A satellite signal processing method and satellite positioning device

Abstract

A satellite signal processing method and a satellite positioning device, relating to the field of communication technology, are used to improve system performance and user experience when RNSS and RDSS are integrated. The satellite positioning device comprises: an RNSS radio frequency channel, used to receive RNSS receiving signals; an RNSS baseband processor, coupled to the RNSS radio frequency channel, used to perform position velocity and time PVT solution on the RNSS receiving signals to obtain PVT information; an RDSS baseband processor, used to determine the carrier frequency of the RDSS receiving signal according to the carrier frequency deviation value, the carrier frequency deviation value is generated based on the PVT information; and an RDSS radio frequency channel, coupled to the RDSS baseband processor, used to receive the RDSS receiving signal based on the carrier frequency of the RDSS receiving signal.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a satellite signal processing method and a satellite positioning device. Background Art

[0002] In the global navigation satellite system (GNSS), there are two types of satellite radio services that serve the user terminal's position determination. One is the satellite radio navigation system (RNSS), in which the user terminal receives satellite signals, autonomously completes the distance measurement to at least four satellites, and calculates the user terminal's position, speed, and time. The other is the satellite radio determination system (RDSS), in which the distance measurement and position calculation from the user terminal to the satellite cannot be completed independently by the user terminal itself, but must be completed by an external system through the user terminal's response. The integration of RNSS and RDSS can be used to provide the user terminal with a more stable and reliable reception signal, while providing low-power, low-cost, high-precision positioning and communication capabilities.

[0003] In the prior art, a method for realizing rapid positioning of a user terminal based on the integration of RNSS and RDSS is provided. Specifically, after the RDSS module completes the capture, tracking and positioning of the RDSS signal, the solved time information is transmitted to the RNSS module for auxiliary positioning, so that the RNSS module can reduce the uncertainty of the time information required for navigation based on the time information, thereby greatly reducing the first capture time of the RNSS signal, thereby realizing rapid positioning of the RNSS.

[0004] However, since the receiving sensitivity of the RDSS signal is significantly lower than that of the RNSS signal, in some complex signal scenarios with severe obstruction, the capture and tracking of the RDSS signal may not be achieved due to the low receiving power of the RDSS signal, resulting in low performance of the RNSS and RDSS integration. Summary of the invention

[0005] The present application provides a satellite signal processing method and a satellite positioning device, which are used to improve system performance and user experience when RNSS and RDSS are integrated.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, a satellite positioning device is provided, which supports a satellite radio navigation system RNSS and a satellite radio determination system RDSS, and the device includes: an RNSS radio frequency channel, for receiving an RNSS receive signal, which may refer to an RNSS receive signal received by the device from a satellite, which may refer to a signal corresponding to the RNSS; an RNSS baseband processor, coupled to the RNSS radio frequency channel, for performing position, velocity and time PVT solution on the RNSS receive signal to obtain PVT information; an RDSS baseband processor, for determining a carrier frequency of the RDSS receive signal according to a carrier frequency deviation value, which is generated based on the PVT information, and which refers to a frequency offset value of the carrier frequency of the RDSS receive signal relative to the carrier frequency of the RDSS signal sent by the satellite; and an RDSS radio frequency channel, coupled to the RDSS baseband processor, for receiving the RDSS receive signal based on the carrier frequency of the RDSS receive signal.

[0008] In the above technical scheme, the carrier frequency deviation value of the RDSS signal can be obtained based on the PVT information determined based on the RNSS received signal, and thus the carrier frequency of the RDSS received signal can be determined based on the carrier frequency deviation value, that is, the carrier frequency deviation value can be used to lock the carrier frequency of the RDSS received signal within a smaller frequency range, so as to pre-detect the RDSS received signal within a smaller frequency range, thereby shortening the search time of the carrier frequency uncertainty and realizing rapid locking of the RDSS received signal, thereby reducing the hardware design complexity of the device, reducing the cost, and further reducing the power consumption of the device.

