Method, device and electronic equipment for determining half-cycle jump

Abstract

The present application discloses a method, device, and electronic device for determining a half-cycle jump, belonging to the field of positioning and navigation technology. The method comprises: upon receiving a navigation signal in the Mth detection cycle, obtaining the level values of N navigation messages of the navigation signal, wherein the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers; and determining a half-cycle jump detection result based on the level values of the N navigation messages, wherein the half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump has occurred in the navigation signal.

Description

Technical Field

[0001] The present application belongs to the field of positioning and navigation technology, and specifically relates to a method, device and electronic equipment for determining a half-cycle jump. Background Art

[0002] With the rapid development of satellite navigation technology, its application is becoming increasingly widespread, not only in military applications but also in civilian and commercial applications, bringing endless convenience to people's daily lives and production. Among them, the Global Navigation Satellite System (GNSS), as one of the most important satellite navigation systems, is widely used in various industries because it can provide users with stable and accurate location information.

[0003] Currently, when using GNSS positioning and navigation, 180° phase ambiguity may occur during satellite signal demodulation, or the satellite signal may be subject to electromagnetic interference, resulting in a half-cycle jump in the carrier phase. This half-cycle jump in the carrier phase can cause positioning deviations, which in turn reduces positioning accuracy. Therefore, accurately determining whether a half-cycle jump in the carrier phase has occurred has become an urgent problem. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device and electronic device for determining a half-cycle jump, which can accurately determine whether a half-cycle jump occurs in the carrier phase.

[0005] In a first aspect, an embodiment of the present application provides a method for determining a half-cycle jump, which is applied to an electronic device, including:

[0006] Upon receiving a navigation signal of an Mth detection cycle, obtaining level values of N navigation messages of the navigation signal, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers;

[0007] A half-cycle jump detection result is determined based on the level values of the N navigation messages, and the half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump occurs in the navigation signal.

[0008] In a second aspect, an embodiment of the present application provides a device for determining a half-cycle jump, which is applied to an electronic device, including:

[0009] a first acquisition module, configured to, upon receiving a navigation signal of an Mth detection cycle, acquire level values of N navigation messages of the navigation signal, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers;

[0010] The result determination module is used to determine a half-cycle jump detection result based on the level values of the N navigation messages, and the half-cycle jump detection result is used to: indicate whether the carrier phase half-cycle jump occurs in the navigation signal.

[0011] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0012] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0013] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0014] In an embodiment of the present application, upon receiving a navigation signal in the Mth detection cycle, the level values of the N demodulated navigation messages within the navigation signal are obtained, and based on the level values of the N navigation messages, it is determined whether a carrier phase half-cycle jump has occurred in the navigation signal within the Mth detection cycle. In this way, because the navigation message contains information, when a problem occurs with the navigation signal (such as 180° phase ambiguity or electromagnetic interference of the satellite signal), the navigation message level will inevitably fluctuate between high and low levels. In determining the half-cycle jump detection result based on the level value, detection failures can be avoided, thereby improving the accuracy of determining whether a carrier phase half-cycle jump has occurred. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 1 is a flow chart of an embodiment of a method for determining a half-cycle jump involved in the present application;

[0016] Figure 2 1 is a schematic structural diagram of an embodiment of a device for determining a half-cycle jump involved in the present application;

[0017] Figure 3 It is a structural diagram of an embodiment of the electronic device involved in this application. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, ordinary technicians in this field can also obtain other embodiments, and these embodiments all fall within the scope of protection of this application.

[0019] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0020] The method for determining the half-cycle jump provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0021] In the related art, during GNSS positioning and navigation, half-cycle jumps in the carrier phase of satellite signals are typically detected using the synchronization code in the navigation message. Specifically, half-cycle jump detection is performed by comparing the received synchronization code with the standard synchronization code symbols, i.e., whether they are all in the same direction or all in opposite directions. If the received synchronization code and the standard synchronization code symbols are all opposite, a half-cycle jump in the carrier phase is determined to have occurred; if they are all in the same direction, no half-cycle jump in the carrier phase has occurred.

[0022] However, when performing half-cycle jump detection using the detection method of related technologies, when the signal in the working scene is weak, there may be errors in the demodulation of the navigation message. The errors will break the symbol consistency of the synchronization code and the standard synchronization code, thereby causing detection failure, and further reducing the accuracy of determining whether the carrier phase has undergone a half-cycle jump.

