Satellite signal carrier-to-noise ratio estimation method and apparatus

Abstract

The embodiment of the present application provides a satellite signal carrier-to-noise ratio estimation method and device, which comprises: processing a satellite signal to obtain a digital intermediate frequency signal; acquiring a capture detection statistic quantity by performing pseudo code capture on the corresponding digital intermediate frequency signal according to a satellite number; if the capture detection statistic quantity is greater than a preset threshold, acquiring the digital intermediate frequency signal of a preset segment number and a preset data length; for each segment of the digital intermediate frequency signal, acquiring a capture correlation value by performing pseudo code capture, calculating a segmented correlation ratio value according to the capture correlation value, and obtaining an average correlation ratio value; calculating an absolute value of an autocorrelation function of a pseudo code sequence of the satellite signal, calculating a theoretical correlation ratio value based on a maximum value and a second maximum value, and acquiring a number of second maximum correlation values relative to the second maximum value; calculating an equivalent parameter according to the average correlation ratio value, the theoretical correlation ratio value and the number of second maximum correlation values; and calculating a carrier-to-noise ratio estimation value according to the equivalent parameter. The embodiment of the present application realizes fast and high-precision estimation of the carrier-to-noise ratio based on a small amount of data.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of signal processing and analysis, in particular to a satellite signal carrier-to-noise ratio estimation method and device. BACKGROUND

[0002] Global navigation satellite system (GNSS) represented by GPS, GLONASS, Galileo and Beidou can provide all-weather positioning, navigation and timing services for users. GNSS not only occupies an irreplaceable position in traditional application scenarios such as military, power, navigation and surveying, but also plays a potential role in many emerging intelligent application scenarios such as unmanned driving, mobile communication, Internet and Internet of Things, promotes the integration and integration of information, and creates a new "GNSS+" era.

[0003] Among various indicators of satellite signals, carrier-to-noise ratio C / N0 is a commonly used indicator for measuring signal quality, and is a standard measurement scale for indicating the relationship between signal and noise. C / N0 is independent of signal receiving bandwidth and is an important parameter for describing signal receiving quality. Higher C / N0 represents better signal quality, and the corresponding signal pseudorange and carrier phase observation accuracy is also higher, which is beneficial to improve the subsequent navigation and positioning accuracy. In addition to measuring satellite signal quality, C / N0 can also be used for deception jamming detection. Once it is found that C / N0 is too large and exceeds the normal signal range, it indicates that the current signal is usually deception jamming. However, the above various applications based on carrier-to-noise ratio often depend on the estimation accuracy of carrier-to-noise ratio. In order to obtain accurate carrier-to-noise ratio estimation results, researchers have proposed methods such as wide / narrow band power ratio method, correlator comparison method, variance summation method and moment estimation method. However, due to the dependence of these methods on signal tracking process and the influence of their own estimation performance, these methods generally need to process several seconds or even tens of seconds of signals to obtain higher carrier-to-noise ratio estimation accuracy. This greatly affects the speed of carrier-to-noise ratio estimation, and further seriously affects the subsequent various applications based on carrier-to-noise ratio. SUMMARY

[0004] In view of the defects in the prior art, the embodiment of the present application provides a satellite signal carrier-to-noise ratio estimation method and device.

[0005] The embodiment of the present application provides a satellite signal carrier-to-noise ratio estimation method, comprising: processing a received satellite signal to obtain a digital intermediate frequency signal; performing pseudo code acquisition on the corresponding digital intermediate frequency signal according to a satellite number to obtain an acquisition detection statistic; in response to the acquisition detection statistic being greater than a preset threshold, obtaining a signal of a preset segment number and a preset data length from the digital intermediate frequency signal corresponding to the satellite number; for each segment of the digital intermediate frequency signal, obtaining a corresponding acquisition correlation value through pseudo code acquisition, calculating a global maximum correlation value and an in-frequency maximum correlation value according to the acquisition correlation value, calculating a segmented correlation ratio value according to the global maximum correlation value and the in-frequency maximum correlation value, averaging the segmented correlation ratio values corresponding to the preset segment number of the digital intermediate frequency signal to obtain an average correlation ratio value; calculating an autocorrelation function of a pseudo code sequence of a satellite signal according to the satellite number, calculating a theoretical correlation ratio value based on a maximum value and a second largest value according to the absolute value of the autocorrelation function, and obtaining a number of second largest correlation values relative to the second largest value; calculating an equivalent parameter according to the average correlation ratio value, the theoretical correlation ratio value and the number of second largest correlation values; and calculating a carrier-to-noise ratio estimation value according to the equivalent parameter.

[0006] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, after the acquisition detection statistic is obtained, the method further comprises: in response to the acquisition detection statistic being less than or equal to the preset threshold, performing the pseudo code acquisition on the digital intermediate frequency signal of the next satellite number to obtain the acquisition detection statistic.

[0007] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, the calculation of the global maximum correlation value and the in-frequency maximum correlation value according to the acquisition correlation value comprises: obtaining a maximum value of the acquisition correlation value as the global maximum correlation value; obtaining a carrier frequency and a code phase corresponding to the global maximum correlation value; and obtaining a maximum value of other acquisition correlation values having the same carrier frequency as the global maximum correlation value and being separated by at least two chips as the in-frequency maximum correlation value.

[0008] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, the calculation of the segmented correlation ratio value according to the global maximum correlation value and the in-frequency maximum correlation value comprises: obtaining the segmented correlation ratio value by calculating the ratio of the global maximum correlation value to the in-frequency maximum correlation value.

[0009] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, the calculation of the theoretical correlation ratio value based on the maximum value and the second largest value comprises: obtaining the theoretical correlation ratio value by calculating the ratio of the second largest value to the maximum value.