[0009] In a possible implementation of the first aspect, the RDSS baseband processor is further used to determine the code phase of the RDSS received signal according to a code phase offset value, and the code phase offset value is generated based on the PVT information; the RDSS radio frequency channel is further used to receive the RDSS received signal based on the code phase of the RDSS received signal and the carrier frequency. In the above possible implementation, the code phase offset value can be used to lock the phase of the code element (or code chip) of the RDSS received signal within a smaller phase range, and pre-detect the RDSS received signal within the smaller phase range, thereby shortening the search time of the code element (or code chip) phase uncertainty.

[0010] In a possible implementation of the first aspect, the PVT information includes at least one of the following: location information, moving speed, and clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is the difference between the measured clock frequency of the device and the reference clock frequency. The location information may refer to the location of the device when receiving the RNSS signal; the moving speed may refer to the moving speed of the device when receiving the RNSS signal; the time information may refer to the time information of the satellite sending the RNSS signal, which may also be called the observation time; and the clock frequency deviation estimation value may refer to the estimated offset value when the clock frequency of the device is offset.

[0011] In a possible implementation of the first aspect, the RNSS baseband processor or the RDSS baseband processor is also used to: determine the Doppler frequency deviation value according to the mobile speed, and determine the carrier frequency deviation value according to the Doppler frequency deviation value and the clock frequency deviation estimate value. Optionally, the sum of the Doppler frequency deviation value and the clock frequency deviation estimate value is the carrier offset value. In the above possible implementation, by determining the carrier frequency deviation value, the device can pre-detect the RDSS receive signal within a smaller frequency range, thereby shortening the search time of the frequency uncertainty.

[0012] In a possible implementation of the first aspect, the RNSS baseband processor or the RDSS baseband processor is further used to: determine the signal propagation delay according to the position information, and determine the code phase offset value according to the signal propagation delay. Optionally, the code phase offset value is the product of the signal propagation delay and the code frequency. In the above possible implementation, by determining the code phase offset value, the device can pre-detect the RDSS received signal within a smaller phase range, thereby shortening the search time of the code element (or code chip) phase uncertainty.

[0013] In a possible implementation of the first aspect, the method further includes: an RDSS baseband processor, which is also used to correct the carrier frequency of the RDSS transmission signal according to the carrier frequency deviation value to obtain the RDSS transmission signal; and an RDSS radio frequency channel, which is also used to send the RDSS transmission signal. In the above possible implementation, by correcting the carrier frequency of the RDSS transmission signal by the carrier frequency deviation value, the frequency accuracy of the RDSS transmission signal can be improved, so that after the device sends the RDSS transmission signal, when the RDSS central station receives the RDSS transmission signal, the RDSS central station can perform pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmission signal with minimal resources, thereby improving the communication success rate.

[0014] In a possible implementation manner of the first aspect, the apparatus is a satellite positioning chip or a satellite positioning device.

[0015] In a second aspect, a satellite positioning device is provided, which supports a satellite radio navigation system RNSS and a satellite radio determination system RDSS, and the device includes: an RNSS radio frequency channel, for receiving an RNSS receive signal, which may refer to an RNSS receive signal received by the device from a satellite, which may refer to a signal corresponding to the RNSS; an RNSS baseband processor, coupled to the RNSS radio frequency channel, for performing position, velocity and time PVT solution on the RNSS receive signal to obtain PVT information; an RDSS baseband processor, for correcting the carrier frequency of an RDSS transmit signal according to a carrier frequency deviation value to obtain the RDSS transmit signal, which carrier frequency deviation value is generated based on the PVT information, and which carrier frequency deviation value refers to a frequency offset value of the carrier frequency of the RDSS receive signal relative to the carrier frequency of the RDSS signal sent by the satellite; and an RDSS radio frequency channel, coupled to the RDSS baseband processor, for sending the RDSS transmit signal. In the above technical solution, after the carrier frequency deviation value is determined based on the RNSS received signal, the carrier frequency of the RDSS transmit signal is corrected by the carrier frequency deviation value, so that the frequency accuracy of the RDSS transmit signal can be improved. Therefore, after the device sends the RDSS transmit signal, when the RDSS central station receives the RDSS transmit signal, the RDSS central station can perform pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmit signal with minimal resources, thereby improving the communication success rate.