[0023] In view of this, an embodiment of the present application provides a method for determining a half-cycle jump, which can effectively improve the accuracy of determining whether a half-cycle jump occurs in the carrier phase.

[0024] See Figure 1, is a flow chart of a method for determining a half-cycle jump involved in this application, the method for determining a half-cycle jump is applied to an electronic device, the electronic device may include a receiver in a global navigation satellite system (GNSS), etc., the receiver may include a carrier phase differential technology (Real Time Kinematic, RTK) receiver, etc. Figure 1 As shown, the above-mentioned method for determining the half-cycle jump includes at least the following steps 101 and 102.

[0025] Step 101: When a navigation signal of the Mth detection cycle is received, level values of N navigation messages of the navigation signal are obtained, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers.

[0026] Step 102: Determine a half-cycle jump detection result based on the level values of the N navigation messages. The half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump occurs in the navigation signal.

[0027] In an embodiment of the present application, upon receiving a navigation signal in the Mth detection cycle, the level values of N demodulated navigation messages within the navigation signal are obtained, and based on the level values of the N navigation messages, it is determined whether a carrier phase half-cycle jump has occurred in the navigation signal within the Mth detection cycle. In this way, because the navigation message contains information, when a problem occurs in the navigation signal (such as 180° phase ambiguity or electromagnetic interference of the satellite signal), the navigation message level will inevitably fluctuate between high and low levels. In determining the half-cycle jump detection result based on the level value, detection failure can be avoided, thereby improving the accuracy of determining whether a carrier phase half-cycle jump has occurred.

[0028] In the above step 101, during the process of positioning and navigation through GNSS, the above electronic device can receive the signal for positioning and navigation generated during the positioning and navigation process. When the electronic device receives the navigation signal of the Mth detection cycle, the electronic device can demodulate the received navigation signal to obtain the above N navigation telegrams and obtain the level values of the N navigation telegrams.

[0029] The navigation signal is a signal received by the electronic device for positioning and navigation, and is a partial signal in the Mth detection cycle. The Mth detection cycle can be any detection cycle in the process of the electronic device determining the half-cycle jump.

[0030] Optionally, the Mth detection cycle may be a detection cycle closest to the system time of the electronic device during the process of the electronic device receiving a signal for positioning and navigation, thereby improving the real-time performance of the detection.

[0031] It should be noted that each detection cycle in the above-mentioned M detection cycles may be a detection cycle including a preset number of time slots; or, may be a detection cycle including a preset duration.

[0032] Optionally, the electronic device is provided with a timer, and the Mth detection period is the Mth timing period of the timer. In this way, the navigation signal to be detected can be determined during the signal reception process by the timer, thereby improving the real-time performance of the detection.

[0033] In addition, the navigation signal can be any signal in a global navigation satellite system that is applicable to the method for determining a half-cycle jump in the embodiment of the present application. Specifically, the navigation signal can be a GLONASS precision code navigation signal, thereby not only improving the accuracy of determining whether the carrier phase has a half-cycle jump, but also improving the tracking sensitivity of the GLONASS precision code.

[0034] In the embodiment of the present application, the level values of the N navigation messages of the navigation signal may be obtained by sequentially performing baseband down-conversion, despreading, and integration on the navigation signal to obtain the level values of the N navigation messages.

[0035] Specifically, the navigation signal can be baseband down-converted and despread using the following formula (1) to obtain the signal results of each navigation message after baseband frequency conversion and despreading.

[0036]

[0037] In formula (1), x[k] represents the first signal result of the navigation signal of the kth preset time length in the navigation signal, k is a positive integer, A represents the signal amplitude, T s represents the sampling period, d[kT s ] represents the modulation data (i.e., navigation message), c[kT s ] represents a pseudo code sequence, c[kT s +τ] represents the local pseudo code sequence, τ represents the phase difference between the input pseudo code and the local code, f Δ represents the Doppler tracking error, n k represents a complex Gaussian white noise sequence, represents the initial phase, and j represents the imaginary part.

[0038] After the first signal result of each preset time length of the partial navigation signal is calculated by the above formula (1), the first signal result can be further integrated by formula (2) to obtain the integration time T corresponding to each navigation message. I (such as T I =1s, etc.)