[0010] According to an embodiment of the present invention, a satellite signal carrier-to-noise ratio estimation method is provided, wherein the relationship between the average correlation ratio, the theoretical correlation ratio, the number of second-largest correlation values, and the equivalent parameter is expressed as follows:

[0011]

[0012] in, N represents the average correlation ratio, p represents the theoretical correlation ratio, and N represents the theoretical correlation ratio. y The number of the second largest correlation values ​​is represented by σ, the equivalent parameter is represented by f(x;n,δ), and f(x;n,δ) represents... The probability density function, F(x;n,δ), represents The probability distribution function, This represents a chi-square distribution with n degrees of freedom and a non-central parameter of δ.

[0013] According to an embodiment of the present invention, a satellite signal carrier-to-noise ratio estimation method is provided, wherein the estimated carrier-to-noise ratio value is expressed as:

[0014] (C / N0) m = -10log(2Tσ)

[0015] Among them, (C / N0) m The carrier-to-noise ratio estimate of the satellite signal with satellite number m is given, and T represents the preset data length.

[0016] The embodiment of the present application also provides a satellite signal carrier-to-noise ratio estimation device, comprising: a front-end processing module, configured to process received satellite signals to obtain digital intermediate frequency signals; an acquisition detection statistic acquisition module, configured to perform code acquisition on corresponding digital intermediate frequency signals according to satellite numbers to acquire acquisition detection statistics; a segmented processing module, configured to acquire signals of a preset number of segments and a preset data length from the digital intermediate frequency signals corresponding to the satellite numbers in response to the acquisition detection statistics being greater than a preset threshold; an average correlation ratio acquisition module, configured to acquire corresponding acquisition correlation values through code acquisition for each of the digital intermediate frequency signals, calculate a global maximum correlation value and a same-frequency maximum correlation value according to the acquisition correlation values, calculate a segmented correlation ratio according to the global maximum correlation value and the same-frequency maximum correlation value, average the segmented correlation ratios corresponding to the preset number of segments of the digital intermediate frequency signals to obtain an average correlation ratio; a theoretical correlation ratio and a number of secondary maximum correlation values acquisition module, configured to calculate an autocorrelation function of a satellite signal code sequence according to the satellite numbers, calculate a theoretical correlation ratio based on a maximum value and a secondary maximum value according to the absolute value of the autocorrelation function, and acquire a number of secondary maximum correlation values relative to the secondary maximum value; an equivalent parameter calculation module, configured to calculate an equivalent parameter according to the average correlation ratio, the theoretical correlation ratio, and the number of secondary maximum correlation values; and a carrier-to-noise ratio estimation module, configured to calculate a carrier-to-noise ratio estimation value according to the equivalent parameter.

[0017] The embodiment of the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the satellite signal carrier-to-noise ratio estimation method according to any of the above when executing the program.

[0018] The embodiment of the present application also provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the steps of the satellite signal carrier-to-noise ratio estimation method according to any of the above.

[0019] The embodiment of the present application also provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the steps of the satellite signal carrier-to-noise ratio estimation method according to any of the above.

[0020] The satellite signal carrier-to-noise ratio estimation method and device provided by the embodiment of the application, by processing the received satellite signal, obtaining a digital intermediate frequency signal, according to the satellite number, performing code capture on the corresponding digital intermediate frequency signal, acquiring a capture detection statistic, in response to the capture detection statistic being greater than a preset threshold, acquiring a signal of a preset number of segments and a preset data length from the digital intermediate frequency signal corresponding to the satellite number, for each segment of the digital intermediate frequency signal, obtaining a corresponding capture correlation value through code capture, calculating a global maximum correlation value and a same-frequency maximum correlation value according to the capture correlation value, calculating a segmented correlation ratio value according to the global maximum correlation value and the same-frequency maximum correlation value, averaging the segmented correlation ratio values corresponding to the preset number of segments of the digital intermediate frequency signal to obtain an average correlation ratio value, according to the satellite number, calculating an autocorrelation function of the satellite signal code sequence, according to the absolute value of the autocorrelation function, calculating a theoretical correlation ratio value based on the maximum value and the second largest value, and acquiring the number of second largest correlation values relative to the second largest value, calculating an equivalent parameter according to the average correlation ratio value, the theoretical correlation ratio value and the number of second largest correlation values, calculating a carrier-to-noise ratio estimation value according to the equivalent parameter, realizing that the carrier-to-noise ratio of the received signal can be quickly estimated through the correlation value ratio obtained by code capture, compared with the existing carrier-to-noise ratio estimation method based on the tracking process, the required data amount is shorter, the carrier-to-noise ratio estimation of the received signal can be quickly realized, high-precision estimation can be realized, and the method has the advantages of less required data amount, high carrier-to-noise ratio estimation precision, fast estimation speed and the like, and has a wide application prospect in the fields of satellite navigation signal quality monitoring based on carrier-to-noise ratio and spoofing interference detection. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a flow diagram of a satellite signal carrier-to-noise ratio estimation method provided by an embodiment of the application;

[0023] Figure 2 is a structural diagram of a satellite signal carrier-to-noise ratio estimation device provided by an embodiment of the application;

[0024] Figure 3 is a structural diagram of an electronic device provided by an embodiment of the application. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0026] In order to solve the problems that the traditional carrier-to-noise ratio estimation method needs long data and thus the carrier-to-noise ratio estimation speed is slow and the method is difficult to be applied to a short data scene, the present application provides a method for quickly estimating the carrier-to-noise ratio by using short data, which can realize fast carrier-to-noise ratio estimation, can be applied to a carrier-to-noise ratio estimation scene in which long data is difficult to be obtained, i.e., only short data can be obtained, and can achieve the target of fast carrier-to-noise ratio estimation and high-precision carrier-to-noise ratio estimation.

