Positioning method and apparatus based on dual-antenna receiver and related device

Abstract

This invention relates to the field of satellite navigation receiver technology, and discloses a positioning method, apparatus, and related equipment based on a dual-antenna receiver. The method determines whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and a first carrier-to-noise ratio (CNR). If the first receiving antenna is in a good tracking state, it determines whether the second receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first CNR, and the second CNR. If the second receiving antenna is in an abnormal state, it adjusts the receiver parameters according to the state of the second receiving antenna, so that the positioning calculation module calculates positioning information based on the adjustment results. This method can accurately detect the receiving antenna state without relying on hardware circuitry, and reasonably adjust the receiver parameters when the receiving antenna state is abnormal, thereby improving the robustness of the receiver's positioning calculation results.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation receiver technology, and in particular to a positioning method, apparatus and related equipment based on a dual-antenna receiver. Background Technology

[0002] The Global Navigation Satellite System (GNSS) consists of three main parts: the space constellation segment, the ground monitoring segment, and the user equipment segment. The user equipment segment refers to the GNSS receiver, whose main tasks are to track visible satellites, process the received satellite radio signals, obtain the measurement values ​​and navigation information required for positioning, and finally complete the positioning calculations and possible navigation tasks for the user.

[0003] The receiving antenna is the first component in a GNSS receiver that processes satellite signals, converting the received electromagnetic wave signals into voltage or current signals. Based on the number of receiving antennas used, receivers can be categorized into single-antenna receivers and dual (multi-antenna) receivers. Dual (multi-antenna) receivers offer stronger anti-interference capabilities and are more advantageous in applications such as orientation and attitude measurement. Traditional antenna detection methods rely on current sensing chips to detect the antenna's current, requiring specialized hardware circuitry. Furthermore, this method can only detect the antenna's continuity, but factors affecting antenna status extend beyond continuity, leading to inaccurate antenna status detection and consequently, inaccurate positioning. Summary of the Invention

[0004] This invention provides a positioning method, apparatus, and related equipment based on a dual-antenna receiver, which can accurately detect the status of the receiving antenna without relying on hardware circuits. When the receiving antenna status is abnormal, the receiver parameters can be reasonably adjusted to improve the robustness of the receiver positioning calculation results.

[0005] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: providing a positioning method based on a dual-antenna receiver, wherein the receiver includes a first receiving antenna, a second receiving antenna, a radio frequency signal processing module connected to the first receiving antenna and the second receiving antenna, a baseband signal processing module connected to the radio frequency signal processing module, a positioning calculation module connected to the baseband signal processing module, and a control module, wherein the control module is connected to the radio frequency signal processing module, the baseband signal processing module, and the positioning calculation module respectively, and the positioning method includes:

[0006] The gain values ​​of each channel of the first receiving antenna and the gain values ​​of each channel of the second receiving antenna are obtained based on the radio frequency signal processing module. The number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite are obtained based on the baseband signal processing module.

[0007] The first receiving antenna is judged to be in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio.

[0008] If the first receiving antenna is in a good tracking state, then the second receiving antenna is determined to be in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio.

[0009] If the second receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the second receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0010] According to one embodiment of the present invention, the positioning method further includes:

[0011] The second receiving antenna is judged to be in a good tracking state based on the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio.

[0012] If the second receiving antenna is in a good tracking state, then the first receiving antenna is determined to be in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio.

[0013] If the first receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the first receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0014] According to an embodiment of the present invention, determining whether the second receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio, or determining whether the first receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio, includes:

[0015] Calculate the first average value of the gain value of each channel of the first receiving antenna, calculate the second average value of the gain value of each channel of the second receiving antenna, and calculate the gain difference based on the first average value and the second average value;

[0016] Calculate the smoothed gain difference based on the gain difference;

[0017] A first average carrier-to-noise ratio is calculated based on the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna, and a second average carrier-to-noise ratio is calculated based on the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna.

[0018] Based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio, it is determined whether the first receiving antenna or the second receiving antenna is in an abnormal state.

[0019] According to an embodiment of the present invention, determining whether the first receiving antenna or the second receiving antenna is in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio includes:

[0020] Calculate the first difference between the gain difference and the smoothed gain difference, and the second difference between the first average carrier-to-noise ratio and the second average carrier-to-noise ratio;

[0021] When the first receiving antenna is in a good tracking state, if the first difference is less than a preset first threshold and the second difference is greater than a preset second threshold, then the second receiving antenna is determined to be in an abnormal state.