[0039]

[0040] X i represents the level value of the i-th navigation message among N navigation messages, where i is an integer less than or equal to N; R(τ) represents the autocorrelation function of the spreading code; f d Indicates the Doppler shift.

[0041] In step 102, after obtaining the level values of the N navigation messages, the electronic device may determine a half-cycle jump detection result based on the level values of the N navigation messages to indicate whether a carrier phase half-cycle jump occurs in the navigation signal.

[0042] Among them, the above-mentioned determination of the half-cycle jump detection result based on the level values of N navigation messages may be that a level threshold is pre-set in the electronic device, and the electronic device compares the level values of the N navigation messages with the level threshold respectively, and determines the half-cycle jump detection result according to the comparison result.

[0043] In addition, the above-mentioned half-cycle jump result can be used to characterize whether the carrier phase of the above-mentioned navigation signal undergoes a half-cycle jump, that is, the above-mentioned half-cycle jump result can at least include a first detection result and a second detection result. The first detection result is used to characterize whether the carrier phase of the above-mentioned navigation signal undergoes a half-cycle jump, and the second detection result is used to characterize whether the carrier phase of the navigation signal undergoes a half-cycle jump.

[0044] Exemplarily, when, among the level values of N navigation messages, the number of navigation messages whose level values are greater than or equal to the level threshold does not exceed a preset number, the above-mentioned half-cycle jump result can be determined as the above-mentioned first detection result; and when the number of navigation messages whose level values are less than the level threshold exceeds a preset number, the above-mentioned half-cycle jump result can be determined as the above-mentioned second detection result.

[0045] In some implementations, step 102 may include:

[0046] Counting the probability of low level and / or high level appearing in the level values of N navigation messages;

[0047] The half-cycle jump detection result is determined based on the comparison result of the statistically obtained probability and the preset probability threshold.

[0048] In this embodiment, the probability of at least one of a low level and a high level appearing in the level values of N navigation messages can be counted, and the half-cycle jump detection result can be determined based on the comparison result of the statistically obtained probability and the preset probability threshold. This not only makes the method of determining the half-cycle jump detection result more flexible and diverse, but also improves the detection accuracy.

[0049] Among them, the above-mentioned statistics on the probability of either a low level or a high level appearing in the level values of N navigation messages may be that the electronic device first determines whether the level value is a high level or a low level based on the level value of each navigation message in the N navigation messages, and then counts a first number of low levels or a second number of high levels appearing in the N navigation messages, and uses the ratio of the first number to N as the first probability of the low level appearing, and uses the ratio of the second number to N as the second probability of the high level appearing.

[0050] In addition, the above-mentioned determination of whether the level value is a high level or a low level based on the level value of each navigation message can be determined by comparing the level value of each navigation message with a zero value, that is, if the level value of the navigation message is less than zero, then the level of the navigation message is determined to be a low level; if the level value of the navigation message is greater than zero, then the level of the navigation message is determined to be a high level.

[0051] It should be noted that the above-mentioned statistics on the number of low levels or high levels appearing in N navigation messages may be that a high-level counter and a low-level counter are provided in the electronic device, and when the electronic device determines that the level of a navigation message is a high level, the count value of the high-level counter is increased by 1. Then, the above-mentioned first number is the count value of the high-level counter when the levels of N navigation messages are obtained; and when the electronic device determines that the level of a navigation message is a low level, the count value of the low-level counter is increased by 1. Then, the above-mentioned second number is the count value of the low-level counter when the levels of N navigation messages are obtained.

[0052] For example, assuming that each detection cycle detects a 20-second navigation signal, and a navigation message is obtained by demodulating each 1-second navigation signal, then the level values of 20 (i.e., N=20) navigation messages can be obtained within the current detection cycle (i.e., the Mth detection cycle). The electronic device can compare the level values of the 20 navigation messages with a zero value. When it is determined that the compared navigation message level value is greater than 0, the count value of the high-level counter is increased by 1; when it is determined that the compared navigation message level value is less than 0, the count value of the low-level counter is increased by 1. After comparing the level values of all 20 navigation messages with a zero value, the count value of the low-level counter can be used as the first quantity, and the count value of the high-level counter can be used as the second quantity. For example, the first quantity can be 12, the second quantity can be 8, and so on.