[0027] Figure 1 is a flowchart of a satellite signal carrier-to-noise ratio estimation method provided by an embodiment of the present application. As shown in Figure 1 , the method comprises the following steps.

[0028] Step S1: processing received satellite signals to obtain digital intermediate frequency signals.

[0029] According to the type of the global navigation satellite system to be processed, the satellite signal receiver receives satellite signals of the corresponding type, for example, if the carrier-to-noise ratio of GPS signals is to be estimated, GPS signals of the GPS satellite navigation system are received; if the carrier-to-noise ratio of Beidou signals is to be estimated, Beidou signals of the Beidou satellite navigation system are received.

[0030] The received satellite signals are processed to obtain digital intermediate frequency signals. Various types of global navigation satellite systems include multiple satellites. According to the type of the global navigation satellite system to be processed, the received satellite signals of the corresponding type of multiple satellites are processed to obtain digital intermediate frequency signals. The signals of multiple satellites in the digital intermediate frequency signals are obtained by processing the satellite signals of multiple satellites, and the digital intermediate frequency signals of different satellites can be distinguished by satellite number.

[0031] The digital intermediate frequency signals can be obtained by amplifying, frequency converting, sampling and other front-end processing of the received satellite signals according to conventional methods.

[0032] Step S2: performing pseudo-code acquisition on the corresponding digital intermediate frequency signals according to the satellite number to obtain acquisition detection statistics.

[0033] According to the satellite number, the digital intermediate frequency signal obtained from the satellite signal of the corresponding satellite is subjected to code acquisition, and an acquisition detection statistic is obtained. The code acquisition, acquisition detection statistic acquisition and subsequent processing can be performed in sequence according to the satellite number. For example, the digital intermediate frequency signal obtained from the satellite signal of the satellite numbered m is subjected to code acquisition, and an acquisition detection statistic is obtained.

[0034] Step S3, in response to the acquisition detection statistic being greater than a preset threshold, obtaining a signal of a preset number of segments and a preset data length from the digital intermediate frequency signal corresponding to the satellite number.

[0035] If the acquisition detection statistic is greater than the preset threshold, it indicates that the satellite signal of the satellite numbered m is successfully acquired, and then the carrier-to-noise ratio is quickly estimated. First, a signal of a preset number of segments and a preset data length is obtained from the digital intermediate frequency signal corresponding to the satellite numbered m. Here, the preset number of segments is N, and the preset data length is T seconds, that is, N segments of data with a data length of T seconds are taken from the digital intermediate frequency signal. These data segments can be continuous or discontinuous.

[0036] Step S4, for each segment of the digital intermediate frequency signal, a corresponding acquisition correlation value is obtained by code acquisition, a global maximum correlation value and a same-frequency maximum correlation value are calculated according to the acquisition correlation value, a segmented correlation ratio is calculated according to the global maximum correlation value and the same-frequency maximum correlation value, and an average correlation ratio is obtained by averaging the segmented correlation ratios corresponding to the preset number of segments of the digital intermediate frequency signal.

[0037] For example, for the nth(n=1, 2, 3, …, N) signal obtained, code acquisition is performed according to the conventional method, a corresponding acquisition correlation value is obtained, a global maximum correlation value and a same-frequency maximum correlation value are calculated according to the acquisition correlation value, a segmented correlation ratio is calculated according to the global maximum correlation value and the same-frequency maximum correlation value, and an average correlation ratio is obtained by averaging the segmented correlation ratios corresponding to the preset number of segments of the digital intermediate frequency signal.

[0038] Step S5, according to the satellite number, calculating an autocorrelation function of the code sequence of the satellite signal, calculating a theoretical correlation ratio based on the maximum value and the second largest value according to the absolute value of the autocorrelation function, and obtaining the number of second largest correlation values relative to the second largest value.

[0039] The satellite signal pseudo code sequences of different satellites are different, and the satellite signal pseudo code sequences can be published by each satellite navigation system. For example, for the m satellite currently processed, the autocorrelation function of the satellite signal pseudo code sequence of the satellite is calculated, and the absolute value is taken to obtain the maximum value and the second maximum value in the absolute value of the autocorrelation function. The theoretical correlation ratio is calculated according to the maximum value and the second maximum value in the absolute value of the autocorrelation function, and the number of second maximum correlation values relative to the second maximum value is obtained. The number of second maximum correlation values relative to the second maximum value refers to the number of values in the absolute value of the autocorrelation function that are only second to the second maximum value.

[0040] In step S6, the equivalent parameter is calculated according to the average correlation ratio, the theoretical correlation ratio and the number of second maximum correlation values.

[0041] According to the established relationship among the average correlation ratio, the theoretical correlation ratio, the number of second maximum correlation values and the equivalent parameter, the equivalent parameter is calculated according to the obtained average correlation ratio, the theoretical correlation ratio and the number of second maximum correlation values.

[0042] In step S7, the carrier-to-noise ratio estimation value is calculated according to the equivalent parameter.

[0043] According to the established relationship between the equivalent parameter and the carrier-to-noise ratio estimation value, the carrier-to-noise ratio estimation value is calculated according to the calculated equivalent parameter.