[0022] When the second receiving antenna is in a good tracking state, if the first difference is greater than a preset third threshold and the second difference is less than a preset fourth threshold, then the first receiving antenna is determined to be in an abnormal state.

[0023] According to an embodiment of the present invention, determining whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio includes:

[0024] Determine whether the number of satellites tracked by the first receiving antenna is greater than a preset number;

[0025] Determine whether the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna is greater than the carrier-to-noise ratio threshold;

[0026] If the number of satellites tracked by the first receiving antenna is greater than a preset number and the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna is greater than the carrier-to-noise ratio threshold, then the first receiving antenna is determined to be in a good tracking state.

[0027] The step of determining whether the second receiving antenna is in a good tracking state based on the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio includes:

[0028] Determine whether the number of satellites tracked by the second receiving antenna is greater than a preset number;

[0029] Determine whether the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna is greater than the carrier-to-noise ratio threshold;

[0030] If the number of satellites tracked by the second receiving antenna is greater than a preset number and the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna is greater than the carrier-to-noise ratio threshold, then the second receiving antenna is determined to be in a good tracking state.

[0031] According to one embodiment of the present invention, if the second receiving antenna is in an abnormal state, adjusting the parameters of the receiver according to the state of the second receiving antenna, so that the positioning calculation module calculates positioning information based on the adjustment result, includes:

[0032] In the next positioning calculation cycle, when the baseband signal processing module acquires a signal, the acquisition priority of the second receiving antenna is reduced; and / or

[0033] When the baseband signal processing module tracks signals, it abandons tracking satellites with a carrier-to-noise ratio (CNR) less than the CNR threshold; and / or

[0034] When the positioning calculation module calculates the positioning information, it discards the observation values ​​of the second receiving antenna output by the baseband signal processing module until the second receiving antenna returns to normal.

[0035] According to one embodiment of the present invention, if the first receiving antenna is in an abnormal state, adjusting the parameters of the receiver according to the state of the first receiving antenna so that the positioning calculation module calculates positioning information based on the adjustment result includes:

[0036] In the next positioning calculation cycle, when the baseband signal processing module acquires a signal, the acquisition priority of the first receiving antenna is reduced; and / or

[0037] When the baseband signal processing module tracks a signal, it abandons tracking satellites with a carrier-to-noise ratio (CNR) less than the CNR threshold; and / or

[0038] When the positioning calculation module calculates the positioning information, it discards the observation values ​​of the first receiving antenna output by the baseband signal processing module until the first receiving antenna returns to normal.

[0039] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is: to provide a positioning device based on a dual-antenna receiver, comprising:

[0040] The acquisition module is used to acquire the gain value of each channel of the first receiving antenna and the gain value of each channel of the second receiving antenna based on the radio frequency signal processing module, and to acquire the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite based on the baseband signal processing module.

[0041] The first judgment module is used to determine whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio.

[0042] The second judgment module is used to determine whether the second receiving antenna is in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio if the first receiving antenna is in a good tracking state.

[0043] An adjustment module is used to adjust the parameters of the receiver according to the state of the second receiving antenna if the second receiving antenna is in an abnormal state, so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0044] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the positioning method based on a dual-antenna receiver.

[0045] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a computer storage medium on which a computer program is stored, wherein the computer program is executed by a processor to implement the above-mentioned positioning method based on a dual-antenna receiver.

[0046] The beneficial effects of this invention are as follows: The first receiving antenna is judged to be in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio (CNR); if the first receiving antenna is in a good tracking state, the second receiving antenna is judged to be in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first CNR of the satellites tracked by the first receiving antenna, and the second CNR of the satellites tracked by the second receiving antenna; if the second receiving antenna is in an abnormal state, the receiver parameters are adjusted according to the state of the second receiving antenna, so that the positioning calculation module calculates positioning information based on the adjustment results. This allows for accurate detection of the receiving antenna state without relying on hardware circuitry, and reasonable adjustment of the receiver parameters when the receiving antenna state is abnormal, thereby improving the robustness of the receiver positioning calculation results. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the receiver architecture according to an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the radio frequency signal processing module according to an embodiment of the present invention.