[0053] In the above embodiment, the half-cycle jump detection result is determined based on the comparison result of the probability obtained based on statistics and the preset probability threshold. It can be that when a first probability of a low level appears in the level values of the above N navigation messages obtained by statistics, the first probability is compared with the low-level probability threshold. If the first probability is greater than or equal to the low-level probability threshold, the half-cycle jump detection result is determined to be the above-mentioned first detection result; and if the first probability is less than the low-level probability threshold, the half-cycle jump detection result is determined to be the above-mentioned second detection result.

[0054] Exemplarily, the low-level probability threshold can be preset to 60%. If the first number is 12 and the second number is 8, the first probability is 60%, that is, the first probability is equal to the low-level probability threshold. At this time, the half-cycle jump detection result is determined to be the first detection result; if the first number is 10 and the second number is 10, the first probability is 50%, that is, the first probability is less than the low-level probability threshold. At this time, the half-cycle jump detection result is determined to be the second detection result.

[0055] Alternatively, when a second probability of a high level appearing in the level values of the above-mentioned N navigation messages is statistically obtained, the second probability may be compared with the high-level probability threshold; if the second probability is greater than or equal to the high-level probability threshold, the half-cycle jump detection result is determined to be the above-mentioned second detection result; and if the second probability is less than the high-level probability threshold, the half-cycle jump detection result is determined to be the above-mentioned first detection result.

[0056] It should be noted that the above-mentioned low-level probability threshold and the above-mentioned high-level probability threshold can be values set according to actual needs, or can also be values calculated according to preset rules, and are not limited here.

[0057] In some embodiments, the statistically calculating the probability of a low level and / or a high level occurring in the level values of the N navigation messages may include:

[0058] A first probability of a low level appearing in the level values of the N navigation messages and a second probability of a high level appearing are calculated.

[0059] The comparison result between the probability obtained based on the statistics and the preset probability threshold is used to determine the half-cycle jump detection result, which may include:

[0060] When the first probability is greater than or equal to a preset probability threshold, determining a first detection result, where the first detection result is used to: indicate that a carrier phase half-cycle jump occurs in the navigation signal;

[0061] When the second probability is greater than or equal to the preset probability threshold, a second detection result is determined, where the second detection result is used to indicate that no carrier phase half-cycle jump occurs in the navigation signal.

[0062] In this embodiment, by comparing the first probability and the second probability with the same preset probability threshold respectively, and when the first probability is greater than or equal to the preset probability threshold, it is determined that the first detection result, i.e., the carrier phase has undergone a half-cycle jump; when the second probability is greater than or equal to the preset probability threshold, it is determined that the second detection result, i.e., the carrier phase has not undergone a half-cycle jump, makes the method of determining the half-cycle jump detection result more reasonable, and further improves the accuracy of determining whether the carrier phase has undergone a half-cycle jump.

[0063] Exemplarily, assuming that the above-mentioned preset probability threshold is 60%, if the above-mentioned first number is 12 and the second number is 8, that is, the above-mentioned first probability is 60%, then the above-mentioned half-cycle jump result is determined to be the first detection result; if the above-mentioned first number is 8 and the second number is 12, that is, the above-mentioned second probability is 60%, then the above-mentioned half-cycle jump result is determined to be the second detection result.

[0064] In which, the above-mentioned electronic device can be, after statistically obtaining the above-mentioned first probability and second probability, first compare one of the first probability and the second probability with the above-mentioned preset probability threshold to obtain a first comparison result, and determine the half-cycle jump detection result when the first comparison result is that the compared probability is greater than or equal to the above-mentioned preset probability threshold, that is, the first detection result is determined when the first probability is greater than or equal to the preset probability threshold, and the second detection result is determined when the second probability is greater than or equal to the preset probability threshold; and when the comparison result is less than the preset probability threshold, the other of the first probability and the second probability is compared with the preset probability threshold to obtain a second comparison result, and when the second comparison result is that the compared probability is greater than or equal to the above-mentioned preset probability threshold, the half-cycle jump detection result is determined.

[0065] It should be noted that, since there is a situation where both the first probability and the second probability are smaller than the above-mentioned preset probability threshold, for example, the first comparison result and the second comparison result obtained in sequence above are both that the compared probabilities are smaller than the above-mentioned preset probability threshold, at this time, the electronic device may not perform any operation.