[0016] In a possible implementation of the second aspect, the PVT information includes at least one of the following: a moving speed, a clock frequency deviation estimate; wherein the clock frequency deviation estimate is a difference between a measured clock frequency of the device and a reference clock frequency. The moving speed may refer to a moving speed when the device receives the RNSS signal; the time information may refer to time information when the satellite sends the RNSS signal, which may also be referred to as an observation time; and the clock frequency deviation estimate may refer to an estimated offset value when the clock frequency of the device is offset.

[0017] In a possible implementation of the second aspect, the RNSS baseband processor or the RDSS baseband processor is also used to: determine the Doppler frequency deviation value according to the moving speed, and determine the carrier frequency deviation value according to the Doppler frequency deviation value and the clock frequency deviation estimate value. Optionally, the sum of the Doppler frequency deviation value and the clock frequency deviation estimate value is the carrier offset value. In the above possible implementation, by correcting the carrier frequency of the RDSS transmission signal by the carrier frequency deviation value, the frequency accuracy of the RDSS transmission signal can be improved, so that after the device sends the RDSS transmission signal, when the RDSS central station receives the RDSS transmission signal, the RDSS central station can perform pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmission signal with minimal resources, thereby improving the communication success rate.

[0018] In a possible implementation manner of the second aspect, the apparatus is a satellite positioning chip or a satellite positioning device.

[0019] In a third aspect, a satellite signal processing method is provided, which is applied to a device supporting a satellite radio navigation system RNSS and a satellite radio determination system RDSS, the method comprising: receiving an RNSS receive signal, which may refer to an RNSS receive signal from a satellite received by the device, and which may refer to a signal corresponding to the RNSS; performing position velocity and time PVT solution on the RNSS receive signal to obtain PVT information; determining a carrier frequency of the RDSS receive signal according to a carrier frequency deviation value, wherein the carrier frequency deviation value is generated based on the PVT information, and the carrier frequency deviation value refers to a frequency offset value of the carrier frequency of the RDSS receive signal relative to the carrier frequency of the RDSS signal sent by the satellite; and receiving the RDSS receive signal based on the carrier frequency of the RDSS receive signal.

[0020] In a possible implementation manner of the third aspect, the method further includes: determining a code phase of the RDSS receive signal according to a code phase offset value, wherein the code phase offset value is generated based on the PVT information; and receiving the RDSS receive signal based on the code phase of the RDSS receive signal and the carrier frequency.

[0021] In a possible implementation of the third aspect, the PVT information includes at least one of the following: location information, moving speed, and clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is the difference between the measured clock frequency of the device and the reference clock frequency. The location information may refer to the location of the device when receiving the RNSS signal; the moving speed may refer to the moving speed of the device when receiving the RNSS signal; the time information may refer to the time information of the satellite sending the RNSS signal, which may also be called the observation time; and the clock frequency deviation estimation value may refer to the estimated offset value when the clock frequency of the device is offset.

[0022] In a possible implementation of the third aspect, the method further includes: determining a Doppler frequency offset value according to the moving speed, and determining the carrier frequency offset value according to the Doppler frequency offset value and the clock frequency offset estimate value. Optionally, the sum of the Doppler frequency offset value and the clock frequency offset estimate value is the carrier offset value.

[0023] In a possible implementation manner of the third aspect, the method further includes: determining a signal propagation delay according to the position information, and determining the code phase offset value according to the signal propagation delay. Optionally, the code phase offset value is the product of the signal propagation delay and the code frequency.

[0024] In a possible implementation manner of the third aspect, the method further includes: correcting the carrier frequency of the RDSS transmit signal according to the carrier frequency offset value to obtain the RDSS transmit signal; and sending the RDSS transmit signal.

[0025] In a possible implementation manner of the third aspect, the apparatus is a satellite positioning chip or a satellite positioning device.