[0049] Figure 3 This is a flowchart illustrating the positioning method based on a dual-antenna receiver according to the first embodiment of the present invention.

[0050] Figure 4 This is a flowchart illustrating step S303 in the positioning method based on a dual-antenna receiver according to the first embodiment of the present invention.

[0051] Figure 5 This is a flowchart illustrating the positioning method based on a dual-antenna receiver according to the second embodiment of the present invention.

[0052] Figure 6 This is a flowchart illustrating step S503 in the positioning method based on a dual-antenna receiver according to the second embodiment of the present invention.

[0053] Figure 7 This is a graph showing the changes in the gain values ​​of the first and second receiving antennas and the average carrier-to-noise ratio of the tracked satellite in one embodiment.

[0054] Figure 8 This is a graph showing the changes in the gain values ​​of the first and second receiving antennas and the average carrier-to-noise ratio of the tracked satellite in another embodiment.

[0055] Figure 9 This is a schematic diagram of the structure of a positioning device based on a dual-antenna receiver according to an embodiment of the present invention;

[0056] Figure 10 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention;

[0057] Figure 11 This is a schematic diagram of the structure of a computer storage medium according to an embodiment of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] The terms "first," "second," and "third" used in this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this invention are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0060] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0061] Figure 1 This is a schematic diagram of the receiver architecture according to an embodiment of the present invention. Please refer to [link / reference]. Figure 1 The receiver 100 is a dual-antenna GNSS receiver, which includes a first receiving antenna 110, a second receiving antenna 120, a radio frequency signal processing module 130 connected to the first receiving antenna 110 and the second receiving antenna 120, a baseband signal processing module 140 connected to the radio frequency signal processing module 130, a positioning calculation module 150 connected to the baseband signal processing module 140, and a control module 160. The control module 160 is connected to the radio frequency signal processing module 130, the baseband signal processing module 140, and the positioning calculation module 150, respectively.

[0062] The radio frequency signal processing module 130 is used to receive GNSS signals transmitted by the antenna and process the GNSS signals to obtain digital intermediate frequency signals. Further, such as... Figure 2As shown, the radio frequency signal processing module 130 includes a first low-noise amplifier and power divider 1 connected to the first receiving antenna 110, multiple first channels (channel 1-channel 4) connected to the first low-noise amplifier and power divider 1, a second low-noise amplifier and power divider 2 connected to the second receiving antenna 120, and multiple second channels (channel 1-channel 4) connected to the second low-noise amplifier and power divider 2. The first and second channels are preferably four channels each. The low-noise amplifier and power divider are used to amplify the radio frequency signal input from the receiving antenna and divide the radio frequency signal into multiple input channels. Each first and second channel includes a bandpass filter (BPF), a first low-noise amplifier (LNA1), a mixer (MIX), a low-pass filter (LPF), a second low-noise amplifier (LNA2), an analog-to-digital converter (ADC), and a gain controller (AGC) connected in sequence.

[0063] The baseband signal processing module 140 is used to capture and track digital intermediate frequency signals to obtain tracking data.

[0064] The positioning calculation module 150 is used to obtain positioning information based on tracking data.

[0065] The control module 160 is used to obtain the gain values ​​of each channel of the first receiving antenna 110 and the gain values ​​of each channel of the second receiving antenna 120 based on the radio frequency signal processing module 130, and to obtain the number of satellites tracked by the first receiving antenna 110 and the first carrier-to-noise ratio, the number of satellites tracked by the second receiving antenna 120 and the second carrier-to-noise ratio based on the baseband signal processing module 140. In one embodiment, the control module 160 determines whether the first receiving antenna 110 is in a good tracking state based on the number of satellites tracked by the first receiving antenna 110 and the first carrier-to-noise ratio of each satellite. If the first receiving antenna 110 is in a good tracking state, the control module 160 determines whether the second receiving antenna 120 is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna 110, the gain values ​​of each channel of the second receiving antenna 120, the first carrier-to-noise ratio and the second carrier-to-noise ratio. If the second receiving antenna 120 is in an abnormal state, the control module 160 adjusts the parameters of the receiver 100 according to the state of the second receiving antenna 120 so that the positioning calculation module 150 calculates the positioning information based on the adjustment result. In another embodiment, the second receiving antenna 120 is judged to be in a good tracking state based on the number of satellites tracked by the second receiving antenna 120 and the second carrier-to-noise ratio of each satellite. If the second receiving antenna 120 is in a good tracking state, the first receiving antenna 110 is judged to be in an abnormal state based on the gain value of each channel of the first receiving antenna 110, the gain value of each channel of the second receiving antenna 120, the first carrier-to-noise ratio, and the second carrier-to-noise ratio. If the first receiving antenna 110 is in an abnormal state, the parameters of the receiver 100 are adjusted according to the state of the first receiving antenna 110, so that the positioning calculation module 150 calculates the positioning information based on the adjustment result. This enables accurate detection of the receiving antenna state without relying on hardware circuitry, and reasonable adjustment of the receiver parameters when the receiving antenna state is abnormal, thereby improving the robustness of the positioning calculation results of the receiver 100.

