stripped signal; multiply the first stripped signal corresponding to each antenna with the local pseudo-code signal generated by the antenna receiver to obtain a second stripped signal; perform coherent integration and incoherent integration on the second stripped signal to obtain the incoherent integration value corresponding to each antenna; search for the incoherent value corresponding to each antenna; when the largest incoherent integration value located within the pseudo-code phase interval is found, determine that the satellite navigation signal corresponding to the largest incoherent integration value is the strongest among the target antennas, and determine to use the target antenna to track the corresponding satellite navigation signal.

7. A multi-antenna satellite navigation signal acquisition device, characterized in that, The device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores a computer program that enables the computer to perform the method as described in any one of claims 1-5.

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