[0044] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application, by processing the received satellite signal, obtaining a digital intermediate frequency signal, according to the satellite number, performing pseudo code acquisition on the corresponding digital intermediate frequency signal, obtaining an acquisition detection statistic, in response to the acquisition detection statistic being greater than a preset threshold, obtaining a signal of a preset segment number and a preset data length from the digital intermediate frequency signal corresponding to the satellite number, for each segment of the digital intermediate frequency signal, obtaining a corresponding acquisition correlation value through pseudo code acquisition, calculating a global maximum correlation value and a same frequency maximum correlation value according to the acquisition correlation value, calculating a segmented correlation ratio according to the global maximum correlation value and the same frequency maximum correlation value, averaging the segmented correlation ratios corresponding to the preset segment number of the digital intermediate frequency signal to obtain an average correlation ratio, calculating an autocorrelation function of the satellite signal pseudo code sequence according to the satellite number, calculating a theoretical correlation ratio based on the maximum value and the second maximum value according to the size of the absolute value of the autocorrelation function, and obtaining the number of second maximum correlation values relative to the second maximum value, calculating an equivalent parameter according to the average correlation ratio, the theoretical correlation ratio and the number of second maximum correlation values, calculating a carrier-to-noise ratio estimation value according to the equivalent parameter, which realizes that the carrier-to-noise ratio of the received signal can be quickly estimated through the correlation value ratio obtained by pseudo code acquisition. Compared with the existing carrier-to-noise ratio estimation method based on the tracking process, the required data amount is shorter, the carrier-to-noise ratio estimation of the received signal can be quickly realized, high-precision estimation can be realized, and the method has the advantages of less required data amount, high carrier-to-noise ratio estimation precision, fast estimation speed and the like, and has a wide application prospect in the fields of satellite navigation signal quality monitoring based on carrier-to-noise ratio and deception jamming detection.

[0045] According to an embodiment of the present invention, a satellite signal carrier-to-noise ratio estimation method further includes, after obtaining the acquisition detection statistics, the method further includes: in response to the acquisition detection statistics being less than or equal to the preset threshold, performing the pseudocode acquisition and obtaining the acquisition detection statistics step on the digital intermediate frequency signal of the next satellite number.

[0046] If the capture detection statistic is less than or equal to a preset threshold, it means the satellite signal of satellite m has not been successfully captured. The process then continues with pseudocode capture for the next satellite number, such as capturing the signal of satellite m+1, and obtaining the capture detection statistic. If the capture detection statistic of satellite m+1 is greater than the preset threshold, it means the signal of satellite m+1 has been successfully captured, and the subsequent processing steps for carrier-to-noise ratio (CNR) estimation continue. If the capture detection statistic of satellite m+1 is less than or equal to the preset threshold, it means the signal of satellite m+1 has not been successfully captured, and the process then continues with pseudocode capture for satellite m+2, obtaining the capture detection statistic. This process continues until the CNR of all satellite signals in the corresponding satellite navigation system is estimated.

[0047] The satellite signal carrier-to-noise ratio estimation method provided in this embodiment of the invention can achieve carrier-to-noise ratio estimation for all satellite signals by performing pseudocode acquisition on the digital intermediate frequency signal of the next satellite number in response to the acquisition detection statistic being less than or equal to a preset threshold.

[0048] According to an embodiment of the present invention, a method for estimating the carrier-to-noise ratio of a satellite signal, wherein calculating the global maximum correlation value and the co-frequency maximum correlation value based on the acquisition correlation value includes: obtaining the maximum value of the acquisition correlation value as the global maximum correlation value; obtaining the carrier frequency and code phase corresponding to the global maximum correlation value; and obtaining the largest of the other acquisition correlation values ​​that have the same carrier frequency as the global maximum correlation value and are at least two code chips apart as the co-frequency maximum correlation value.

[0049] For each segment of the digital intermediate frequency signal, the corresponding acquisition correlation value is obtained through pseudocode acquisition. For example, for the obtained nth segment (n = 1, 2, 3, ..., N) of the signal, pseudocode acquisition is performed using conventional methods to obtain the corresponding acquisition correlation value V. n (f,τ), where f represents the carrier frequency and τ represents the code phase, and then the corresponding parameters are calculated according to equations (1) to (3). and in, Represents the capture correlation value V n The maximum value in (f,τ) is called the global maximum correlation value; (fdn ,τ qn ) two parameters represent corresponding carrier frequency and code phase; represent the maximum of other correlation values with the same carrier frequency f dn of the maximum correlation value, called the same frequency maximum correlation value.

[0050]

[0051]

[0052]

[0053] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application obtains the maximum of the acquisition correlation value as the global maximum correlation value, obtains the carrier frequency and code phase corresponding to the global maximum correlation value, obtains the maximum of other acquisition correlation values with the same carrier frequency and at least two chips away from the global maximum correlation value as the same frequency maximum correlation value, and gives a method for obtaining the global maximum correlation value and the same frequency maximum correlation value, which can realize high-precision carrier-to-noise ratio fast estimation.

[0054] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application, the segmented correlation ratio is calculated based on the global maximum correlation value and the same frequency maximum correlation value, and the segmented correlation ratio is obtained by calculating the ratio of the global maximum correlation value and the same frequency maximum correlation value.

[0055] The global maximum correlation value and the same frequency maximum correlation value are used to calculate the corresponding segmented correlation ratio

[0056] The segmented correlation ratios corresponding to the preset number of digital intermediate frequency signals are averaged to obtain an average correlation ratio. The average correlation ratio

[0057] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application obtains the segmented correlation ratio by calculating the ratio of the global maximum correlation value and the same frequency maximum correlation value, and gives a method for obtaining the segmented correlation ratio, which can realize high-precision carrier-to-noise ratio fast estimation.

[0058] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application, the theoretical correlation ratio is calculated based on the maximum value and the second largest value, and the theoretical correlation ratio is obtained by calculating the ratio of the second largest value and the maximum value.

[0059] Let the maximum value in the absolute value of the autocorrelation function be represented as Cm The second largest value in the absolute value of the autocorrelation function is represented as C s The theoretical correlation ratio is obtained by calculating the ratio of the second largest value to the largest value in the absolute value of the autocorrelation function. The theoretical correlation ratio is represented as p The number of the second largest correlation values in the absolute value of the autocorrelation function is represented as N s . y .