[0066] In some embodiments, determining the half-cycle jump detection result based on the comparison result of the statistically obtained probability and the preset probability threshold may further include:

[0067] When the first probability is less than the preset probability threshold and the second probability is less than the preset probability threshold, a third detection result is determined, where the third detection result is used to indicate that it is impossible to determine whether a carrier phase half-cycle jump occurs in the navigation signal.

[0068] In this embodiment, when the above-mentioned first probability is less than the preset probability threshold and the second probability is less than the preset probability threshold, the electronic device can also determine a third detection result to indicate that it is impossible to determine whether a carrier phase half-cycle jump occurs in the navigation information, so that the half-cycle jump detection result has more comprehensive coverage.

[0069] In addition, the above-mentioned preset probability threshold may be a value set according to actual needs, or may be a value calculated according to a preset rule, which is not limited here.

[0070] In some embodiments, before obtaining the level values of the N navigation messages of the navigation signal, the method further includes:

[0071] Obtain the navigation message bit error rate and navigation message low-frequency flip rate of the navigation signal;

[0072] Based on the navigation message bit error rate and the navigation message low-frequency flip rate, the preset probability threshold is calculated.

[0073] In this embodiment, the above-mentioned preset probability threshold can be calculated based on the navigation message bit error rate and the navigation message low-frequency flip rate of the navigation signal, so that the determined preset probability threshold is more reasonable and the accuracy of determining whether the carrier phase has a half-cycle jump is further improved.

[0074] The navigation message bit error rate of the navigation signal may be calculated using a preset navigation message bit error rate calculation method or rule. Specifically, it may be calculated according to the following formula (3):

[0075]

[0076] In the above formula (3), P be represents the navigation message bit error rate; Q function is a calculation formula in communication theory, and the calculation method is shown in formula (4); C / N0 represents the carrier-to-noise ratio; and, T D Indicates the preset duration, such as =1s.

[0077] The navigation message low-frequency flip rate of the above navigation signal can be calculated by a preset navigation message low-frequency flip rate calculation method or rule. Specifically, it can be calculated according to the following formula (4):

[0078]

[0079] In the above formula (4), Q(x) represents the low-frequency flip rate of the navigation message, and x represents the independent variable of this function, that is,

[0080] The above-mentioned preset probability threshold is calculated based on the navigation message bit error rate and the navigation message low-frequency flip rate, and can also be implemented based on a preset calculation rule. Specifically, the above-mentioned preset probability threshold can be calculated using the following formula (5).

[0081] γ=P be ·P d ·N (5)

[0082] In the above formula (5), Q(x) represents the preset probability threshold.

[0083] It should be noted that, after the electronic device obtains the half-cycle jump detection result, the electronic device may only store and output the half-cycle jump detection result for user reference and query.

[0084] In some embodiments, after step 103 and after determining the half-cycle jump detection result, the method further includes:

[0085] Generating identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result;

[0086] When the half-cycle jump detection result indicates that a half-cycle jump occurs in the carrier phase of the navigation signal, the carrier phase of the navigation signal is corrected in response to identification information of the half-cycle jump identifier.

[0087] In this embodiment, the electronic device can generate identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result, and when the half-cycle jump detection result indicates that a half-cycle jump in the carrier phase of the navigation signal occurs, the electronic device can correct the carrier phase of the navigation signal in response to the identification information of the half-cycle jump identifier, thereby achieving timely correction of the carrier phase of the navigation signal and improving navigation accuracy.

[0088] The identification information of the half-cycle jump flag is information corresponding to the half-cycle jump detection result. Specifically, if the half-cycle jump detection result is the first detection result, the half-cycle jump flag can be set to be on; if the half-cycle jump detection result is the second detection result, the half-cycle jump flag can be set to be off, and so on.

[0089] In addition, the above-mentioned generation of identification information of the half-cycle jump identifier in the electronic device based on the half-cycle jump detection result may be that when the half-cycle jump detection result of the Mth detection cycle is the same as the half-cycle jump detection result of the N-1th detection cycle, the electronic device keeps the identification information of the half-cycle jump identifier unchanged; and when the half-cycle jump detection result of the Mth detection cycle is different from the half-cycle jump detection result of the N-1th detection cycle, such as the half-cycle jump detection result of the N-1th detection cycle is the first detection result and the half-cycle jump detection result of the Mth detection cycle is the second detection result, or the half-cycle jump detection result of the N-1th detection cycle is the second detection result and the half-cycle jump detection result of the Mth detection cycle is the first detection result, the electronic device updates the identification information of the half-cycle jump identifier.