[0066] Specifically, receiver 100 receives GNSS signals via first receiving antenna 110 and second receiving antenna 120. The RF signal processing module 130 performs down-conversion, amplification, filtering, sampling, and quantization to convert the signals into digital intermediate frequency (IF) signals, which are then sent to baseband signal processing module 140. Baseband signal processing module 140 acquires the IF signals, obtaining parameters such as the visible satellite identification number, code delay, Doppler frequency, and observed values ​​(including carrier-to-noise ratio). Tracking data includes code delay, carrier phase, Doppler frequency, and observed values. Positioning calculation module 150 extracts navigation messages based on the tracking data, including code delay, carrier phase, and Doppler frequency, calculates satellite positions, and resolves user position and velocity information. Positioning information includes satellite ephemeris, receiver position and velocity information, and receiver clock bias. If the control module 160 detects that the first receiving antenna 110 is in a good tracking state while the second receiving antenna 120 is in an abnormal state, then in the next positioning calculation cycle, when the baseband signal processing module 140 acquires a signal, it lowers the acquisition priority of the second receiving antenna; and / or when the baseband signal processing module 140 tracks a signal, it abandons tracking satellites whose second carrier-to-noise ratio (CNR) is less than the CNR threshold among the satellites tracked by the second receiving antenna 120; and / or when the positioning calculation module 150 calculates positioning information, it discards the observation values ​​of the second receiving antenna 120 output by the baseband signal processing module 140, until the second receiving antenna 120 returns to normal. This embodiment can restore the antenna to normal operation by replacing the antenna or reconnecting the antenna link.

[0067] If the second receiving antenna 120 is in a good tracking state and the first receiving antenna 110 is in an abnormal state, then in the next positioning calculation cycle, when the baseband signal processing module 140 acquires the signal, the acquisition priority of the first receiving antenna 110 is reduced; and / or when the baseband signal processing module 140 tracks the signal, the tracking of the first satellite whose carrier-to-noise ratio is less than the carrier-to-noise ratio threshold is abandoned; and / or when the positioning calculation module 150 calculates the positioning information, the observation values ​​of the first receiving antenna 110 output by the baseband signal processing module 140 are discarded until the first receiving antenna 110 returns to normal.

[0068] Figure 3 This is a flowchart illustrating the positioning method based on a dual-antenna receiver according to the first embodiment of the present invention. It should be noted that if substantially the same result is obtained, the method of the present invention is not necessarily identical. Figure 3 The illustrated process sequence is limited. For example... Figure 3 As shown, the method includes the following steps:

[0069] Step S301: Based on the radio frequency signal processing module, obtain the gain value of each channel of the first receiving antenna and the gain value of each channel of the second receiving antenna; based on the baseband signal processing module, obtain the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite.

[0070] In step S301, each receiving antenna can track multiple satellites, with the number of satellites and channels set in a one-to-one correspondence. The number of satellites tracked can be less than or equal to the number of channels.

[0071] Step S302: Determine whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio.

[0072] In step S302, the number of satellites tracked by the first receiving antenna is compared with a preset number to determine whether the number of satellites tracked by the first receiving antenna is greater than the preset number; the first carrier-to-noise ratio (CNR) of each satellite is compared with a CNR threshold to determine whether the first CNR of each satellite is greater than the CNR threshold. If the number of satellites tracked by the first receiving antenna is greater than the preset number and the first CNR of each satellite tracked by the first receiving antenna is greater than the CNR threshold, then the first receiving antenna is determined to be in a good tracking state. In this embodiment, the preset number can be 16, and the CNR threshold is an empirical value, specifically 33 dB·Hz.