[0060] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application gives a method for obtaining the theoretical correlation ratio which can realize high-precision carrier-to-noise ratio estimation.

[0061] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, the relationship between the average correlation ratio, the theoretical correlation ratio, the number of the second largest correlation values and the equivalent parameter is represented as:

[0062]

[0063] Wherein, represents the average correlation ratio, p represents the theoretical correlation ratio, N y represents the number of the second largest correlation values, and σ represents the equivalent parameter. represents the probability density function of f(x;n, δ), and F(x;n, δ) represents the probability distribution function of . represents the chi-square distribution with n degrees of freedom and δ non-central parameter.

[0064] According to the calculated average correlation ratio , the theoretical correlation ratio p and the number of the second largest correlation values N y , the corresponding equivalent parameter σ is calculated by using formula (4).

[0065] In addition, the calculation of the equivalent parameter σ can be simplified by the following method:

[0066] According to the allowed carrier-to-noise ratio estimation error of the user, formula (4) is approximately processed; according to the result of the approximate processing, the corresponding relationship between the average correlation ratio and the equivalent parameter σ is calculated in advance, and when used, the corresponding equivalent parameter σ is quickly obtained according to the average correlation ratio by using the corresponding relationship.

[0067] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application gives a method for obtaining the equivalent parameter which can realize high-precision carrier-to-noise ratio estimation.

[0068] According to the satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application, the carrier-to-noise ratio estimation value is expressed as:

[0069] (C / N0) m = -10log(2Tσ) (5)

[0070] Wherein, (C / N0) m represents the carrier-to-noise ratio estimation value of the satellite signal of the satellite numbered m, and T represents the preset data length.

[0071] According to the equivalent parameter σ obtained, the corresponding carrier-to-noise ratio estimation value (C / N0) m = -10log(2Tσ) is calculated through formula (5).

[0072] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the present application gives a method for obtaining the carrier-to-noise ratio estimation value according to the equivalent parameter, which can realize high-precision and fast estimation of the carrier-to-noise ratio.

[0073] In order to verify the effect of the present application, the embodiment of the present application carries out test verification by using GPS C / A code signals. The intermediate frequency of the satellite signal after frequency down-conversion is f i = 4.13MHz, and the satellite signal sampling rate is f s = 16.36MHz. The collected signals contain signals of satellites numbered (GPS PRN number) 3, 15, 16, 18, 21 and 22.

[0074] As shown in Table 1, the carrier-to-noise ratio estimation values obtained by the embodiment of the present application under the condition that the data segmentation length is 0.001 seconds and the segmentation number N is 20, 30, 40 and 50 respectively, and the corresponding carrier-to-noise ratio estimation average errors are shown. As can be seen from Table 1, the estimated carrier-to-noise ratio of the present application is very close to the real signal carrier-to-noise ratio. Under the condition that the data segmentation length is 0.001 seconds and the segmentation number N is 20, 30, 40 and 50 respectively, the average errors of the estimated carrier-to-noise ratio compared with the real signal carrier-to-noise ratio are 0.47dB, 0.47dB, 0.46dB and 0.36dB respectively. This shows that the present application has very high carrier-to-noise ratio estimation precision under short data length (such as NT<=0.05s).

[0075] Table 1: Satellite signal carrier-to-noise ratio estimation value (dBHz)

[0076]

[0077] To further illustrate the flow of the satellite signal carrier-to-noise ratio estimation method provided by the embodiments of the present application, the implementation steps of the method are introduced below by taking the GPS C / A code signal as an example. The implementation of the method is not limited to a specific system (applicable to various global navigation satellite systems), signal (such as various frequency intermediate frequency digital signals) and specific parameters (such as various sampling rates), and the user can flexibly select as needed. The specific implementation steps are as follows:

[0078] S1: First, the received satellite signal is amplified, frequency-converted, sampled and the like according to the conventional method to obtain a digital intermediate frequency signal;

[0079] S2: The digital intermediate frequency signal is subjected to C / A code signal acquisition for the GPS satellite with number (PRN number) 1 according to the conventional method. If the obtained acquisition detection statistic is greater than a preset threshold, it indicates that the GPS satellite signal with number 1 is successfully acquired, and then the carrier-to-noise ratio is quickly estimated according to the subsequent steps. Otherwise, if the obtained acquisition detection statistic does not exceed the preset threshold, it indicates that the acquisition fails, and at this time, other GPS satellite signals are continuously acquired;

[0080] S3: From the digital intermediate frequency signal obtained in S1, 20 pieces of data are selected with T=0.001 seconds as a piece;

[0081] S4: The first piece of data in S1 is subjected to code acquisition according to the conventional method to obtain an acquisition correlation value V1(f, τ);

[0082] S5: The global maximum correlation value Vmax(f, τ) is selected from V1(f, τ) and the carrier frequency f corresponding to the correlation value is obtained d1 and the code phase τ q1 ;

[0083] S6: From all the correlation values in V1(f, τ) that satisfy the carrier frequency f d1 and the code phase τ q1 differs from τ by at least two chips, the maximum correlation value Vmax(f, τ) is selected

[0084] S7: The segmented correlation ratio corresponding to the piece of data is calculated according to the global maximum correlation value Vmax(f, τ) and the maximum correlation value Vmax(f, τ) ;

[0085] S8: The segmented correlation ratios corresponding to the remaining 19 pieces of data in S3 are calculated according to steps S4-S7 wherein n=2, 3, …, 20;

[0086] S9: The average correlation ratio is calculated as follows:

[0087] S10: According to the satellite signal pseudo code sequence published by GPS, the pseudo code sequence autocorrelation function of the GPS satellite No. 1 is calculated and the absolute value is taken, according to the size of the data in the absolute value, the maximum correlation value is 1023, the second largest correlation value is 65. The theoretical correlation ratio is calculated The number of the second largest correlation value of 65 in the autocorrelation function is N y = 120;

[0088] S11: According to the average correlation ratio obtained in S9 , and the theoretical correlation ratio p and the number of the second largest correlation value N obtained in S10 y , the corresponding equivalent parameter σ is calculated by using formula (4);

[0089] S12: According to the equivalent parameter σ obtained in S11, the corresponding carrier-to-noise ratio estimate value is calculated according to formula (5).