[0090] It should be noted that the identification information of the half-cycle jump identifier can be pre-set in the electronic device to make the half-cycle jump identifier valid, so that when the electronic device determines that the above-mentioned half-cycle jump detection result is the first detection result or the second detection result, the half-cycle jump identifier can be updated.

[0091] Alternatively, before generating identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result, the method further includes:

[0092] When the first detection result or the second detection result is determined for the first time, setting the half-cycle jump flag is valid;

[0093] Generating identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result, including:

[0094] When the half-cycle jump flag is valid, identification information of the half-cycle jump flag in the electronic device is generated based on the half-cycle jump detection result.

[0095] In this embodiment, the electronic device may set the half-cycle jump flag to be valid when determining the first detection result or the second detection result for the first time, that is, the half-cycle jump flag is effective, thereby making the operation of setting the validity of the half-cycle jump flag more convenient.

[0096] For example, when it is determined for the first time that the first probability of a low level occurring or the second probability of a high level occurring is greater than or equal to the preset probability threshold, the half-cycle jump flag is set to be valid.

[0097] It should be noted that the method for determining a half-cycle jump provided in the embodiments of the present application can be executed by a device for determining a half-cycle jump, or a control module in the device for determining a half-cycle jump that is used to execute the method for determining a half-cycle jump. In the embodiments of the present application, the device for determining a half-cycle jump provided in the embodiments of the present application is described by taking the method for determining a half-cycle jump executed by the device for determining a half-cycle jump as an example.

[0098] See Figure 2 , is a schematic diagram of the structure of the device for determining half-cycle jump provided in an embodiment of the present application, and the device for determining half-cycle jump is applied to the above-mentioned electronic device. Figure 2 As shown, the half-cycle jump determination device 200 includes a first acquisition module 201 and a result determination module 202 .

[0099] The first acquisition module 201 is configured to, upon receiving a navigation signal of the Mth detection cycle, acquire level values of N navigation messages of the navigation signal, wherein the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers.

[0100] The result determination module 202 is used to determine a half-cycle jump detection result based on the level values of the N navigation messages, and the half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump occurs in the navigation signal.

[0101] Optionally, the result determination module 202 includes:

[0102] a probability statistics unit, configured to count the probabilities of a low level and / or a high level appearing in the level values of the N navigation messages;

[0103] The result determination unit is used to determine the half-cycle jump detection result based on the comparison result of the probability obtained by statistics and the preset probability threshold.

[0104] Optionally, the probability statistics unit is specifically used to:

[0105] A first probability of a low level appearing in the level values of the N navigation messages and a second probability of a high level appearing are calculated.

[0106] The result determination unit may include:

[0107] A first determining subunit is configured to determine a first detection result when the first probability is greater than or equal to the preset probability threshold, wherein the first detection result is used to indicate that a carrier phase half-cycle jump occurs in the navigation signal;

[0108] The second determining subunit is used to determine a second detection result when the second probability is greater than or equal to the preset probability threshold, where the second detection result is used to indicate that no carrier phase half-cycle jump occurs in the navigation signal.

[0109] Optionally, the result determination unit further includes:

[0110] The third determination subunit is used to determine a third detection result when the first probability is less than the preset probability threshold and the second probability is less than the preset probability threshold, and the third detection result is used to: characterize that it is impossible to determine whether the navigation signal has a carrier phase half-cycle jump.

[0111] Optionally, the apparatus 200 further includes:

[0112] A second acquisition module is used to obtain a navigation message bit error rate and a navigation message low-frequency flip rate of the navigation signal;

[0113] The threshold calculation module is used to calculate the preset probability threshold based on the navigation message bit error rate and the navigation message low-frequency flip rate.

[0114] Optionally, the apparatus 200 further includes:

[0115] an identification information generating module, configured to generate identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result;

[0116] The correction module is used to correct the carrier phase of the navigation signal in response to the identification information of the half-cycle jump identifier when the half-cycle jump detection result indicates that the carrier phase of the navigation signal has a half-cycle jump.