[0073] Step S303: If the first receiving antenna is in a good tracking state, then determine whether the second receiving antenna is in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio.

[0074] In step S303, please refer to Figure 4 Specifically, it also includes the following steps:

[0075] Step S401: Calculate the first average value of the gain value of each channel of the first receiving antenna, calculate the second average value of the gain value of each channel of the second receiving antenna, and calculate the gain difference based on the first average value and the second average value.

[0076] Step S402: Calculate the smoothed gain difference based on the gain difference;

[0077] Specifically, taking the use of an alpha filter as an example, the smoothed gain difference is calculated according to the following formula: in, This represents the filtered value, i.e., the smoothed gain difference. α is the weight value, which can take the value 0.1. This represents the actual measured value, i.e., the gain difference. This is the historical filtered value, i.e., the gain difference after the last smoothing.

[0078] Step S403: Calculate the first average carrier-to-noise ratio based on the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna, and calculate the second average carrier-to-noise ratio based on the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna;

[0079] Step S404: Determine whether the second receiving antenna is in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio.

[0080] In step S404, a first difference between the gain difference and the smoothed gain difference, and a second difference between the first average carrier-to-noise ratio and the second average carrier-to-noise ratio are calculated. When the first receiving antenna is in a good tracking state, if the first difference is less than a preset first threshold and the second difference is greater than a preset second threshold, the second receiving antenna is determined to be in an abnormal state; otherwise, the second receiving antenna is determined to be in a normal state. Further, the preset first threshold can be adjusted according to actual conditions, for example, -20dB. The preset second threshold can be adjusted according to actual conditions, for example, 3dB·Hz.

[0081] Step S304: If the second receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the second receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0082] In step S304, if the second receiving antenna is in an abnormal state, then in the next positioning calculation cycle, when the baseband signal processing module acquires the signal, the acquisition priority of the second receiving antenna is reduced; and / or when the baseband signal processing module tracks the signal, tracking of satellites with a carrier-to-noise ratio less than the carrier-to-noise ratio threshold is abandoned; and / or when the positioning calculation module calculates the positioning information, the observation values ​​of the second receiving antenna output by the baseband signal processing module are discarded until the second receiving antenna returns to normal.

[0083] The positioning method based on a dual-antenna receiver in the first embodiment of the present invention determines whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio (CNR). If the first receiving antenna is in a good tracking state, the method determines whether the second receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first CNR of the satellites tracked by the first receiving antenna, and the second CNR of the satellites tracked by the second receiving antenna. If the second receiving antenna is in an abnormal state, the receiver parameters are adjusted according to the state of the second receiving antenna so that the positioning calculation module calculates the positioning information based on the adjustment results. This method can accurately detect the state of the receiving antenna without relying on hardware circuitry, and reasonably adjust the receiver parameters when the receiving antenna state is abnormal, thereby improving the robustness of the receiver positioning calculation results.

[0084] Figure 5 This is a flowchart illustrating the positioning method based on a dual-antenna receiver according to the second embodiment of the present invention. It should be noted that if substantially the same result is obtained, the method of the present invention is not necessarily identical. Figure 5 The illustrated process sequence is limited. For example... Figure 5 As shown, the method includes the following steps:

[0085] Step S501: Based on the radio frequency signal processing module, obtain the gain value of each channel of the first receiving antenna and the gain value of each channel of the second receiving antenna; based on the baseband signal processing module, obtain the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite.

[0086] In this embodiment, Figure 5 Step S501 and Figure 3 The steps in step S301 are similar and will not be repeated here for the sake of simplicity.

[0087] Step S502: Determine whether the second receiving antenna is in a good tracking state based on the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio.

[0088] In step S502, the number of satellites tracked by the second receiving antenna is compared with a preset number to determine whether the number of satellites tracked by the second receiving antenna is greater than the preset number; the second carrier-to-noise ratio (CNR) of each satellite is compared with a CNR threshold to determine whether the second CNR of each satellite is greater than the CNR threshold; if the number of satellites tracked by the second receiving antenna is greater than the preset number and the second CNR of each satellite tracked by the second receiving antenna is greater than the CNR threshold, then the second receiving antenna is determined to be in a good tracking state. In this embodiment, the preset number can be 16, and the CNR threshold is an empirical value, specifically 33 dB·Hz.