[0090] S13: Repeat the above steps S2-S12 to estimate the carrier-to-noise ratio of other satellite signals.

[0091] The satellite signal carrier-to-noise ratio estimation method provided by the embodiment of the application aims to design a fast carrier-to-noise ratio estimation method, and quickly estimate the signal carrier-to-noise ratio by using shorter data, so as to solve the problem that the current carrier-to-noise ratio estimation method is slow due to the long data required, and thus seriously affects the subsequent application. At the same time, the application can also be applied to other carrier-to-noise ratio estimation scenes where longer data is difficult to obtain.

[0092] It should be noted that the plurality of preferred embodiments given in the embodiment can be freely combined on the premise that the logic or structure does not conflict with each other, and the application does not limit this.

[0093] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application is described below, and the satellite signal carrier-to-noise ratio estimation device described below can be correspondingly referred to the satellite signal carrier-to-noise ratio estimation method described above.

[0094] Figure 2 is a structural schematic diagram of a satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application. As Figure 2As shown, the device comprises: a front-end processing module 10 configured to process received satellite signals to obtain digital intermediate frequency signals; an acquisition detection statistic acquisition module 20 configured to perform code acquisition on corresponding digital intermediate frequency signals according to satellite numbers to acquire acquisition detection statistics; a segmented processing module 30 configured to, in response to the acquisition detection statistics being greater than a preset threshold, acquire signals of a preset number of segments and a preset data length from the digital intermediate frequency signals corresponding to the satellite numbers; an average correlation ratio acquisition module 40 configured to, for each of the digital intermediate frequency signals, acquire a corresponding acquisition correlation value through code acquisition, calculate a global maximum correlation value and a same-frequency maximum correlation value according to the acquisition correlation value, calculate a segmented correlation ratio according to the global maximum correlation value and the same-frequency maximum correlation value, average the segmented correlation ratios corresponding to the preset number of segments of the digital intermediate frequency signals to obtain an average correlation ratio; a theoretical correlation ratio and a number of secondary maximum correlation values acquisition module 50 configured to calculate an autocorrelation function of a satellite signal code sequence according to the satellite numbers, calculate a theoretical correlation ratio based on a maximum value and a secondary maximum value according to the absolute value of the autocorrelation function, and acquire a number of secondary maximum correlation values relative to the secondary maximum value; an equivalent parameter calculation module 60 configured to calculate an equivalent parameter according to the average correlation ratio, the theoretical correlation ratio, and the number of secondary maximum correlation values; and a carrier-to-noise ratio estimation module 70 configured to calculate a carrier-to-noise ratio estimation value according to the equivalent parameter.

[0095] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application can quickly estimate the carrier-to-noise ratio of a received signal through the correlation value ratio obtained by code acquisition, compared with the existing carrier-to-noise ratio estimation method based on a tracking process, the required data amount is short, the carrier-to-noise ratio of a received signal can be quickly estimated, high-precision estimation can be achieved, and the device has the advantages of small required data amount, high carrier-to-noise ratio estimation precision, fast estimation speed and the like, and has a wide application prospect in the fields of satellite navigation signal quality monitoring based on a carrier-to-noise ratio, deception jamming detection and the like.

[0096] According to the satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application, after the capture detection statistic is obtained, the capture detection statistic acquisition module 20 is further used to: in response to the capture detection statistic being less than or equal to the preset threshold, the code acquisition of the digital intermediate frequency signal of the next satellite number is performed to obtain the capture detection statistic.

[0097] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application can realize the carrier-to-noise ratio estimation of satellite signals of all satellites through the step of performing code acquisition on the digital intermediate frequency signal of the next satellite number to obtain the capture detection statistic in response to the capture detection statistic being less than or equal to the preset threshold.

[0098] According to the satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the application, when the average correlation ratio acquisition module 40 is used to calculate the global maximum correlation value and the same-frequency maximum correlation value according to the capture correlation value, the module is specifically used to: obtain the maximum value of the capture correlation value as the global maximum correlation value; obtain the carrier frequency and code phase corresponding to the global maximum correlation value; and obtain the maximum of other capture correlation values having the same carrier frequency as the global maximum correlation value and being at least two chips apart as the same-frequency maximum correlation value.

[0099] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application obtains the maximum value of the acquisition correlation value as the global maximum correlation value, obtains the carrier frequency and code phase corresponding to the global maximum correlation value, obtains the maximum of other acquisition correlation values having the same carrier frequency as the global maximum correlation value and being at least two chips apart as the same-frequency maximum correlation value, and gives a method for obtaining the global maximum correlation value and the same-frequency maximum correlation value capable of realizing high-precision carrier-to-noise ratio fast estimation.

[0100] According to the satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application, when the average correlation ratio obtaining module 40 is used to calculate the segmented correlation ratio based on the global maximum correlation value and the same-frequency maximum correlation value, it is specifically used to obtain the segmented correlation ratio by calculating the ratio of the global maximum correlation value and the same-frequency maximum correlation value.