[0026] In a fourth aspect, a satellite signal processing method is provided, which is applied to a device supporting a satellite radio navigation system RNSS and a satellite radio determination system RDSS, the method comprising: receiving an RNSS receive signal, which may refer to an RNSS receive signal from a satellite received by the device, and which may refer to a signal corresponding to the RNSS; performing position velocity and time PVT solution on the RNSS receive signal to obtain PVT information; correcting the carrier frequency of the RDSS transmit signal according to a carrier frequency deviation value to obtain the RDSS transmit signal, which carrier frequency deviation value is generated based on the PVT information, and which carrier frequency deviation value refers to a frequency offset value of the carrier frequency of the RDSS receive signal relative to the carrier frequency of the RDSS signal sent by the satellite; and sending the RDSS transmit signal.

[0027] In a possible implementation of the fourth aspect, the PVT information includes at least one of the following: a moving speed, a clock frequency deviation estimate; wherein the clock frequency deviation estimate is a difference between a measured clock frequency of the device and a reference clock frequency. The moving speed may refer to a moving speed when the device receives the RNSS signal; the time information may refer to time information when the satellite sends the RNSS signal, which may also be referred to as an observation time; and the clock frequency deviation estimate may refer to an estimated offset value when the clock frequency of the device is offset.

[0028] In a possible implementation of the fourth aspect, the method further includes: determining a Doppler frequency deviation value according to the moving speed, and determining the carrier frequency deviation value according to the Doppler frequency deviation value and the clock frequency deviation estimate value. Optionally, the sum of the Doppler frequency deviation value and the clock frequency deviation estimate value is the carrier frequency deviation value.

[0029] In a possible implementation manner of the fourth aspect, the apparatus is a satellite positioning chip or a satellite positioning device.

[0030] According to a fifth aspect, a satellite positioning system is provided, the system comprising an antenna and a satellite positioning system as provided in the first aspect or any possible implementation of the first aspect.

[0031] According to a sixth aspect, a satellite positioning system is provided, the system comprising an antenna and a satellite positioning system as provided in the second aspect or any possible implementation of the second aspect.

[0032] In another aspect of the present application, a computer-readable storage medium is provided for storing a computer program. When the computer program is executed on a computer, the computer executes the satellite signal processing method provided by the third aspect or any possible implementation of the third aspect.

[0033] In another aspect of the present application, a computer-readable storage medium is provided for storing a computer program. When the computer program is executed on a computer, the computer executes the satellite signal processing method provided by the fourth aspect or any possible implementation of the fourth aspect.

[0034] In another aspect of the present application, a computer program product is provided. When the computer program product is run on a computer, the computer is enabled to execute the satellite signal processing method provided by the third aspect or any possible implementation manner of the third aspect.

[0035] In another aspect of the present application, a computer program product is provided. When the computer program product is run on a computer, the computer is enabled to execute the satellite signal processing method provided by the fourth aspect or any possible implementation of the fourth aspect.

[0036] It can be understood that any of the satellite signal processing methods, satellite positioning systems, computer-readable storage media or computer program products provided above include the functions of the satellite positioning device provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the satellite positioning device provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the architecture of a GNSS provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of a mobile phone provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a flow chart of a satellite signal processing method provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of a satellite positioning device provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a flow chart of another satellite signal processing method provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of another satellite positioning device provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a structural flow chart of another satellite signal processing method provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of another satellite positioning device provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of the structure of another satellite positioning device provided in an embodiment of the present application;

[0046] Fig.10 A schematic diagram of the structure of a satellite positioning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the present application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, in the embodiments of the present application, the words "first", "second", etc. do not limit the quantity and execution order.

[0048] Before introducing the embodiments of the present application, the relevant technical terms involved in the present application are first introduced and explained.

[0049] The global navigation satellite system (GNSS) is a satellite-based radio navigation system that uses artificial satellites as navigation stations. It provides all-weather, high-precision position (position, P), velocity (velocity, V) and time (time, T) information for various military and civilian vehicles on land, sea, air and space around the world. This position, velocity and time information can be referred to as PVT information.

[0050] In GNSS, there are two types of satellite radio services that serve the user terminal's position determination. One is the satellite radio navigation satellite system (RNSS), where the user terminal receives satellite signals, autonomously completes distance measurements to at least four satellites, and calculates the user terminal's position, speed, and time. The other is the satellite radio determination satellite system (RDSS), where the user terminal's distance measurement and position calculation from the satellite cannot be completed independently by the user terminal itself, but must be completed by an external system through the user terminal's response. The integration of RNSS and RDSS can be used to provide the user terminal with a more stable and reliable reception signal, while providing low-power, low-cost, high-precision positioning and communication capabilities.