[0089] Step S503: If the second receiving antenna is in good tracking condition, determine whether the first receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio.

[0090] In step S503, please refer to Figure 6 Specifically, it also includes the following steps:

[0091] Step S601: Calculate the first average value of the gain value of each channel of the first receiving antenna, calculate the second average value of the gain value of each channel of the second receiving antenna, and calculate the gain difference based on the first average value and the second average value.

[0092] In this embodiment, Figure 6 Step S601 and Figure 4The steps in step S401 are similar and will not be repeated here for the sake of simplicity.

[0093] Step S602: Calculate the smoothed gain difference based on the gain difference.

[0094] In this embodiment, Figure 6 Step S602 and Figure 4 The steps in step S402 are similar and will not be repeated here for the sake of simplicity.

[0095] Step S603: Calculate the first average carrier-to-noise ratio based on the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna, and calculate the second average carrier-to-noise ratio based on the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna.

[0096] In this embodiment, Figure 6 Step S603 and Figure 4 The steps in step S403 are similar and will not be repeated here for the sake of simplicity.

[0097] Step S604: Determine whether the first receiving antenna is in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio.

[0098] In step S604, a first difference between the gain difference and the smoothed gain difference, and a second difference between the first average carrier-to-noise ratio and the second average carrier-to-noise ratio are calculated. When the second receiving antenna is in good tracking condition, if the first difference is greater than a preset third threshold and the second difference is less than a preset fourth threshold, the first receiving antenna is determined to be in an abnormal state. Otherwise, the first receiving antenna is determined to be in a normal state. Further, the preset third threshold can be adjusted according to the actual situation, for example, 20dB. The preset fourth threshold can be adjusted according to the actual situation, for example, -3dB·Hz.

[0099] Step S504: If the first receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the first receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0100] In step S504, if the first receiving antenna is in an abnormal state, then in the next positioning calculation cycle, when the baseband signal processing module acquires the signal, the acquisition priority of the first receiving antenna is reduced; and / or when the baseband signal processing module tracks the signal, tracking of the first satellite with a carrier-to-noise ratio less than the carrier-to-noise ratio threshold is abandoned; and / or when the positioning calculation module calculates the positioning information, the observation values ​​of the first receiving antenna output by the baseband signal processing module are discarded until the first receiving antenna returns to normal.

[0101] The positioning method based on a dual-antenna receiver in the second embodiment of the present invention can accurately detect the status of the receiving antenna without relying on hardware circuits. When the status of the receiving antenna is abnormal, the parameters of the receiver can be reasonably adjusted to improve the robustness of the receiver positioning calculation results.

[0102] Please see Figure 7 , Figure 7 This is a graph showing the changes in the gain values ​​of the first and second receiving antennas and the average carrier-to-noise ratio (CNR) of the tracked satellite in one embodiment. During testing, both antennas used sky-to-air signals. An adjustable attenuator was added after the second receiving antenna and connected to a satellite navigation board. Data recording lasted approximately 180 seconds. At the 60th second, the adjustable attenuator was adjusted to 50 dB, exceeding the gain adjustment range. At this point, the gain of the second receiving antenna increased to approximately 40 dB, and the average CNR decreased to approximately 30 dB. At approximately the 120th second, the link gain was restored, and both the gain and average CNR returned to normal. Please refer to [link to relevant documentation]. Figure 8 , Figure 8 This is a graph showing the changes in gain values ​​of the first and second receiving antennas and the average carrier-to-noise ratio (CNR) of the tracked satellite in another embodiment. During the test, both antennas used sky-to-air signals and were connected to a satellite navigation board. Data recording lasted approximately 180 seconds. At the 60-second mark, the second receiving antenna was disconnected. At this point, the gain of the second receiving antenna increased to approximately 40 dB, and the average CNR decreased to approximately 15 dB. At approximately the 120-second mark, the link gain was restored, and both the gain and average CNR returned to normal. The above experiment demonstrates that changes in gain and CNR can be used to determine whether an antenna malfunctions.