[0101] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application obtains the segmented correlation ratio by calculating the ratio of the global maximum correlation value and the same-frequency maximum correlation value, and gives a method for obtaining the segmented correlation ratio capable of realizing high-precision carrier-to-noise ratio fast estimation.

[0102] According to the satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application, when the theoretical correlation ratio and the number of secondary maximum correlation values obtaining module 50 is used to calculate the theoretical correlation ratio based on the maximum value and the secondary maximum value, it is specifically used to obtain the theoretical correlation ratio by calculating the ratio of the secondary maximum value and the maximum value.

[0103] The satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application obtains the theoretical correlation ratio by calculating the ratio of the secondary maximum value and the maximum value, and gives a method for obtaining the theoretical correlation ratio capable of realizing high-precision carrier-to-noise ratio fast estimation.

[0104] According to the satellite signal carrier-to-noise ratio estimation device provided by the embodiment of the present application, the relationship between the average correlation ratio, the theoretical correlation ratio, the number of secondary maximum correlation values and the equivalent parameter is represented as:

[0105]

[0106] wherein, the average correlation ratio is represented as p, the theoretical correlation ratio is represented as p, the number of secondary maximum correlation values is represented as N y the equivalent parameter is represented as σ, and f(x;n, δ) represents the probability density function of the probability distribution function of is represented as χ2(n, δ).​

[0107] The satellite signal carrier-to-noise ratio estimation device provided in this embodiment of the invention provides a method for obtaining equivalent parameters that can achieve high-precision and rapid estimation of the carrier-to-noise ratio.

[0108] According to an embodiment of the present invention, a satellite signal carrier-to-noise ratio estimation device is provided, wherein the estimated carrier-to-noise ratio value is expressed as:

[0109] (C / N0) m =-10log(2Tσ) (5)

[0110] Among them, (C / N0) m The carrier-to-noise ratio estimate of the satellite signal with satellite number m is given, and T represents the preset data length.

[0111] The satellite signal carrier-to-noise ratio (CNR) estimation device provided in this invention provides a method for obtaining CNR estimates based on equivalent parameters, which can achieve high-precision and rapid CNR estimation.

[0112] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present invention, such as... Figure 3 As shown, the electronic device may include a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, communication interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a satellite signal carrier-to-noise ratio estimation method. This method includes: processing the received satellite signal to obtain a digital intermediate frequency (IF) signal; performing pseudocode acquisition on the corresponding IF signal according to the satellite number to obtain an acquisition detection statistic; in response to the acquisition detection statistic exceeding a preset threshold, acquiring a signal with a preset number of segments and a preset data length from the IF signal corresponding to the satellite number; for each segment of the IF signal, obtaining a corresponding acquisition correlation value through pseudocode acquisition, and calculating the global maximum correlation value and the maximum correlation value at the same frequency based on the acquisition correlation value. The maximum correlation value is calculated by taking the global maximum correlation value and the maximum correlation value at the same frequency, and averaging the segmented correlation ratios corresponding to the digital intermediate frequency signals of the preset number of segments to obtain the average correlation ratio. Based on the satellite number, the autocorrelation function of the satellite signal pseudocode sequence is calculated. Based on the absolute value of the autocorrelation function, the theoretical correlation ratio is calculated based on the maximum and second-largest values, and the number of second-largest correlation values ​​relative to the second-largest value is obtained. Equivalent parameters are calculated based on the average correlation ratio, the theoretical correlation ratio, and the number of second-largest correlation values. Finally, a carrier-to-noise ratio estimate is calculated based on the equivalent parameters.

[0113] Moreover, the logic instructions in the memory 330 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0114] In another aspect, the embodiments of the present application also provide a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the satellite signal carrier-to-noise ratio estimation method provided by the above-mentioned methods. The method comprises: processing the received satellite signal to obtain a digital intermediate frequency signal; performing pseudo code acquisition on the corresponding digital intermediate frequency signal according to the satellite number to obtain an acquisition detection statistic; in response to the acquisition detection statistic being greater than a preset threshold, obtaining a signal of a preset segment number and a preset data length from the digital intermediate frequency signal corresponding to the satellite number; for each segment of the digital intermediate frequency signal, a corresponding acquisition correlation value is obtained through pseudo code acquisition, a global maximum correlation value and a same frequency maximum correlation value are calculated according to the acquisition correlation value, a segmented correlation ratio value is calculated according to the global maximum correlation value and the same frequency maximum correlation value, the segmented correlation ratio values corresponding to the preset segment number of the digital intermediate frequency signal are averaged to obtain an average correlation ratio value; according to the satellite number, the autocorrelation function of the satellite signal pseudo code sequence is calculated, the theoretical correlation ratio value is calculated based on the maximum value and the second largest value according to the absolute value of the autocorrelation function, and the number of second largest correlation values relative to the second largest value is obtained; the equivalent parameter is calculated according to the average correlation ratio value, the theoretical correlation ratio value and the number of second largest correlation values; the carrier-to-noise ratio estimation value is calculated according to the equivalent parameter.

[0115] In yet another aspect, the embodiments of the present application also provide a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the satellite signal carrier-to-noise ratio estimation method provided by each of the above methods, and the method comprises: processing a received satellite signal to obtain a digital intermediate frequency signal; performing pseudo-code acquisition on the corresponding digital intermediate frequency signal according to a satellite number to obtain an acquisition detection statistic; in response to the acquisition detection statistic being greater than a preset threshold, obtaining a signal of a preset number of segments and a preset data length from the digital intermediate frequency signal corresponding to the satellite number; for each of the digital intermediate frequency signals, obtaining a corresponding acquisition correlation value through pseudo-code acquisition, calculating a global maximum correlation value and a same-frequency maximum correlation value according to the acquisition correlation value, calculating a segmented correlation ratio value according to the global maximum correlation value and the same-frequency maximum correlation value, averaging the segmented correlation ratio values corresponding to the preset number of segments of the digital intermediate frequency signals to obtain an average correlation ratio value; calculating an autocorrelation function of a satellite signal pseudo-code sequence according to the satellite number, calculating a theoretical correlation ratio value based on a maximum value and a second largest value according to the absolute value of the autocorrelation function, and obtaining a number of second largest correlation values relative to the second largest value; calculating an equivalent parameter according to the average correlation ratio value, the theoretical correlation ratio value, and the number of second largest correlation values; and calculating a carrier-to-noise ratio estimation value according to the equivalent parameter.