[0117] Optionally, the apparatus 200 further includes:

[0118] Identification valid setting module for setting the half-cycle jump identifier valid when the first detection result or the second detection result is determined for the first time.

[0119] The identification information generation module can be specifically used to:

[0120] When the half-cycle jump flag is valid, identification information of the half-cycle jump flag in the electronic device is generated based on the half-cycle jump detection result.

[0121] Optionally, the electronic device is provided with a timer, and the Mth detection cycle is the Mth timing cycle of the timer.

[0122] The device for determining the half-cycle jump in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., and the embodiment of the present application does not specifically limit this.

[0123] The device for determining the half-cycle jump in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0124] The half-cycle jump determination device provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0125] Based on the same inventive concept, the embodiment of the present application further provides an electronic device, specifically combined with Figure 3 Provide detailed explanation.

[0126] See Figure 3 , is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 3 As shown, the electronic device 300 is a structural diagram of an exemplary hardware architecture of an electronic device that can implement the method for determining half-cycle jump and the device for determining half-cycle jump in the embodiments of the present application.

[0127] The electronic device 300 may include a processor 301 and a memory 302 storing computer program instructions.

[0128] Specifically, the processor 301 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0129] The memory 302 may include a large-capacity memory for information or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be internal or external to the integrated gateway device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory. In a specific embodiment, the memory 302 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0130] The processor 301 reads and executes the computer program instructions stored in the memory 302 to perform the following steps:

[0131] Processor 301 is configured to, upon receiving a navigation signal in an Mth detection cycle, obtain level values of N navigation messages of the navigation signal, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers.

[0132] A half-cycle jump detection result is determined based on the level values of the N navigation messages, and the half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump occurs in the navigation signal.

[0133] Optionally, the processor 301 performs statistical calculation of the probability of a low level and / or a high level appearing in the level values of the N navigation messages;

[0134] The half-cycle jump detection result is determined based on the comparison result of the statistically obtained probability and the preset probability threshold.

[0135] Optionally, the processor 301 performs statistical calculation of a first probability of a low level appearing in the level values of the N navigation messages, and a second probability of a high level appearing;

[0136] When the first probability is greater than or equal to the preset probability threshold, determining a first detection result, where the first detection result is used to: indicate that a carrier phase half-cycle jump occurs in the navigation signal;

[0137] When the second probability is greater than or equal to the preset probability threshold, a second detection result is determined, where the second detection result is used to indicate that no carrier phase half-cycle jump occurs in the navigation signal.

[0138] Optionally, the processor 301 determines a third detection result when the first probability is less than the preset probability threshold and the second probability is less than the preset probability threshold, and the third detection result is used to: characterize that it is impossible to determine whether the navigation signal has a carrier phase half-cycle jump.

[0139] Optionally, the processor 301 executes acquisition of a navigation message bit error rate and a navigation message low-frequency flip rate of the navigation signal;

[0140] The preset probability threshold is calculated based on the navigation message bit error rate and the navigation message low-frequency flip rate.

[0141] Optionally, the processor 301 generates identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result;

[0142] In a case where the half-cycle jump detection result indicates that a half-cycle jump occurs in the carrier phase of the navigation signal, the carrier phase of the navigation signal is corrected in response to identification information of the half-cycle jump identifier.

[0143] Optionally, the processor 301 sets the half-cycle jump flag to be valid when the first detection result or the second detection result is determined for the first time;

[0144] When the half-cycle jump flag is valid, identification information of the half-cycle jump flag in the electronic device is generated based on the half-cycle jump detection result.

[0145] Optionally, the electronic device is provided with a timer, and the Mth detection cycle is the Mth timing cycle of the timer.

[0146] In one example, the electronic device 300 may further include a transceiver 303 and a bus 304. Figure 3 As shown, the processor 301 , the memory 302 and the transceiver 303 are connected via a bus 304 and communicate with each other.

[0147] Bus 304 includes hardware, software or both.For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral control interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 304 may include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0148] An embodiment of the present application further provides a computer storage medium, in which computer executable instructions are stored. The computer executable instructions are used to implement the method for determining the half-cycle jump described in the embodiment of the present application.