[0103] Figure 9 This is a schematic diagram of the positioning device based on a dual-antenna receiver according to an embodiment of the present invention. Figure 9 As shown, the device 90 includes an acquisition module 91, a first judgment module 92, a second judgment module 93, and an adjustment module 94.

[0104] The acquisition module 91 is used to acquire the gain value of each channel of the first receiving antenna and the gain value of each channel of the second receiving antenna based on the radio frequency signal processing module, and to acquire the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite based on the baseband signal processing module.

[0105] The first judgment module 92 is used to determine whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio;

[0106] The second judgment module 93 is used to determine whether the second receiving antenna is in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the carrier-to-noise ratio, and the second carrier-to-noise ratio if the first receiving antenna is in a good tracking state.

[0107] The adjustment module 94 is used to adjust the parameters of the receiver according to the state of the second receiving antenna if the second receiving antenna is in an abnormal state, so that the positioning calculation module can calculate the positioning information based on the adjustment result.

[0108] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Figure 10 As shown, the computer device 10 includes a processor 101 and a memory 102 coupled to the processor 101.

[0109] The memory 102 stores program instructions for implementing the positioning method based on a dual-antenna receiver as described in any of the above embodiments.

[0110] The processor 101 is used to execute program instructions stored in the memory 102 to obtain location information.

[0111] The processor 101 can also be referred to as a CPU (Central Processing Unit). The processor 101 may be an integrated circuit chip with signal processing capabilities. The processor 101 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor.

[0112] See Figure 11 , Figure 11This is a schematic diagram of the structure of a computer storage medium according to an embodiment of the present invention. The computer storage medium of this embodiment stores a program file 111 capable of implementing all the above methods. This program file 111 can be stored in the computer storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned computer storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0113] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0114] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0115] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A positioning method based on a dual-antenna receiver, characterized in that, The receiver includes a first receiving antenna, a second receiving antenna, a radio frequency signal processing module connected to the first and second receiving antennas, a baseband signal processing module connected to the radio frequency signal processing module, a positioning calculation module connected to the baseband signal processing module, and a control module. The control module is connected to the radio frequency signal processing module, the baseband signal processing module, and the positioning calculation module, respectively. The positioning method includes: The gain values ​​of each channel of the first receiving antenna and the gain values ​​of each channel of the second receiving antenna are obtained based on the radio frequency signal processing module. The number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite are obtained based on the baseband signal processing module. The first receiving antenna is judged to be in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio. If the first receiving antenna is in a good tracking state, then the second receiving antenna is determined to be in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio. If the second receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the second receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

2. The positioning method according to claim 1, characterized in that, The positioning method further includes: The second receiving antenna is judged to be in a good tracking state based on the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio. If the second receiving antenna is in a good tracking state, then the first receiving antenna is determined to be in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio. If the first receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the first receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result.

3. The positioning method according to claim 2, characterized in that, The step of determining whether the second receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio includes: Calculate the first average value of the gain value of each channel of the first receiving antenna, calculate the second average value of the gain value of each channel of the second receiving antenna, and calculate the gain difference based on the first average value and the second average value; Calculate the smoothed gain difference based on the gain difference; A first average carrier-to-noise ratio is calculated based on the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna, and a second average carrier-to-noise ratio is calculated based on the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna. Based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio, it is determined whether the second receiving antenna is in an abnormal state. The step of determining whether the first receiving antenna is in an abnormal state based on the gain values ​​of each channel of the first receiving antenna, the gain values ​​of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio includes: Calculate the first average value of the gain value of each channel of the first receiving antenna, calculate the second average value of the gain value of each channel of the second receiving antenna, and calculate the gain difference based on the first average value and the second average value; Calculate the smoothed gain difference based on the gain difference; A first average carrier-to-noise ratio is calculated based on the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna, and a second average carrier-to-noise ratio is calculated based on the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna. The first receiving antenna is determined to be in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio.