[0116] The apparatus embodiments described above are merely illustrative, wherein the units shown as separated components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement without creative labor.

[0117] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0118] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of estimating a carrier-to-noise ratio of a satellite signal, the method comprising: The method comprises: processing the received satellite signal to obtain a digital intermediate frequency signal; According to the satellite number, the corresponding digital intermediate frequency signal is code captured to obtain a capture detection statistic; In response to the capture detection statistic being greater than a preset threshold, a signal of a preset segment number and a preset data length is obtained from the digital intermediate frequency signal corresponding to the satellite number; For each segment of the digital intermediate frequency signal, a corresponding capture correlation value is obtained by code capture, a global maximum correlation value and a same-frequency maximum correlation value are calculated according to the capture correlation value, a segmented correlation ratio is calculated according to the global maximum correlation value and the same-frequency maximum correlation value, and an average correlation ratio is obtained by averaging the segmented correlation ratios corresponding to the preset segment number of the digital intermediate frequency signal. According to the satellite number, the autocorrelation function of the satellite signal code sequence is calculated, the absolute value of the autocorrelation function is calculated, the theoretical correlation ratio is calculated based on the maximum value and the second largest value, and the number of second largest correlation values relative to the second largest value is obtained. According to the average correlation ratio, the theoretical correlation ratio, and the number of second largest correlation values, an equivalent parameter is calculated. According to the equivalent parameter, a carrier-to-noise ratio estimate value is calculated.

2. The method of claim 1, wherein, After obtaining the capture detection statistic, the method further comprises: In response to the capture detection statistic being less than or equal to the preset threshold, the digital intermediate frequency signal of the next satellite number is code captured to obtain a capture detection statistic.

3. The method of claim 1, wherein, The global maximum correlation value and the same-frequency maximum correlation value are calculated according to the capture correlation value, comprising: The maximum value of the capture correlation value is obtained as the global maximum correlation value; The carrier frequency and code phase corresponding to the global maximum correlation value are obtained; The maximum of the other capture correlation values having the same carrier frequency as the global maximum correlation value and being at least two chips apart is obtained as the same-frequency maximum correlation value.

4. The method of claim 1, wherein, The segmented correlation ratio is calculated according to the global maximum correlation value and the same-frequency maximum correlation value, comprising: The segmented correlation ratio is obtained by calculating the ratio of the global maximum correlation value and the same-frequency maximum correlation value.

5. The method of claim 1, wherein, The theoretical correlation ratio is calculated based on the maximum value and the second largest value, comprising: The theoretical correlation ratio is obtained by calculating the ratio of the second largest value and the maximum value.

6. The method of claim 1, wherein, The relationship between the average correlation ratio, the theoretical correlation ratio, the number of second largest correlation values, and the equivalent parameter is represented as: ； wherein, denotes the average correlation ratio, denotes the theoretical correlation ratio, denotes the number of the second largest correlation values, denotes the equivalent parameter, denotes the probability density function of denotes the probability distribution function of denotes the chi-square distribution with degrees of freedom and non-centrality parameter.​​ 7. The method of claim 1, wherein, The carrier-to-noise ratio estimate value is represented as: ； wherein, represents a carrier-to-noise ratio estimation value of a satellite signal of a satellite numbered represents the preset data length.​ 8. A satellite signal carrier-to-noise ratio estimation apparatus characterized by comprising: The method comprises: A front-end processing module for processing the received satellite signal to obtain a digital intermediate frequency signal; A capture detection statistic acquisition module for code capturing the corresponding digital intermediate frequency signal according to the satellite number to obtain a capture detection statistic; A segmented processing module for obtaining a signal of a preset segment number and a preset data length from the digital intermediate frequency signal corresponding to the satellite number in response to the capture detection statistic being greater than a preset threshold; The average correlation ratio acquisition module is configured to: for each segment of the digital intermediate frequency signal, acquire a corresponding capture correlation value through code capture, calculate a global maximum correlation value and a same-frequency maximum correlation value according to the capture correlation value, calculate a segmented correlation ratio according to the global maximum correlation value and the same-frequency maximum correlation value, average the segmented correlation ratios corresponding to the digital intermediate frequency signals of the preset number of segments, and obtain an average correlation ratio. The theoretical correlation ratio and the number of secondary maximum correlation values acquisition module is configured to: calculate an autocorrelation function of a satellite signal code sequence according to the satellite number, calculate a theoretical correlation ratio based on a maximum value and a secondary maximum value according to the absolute value of the autocorrelation function, and obtain the number of secondary maximum correlation values relative to the secondary maximum value. The equivalent parameter calculation module is configured to: calculate an equivalent parameter according to the average correlation ratio, the theoretical correlation ratio, and the number of secondary maximum correlation values. The carrier-to-noise ratio estimation module is configured to: calculate a carrier-to-noise ratio estimation value according to the equivalent parameter.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the satellite signal carrier-to-noise ratio estimation method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the satellite signal carrier-to-noise ratio estimation method according to any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the satellite signal carrier-to-noise ratio estimation method according to any one of claims 1 to 7.

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