[0149] In some possible implementations, various aspects of the method provided in the present application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the method according to various exemplary embodiments of the present application described above in this specification. For example, the computer device can execute the method for determining the half-cycle jump recorded in the embodiments of the present application.

[0150] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatuses and computer program products according to the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable image transmission device to produce a machine, so that the instructions executed by the processor of the computer or other programmable image transmission device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable image transmission device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0153] These computer program instructions may also be loaded onto a computer or other programmable image transmission device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0154] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for determining half-cycle jump, applied to electronic equipment, characterized in that: include: Upon receiving a navigation signal of an Mth detection cycle, obtaining level values of N navigation messages of the navigation signal, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers; Determining a half-cycle jump detection result based on the level values of the N navigation messages, wherein the half-cycle jump detection result is used to: indicate whether a carrier phase half-cycle jump occurs in the navigation signal; The determining of a half-cycle jump detection result based on the level values of the N navigation messages includes: Counting the probabilities of a low level and / or a high level appearing in the level values of the N navigation messages; The half-cycle jump detection result is determined based on the comparison result of the statistically obtained probability and the preset probability threshold.

2. The method according to claim 1, characterized in that The counting of probabilities of low levels and / or high levels occurring in the level values of the N navigation messages includes: Counting a first probability of a low level appearing in the level values of the N navigation messages and a second probability of a high level appearing; The determining of the half-cycle jump detection result based on the comparison result of the probability obtained based on the statistics and the preset probability threshold includes: When the first probability is greater than or equal to the preset probability threshold, determining a first detection result, where the first detection result is used to: indicate that a carrier phase half-cycle jump occurs in the navigation signal; When the second probability is greater than or equal to the preset probability threshold, a second detection result is determined, where the second detection result is used to indicate that no carrier phase half-cycle jump occurs in the navigation signal.

3. The method according to claim 2, characterized in that The determining of the half-cycle jump detection result based on the comparison result of the probability obtained based on the statistics and the preset probability threshold also includes: When the first probability is less than the preset probability threshold and the second probability is less than the preset probability threshold, a third detection result is determined, where the third detection result is used to indicate that it is impossible to determine whether a carrier phase half-cycle jump occurs in the navigation signal.

4. The method according to any one of claims 1 to 3, characterized in that Before obtaining the level values of the N navigation messages of the navigation signal, the method further includes: Obtaining a navigation message bit error rate and a navigation message low-frequency flip rate of the navigation signal; The preset probability threshold is calculated based on the navigation message bit error rate and the navigation message low-frequency flip rate.

5. The method according to claim 1, wherein After determining the half-cycle jump detection result, the method further includes: generating identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result; In a case where the half-cycle jump detection result indicates that a half-cycle jump occurs in the carrier phase of the navigation signal, the carrier phase of the navigation signal is corrected in response to identification information of the half-cycle jump identifier.

6. The method according to claim 5, characterized in that Before generating identification information of a half-cycle jump identifier in the electronic device based on the half-cycle jump detection result, the method further includes: When the first detection result or the second detection result is determined for the first time, setting the half-cycle jump flag to be valid; The generating, based on the half-cycle jump detection result, identification information of a half-cycle jump identifier in the electronic device includes: When the half-cycle jump flag is valid, identification information of the half-cycle jump flag in the electronic device is generated based on the half-cycle jump detection result.

7. The method according to claim 1, characterized in that The electronic device is provided with a timer, and the Mth detection cycle is the Mth timing cycle of the timer.

8. A device for determining half-cycle jump, applied to electronic equipment, characterized in that: include: a first acquisition module, configured to, upon receiving a navigation signal of an Mth detection cycle, acquire level values of N navigation messages of the navigation signal, where the N navigation messages include navigation messages obtained by demodulating the navigation signal, and N and M are positive integers; A result determination module is configured to determine a half-cycle jump detection result based on the level values of the N navigation messages, wherein the half-cycle jump detection result is used to indicate whether a carrier phase half-cycle jump occurs in the navigation signal; The result determination module is specifically used to: Counting the probabilities of a low level and / or a high level appearing in the level values of the N navigation messages; The half-cycle jump detection result is determined based on the comparison result of the statistically obtained probability and the preset probability threshold.

9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein when the program or instruction is executed by the processor, the steps of the method for determining a half-cycle jump as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method for determining the half-cycle jump according to any one of claims 1 to 7 are implemented.

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