4. The positioning method according to claim 3, characterized in that, The step of determining whether the second receiving antenna is in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio includes: Calculate the first difference between the gain difference and the smoothed gain difference, and the second difference between the first average carrier-to-noise ratio and the second average carrier-to-noise ratio; When the first receiving antenna is in a good tracking state, if the first difference is less than a preset first threshold and the second difference is greater than a preset second threshold, then the second receiving antenna is determined to be in an abnormal state. The step of determining whether the first receiving antenna is in an abnormal state based on the gain difference, the smoothed gain difference, the first average carrier-to-noise ratio, and the second average carrier-to-noise ratio includes: Calculate the first difference between the gain difference and the smoothed gain difference, and the second difference between the first average carrier-to-noise ratio and the second average carrier-to-noise ratio; When the second receiving antenna is in a good tracking state, if the first difference is greater than a preset third threshold and the second difference is less than a preset fourth threshold, then the first receiving antenna is determined to be in an abnormal state.

5. The positioning method according to claim 2, characterized in that, The step of determining whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio includes: Determine whether the number of satellites tracked by the first receiving antenna is greater than a preset number; Determine whether the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna is greater than the carrier-to-noise ratio threshold; If the number of satellites tracked by the first receiving antenna is greater than a preset number and the first carrier-to-noise ratio of each satellite tracked by the first receiving antenna is greater than the carrier-to-noise ratio threshold, then the first receiving antenna is determined to be in a good tracking state. The step of determining whether the second receiving antenna is in a good tracking state based on the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio includes: Determine whether the number of satellites tracked by the second receiving antenna is greater than a preset number; Determine whether the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna is greater than the carrier-to-noise ratio threshold; If the number of satellites tracked by the second receiving antenna is greater than a preset number and the second carrier-to-noise ratio of each satellite tracked by the second receiving antenna is greater than the carrier-to-noise ratio threshold, then the second receiving antenna is determined to be in a good tracking state.

6. The positioning method according to claim 1, characterized in that, If the second receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the second receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result, including: In the next positioning calculation cycle, when the baseband signal processing module acquires a signal, the acquisition priority of the second receiving antenna is reduced; and / or When the baseband signal processing module tracks signals, it abandons tracking satellites with a carrier-to-noise ratio (CNR) less than the CNR threshold; and / or When the positioning calculation module calculates the positioning information, it discards the observation values ​​of the second receiving antenna output by the baseband signal processing module until the second receiving antenna returns to normal.

7. The positioning method according to claim 2, characterized in that, If the first receiving antenna is in an abnormal state, the parameters of the receiver are adjusted according to the state of the first receiving antenna so that the positioning calculation module can calculate the positioning information based on the adjustment result, including: In the next positioning calculation cycle, when the baseband signal processing module acquires a signal, the acquisition priority of the first receiving antenna is reduced; and / or When the baseband signal processing module tracks a signal, it abandons tracking satellites with a carrier-to-noise ratio (CNR) less than the CNR threshold; and / or When the positioning calculation module calculates the positioning information, it discards the observation values ​​of the first receiving antenna output by the baseband signal processing module until the first receiving antenna returns to normal.

8. A positioning device based on a dual-antenna receiver, characterized in that, The receiver includes a first receiving antenna, a second receiving antenna, a radio frequency signal processing module connected to the first and second receiving antennas, a baseband signal processing module connected to the radio frequency signal processing module, a positioning calculation module connected to the baseband signal processing module, and a control module. The control module is connected to the radio frequency signal processing module, the baseband signal processing module, and the positioning calculation module, respectively. The positioning device includes: The acquisition module is used to acquire the gain value of each channel of the first receiving antenna and the gain value of each channel of the second receiving antenna based on the radio frequency signal processing module, and to acquire the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio of each satellite, the number of satellites tracked by the second receiving antenna and the second carrier-to-noise ratio of each satellite based on the baseband signal processing module. The first judgment module is used to determine whether the first receiving antenna is in a good tracking state based on the number of satellites tracked by the first receiving antenna and the first carrier-to-noise ratio. The second judgment module is used to determine whether the second receiving antenna is in an abnormal state based on the gain value of each channel of the first receiving antenna, the gain value of each channel of the second receiving antenna, the first carrier-to-noise ratio, and the second carrier-to-noise ratio if the first receiving antenna is in a good tracking state. An adjustment module is used to adjust the parameters of the receiver according to the state of the second receiving antenna if the second receiving antenna is in an abnormal state, so that the positioning calculation module can calculate the positioning information based on the adjustment result.

9. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the positioning method based on a dual-antenna receiver as described in any one of claims 1-7.

10. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the positioning method based on a dual-antenna receiver as described in any one of claims 1-7.

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