[0051] Figure 1A schematic diagram of the architecture of a GNSS provided in an embodiment of the present application, the GNSS may include: a space part 101, a ground control part 102 and a user part 103. Among them, the space part 101 may include a satellite group flying around the earth in the air, and the satellite group may include multiple satellites, which can be used to provide ephemeris and time information, transmit pseudorange and carrier signals, and provide other service information, etc. For example, the multiple satellites may include multiple geostationary earth orbits (GEO) satellites. The ground control part 102 may include a central station, etc., for achieving time synchronization, tracking satellites for orbit determination, etc. The user part 103 may include user terminals such as user navigation terminals and navigation receivers, which are used to receive, measure and resolve satellite navigation signals, etc.

[0052] The embodiment of the present application can be applied to a user terminal of a global navigation satellite system (GNSS), and the user terminal can support a satellite radio determination system (RDSS) and a satellite radio navigation system (RNSS), and the RNSS and the RDSS share the same clock. Optionally, the user terminal can be a multi-mode multi-frequency receiver, that is, the user terminal can be used to receive GNSS navigation signals in multiple different modes, and can also be used to receive GNSS navigation signals of multiple different frequencies in the same mode. For example, the user terminal is a multi-frequency receiver of the Beidou satellite navigation system, which can be used to receive GNSS navigation signals of one or more frequencies among B1I, B1C, B2a or B2b. The multi-mode may include one or more global positioning system modes such as the Beidou satellite navigation system, the global positioning system (GPS), GLONASS and GALILEO, and may also include one or more regional positioning system modes such as the quasi-zenith satellite system (QZSS) and the Indian Regional Navigation Satellite System (IndiaRNSS, IRNSS). In practical applications, the user terminal may be a navigator, a mobile phone, a tablet computer, a computer, a smart wearable device, a vehicle-mounted device or a portable device, or the user terminal may be a chip built into the above-mentioned device. For the convenience of description, the above-mentioned devices and chips may be collectively referred to as satellite positioning devices.

[0053] Figure 2The following is a schematic diagram of the structure of a satellite positioning device provided in an embodiment of the present application. The satellite positioning device is described by taking a mobile phone as an example. The mobile phone includes: a radio frequency (RF) circuit 210, a memory 220, an input unit 230, a display unit 240, a sensor assembly 250, an audio circuit 260, a processor 270, and a power supply 280. Those skilled in the art can understand that Figure 2 The mobile phone structure shown in the figure does not constitute a limitation on the mobile phone, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0054] Combine the following Figure 2 The following is a detailed introduction to the various components of the mobile phone:

[0055] The RF circuit 210 can be used for receiving and sending information or receiving and sending signals during a call. Generally, the RF circuit 210 includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, an LNA (low noise amplifier), a duplexer, etc. Optionally, the antenna may include multiple receiving antennas and multiple transmitting antennas. In addition, the RF circuit 210 can also communicate with a network and other devices via wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to the global system of mobile communication (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), long term evolution (LTE), etc.

[0056] The memory 220 can be used to store software programs and modules. The processor 270 executes various functional applications and data processing of the mobile phone by running the software programs and modules stored in the memory 220. The memory 220 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, image data, phone book, etc.). In addition, the memory 220 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0057] The input unit 230 can be used to receive input digital or character information, and generate key signal input related to the user settings and function control of the mobile phone. Specifically, the input unit 230 may include a touch screen 231 and other input devices 232. The touch screen 231, also known as a touch panel, can collect user touch operations on or near it (such as operations performed by the user using any suitable object such as a finger, a stylus, or near the touch screen 231) and drive the corresponding connection device according to a pre-set program. Other input devices 232 may include, but are not limited to, one or more of a physical keyboard, function keys (such as a volume control button, a power switch button, etc.), a trackball, a mouse, a joystick, etc.

[0058] The display unit 240 can be used to display information input by the user or information provided to the user and various menus of the mobile phone. The display unit 240 may include a display panel 241. Optionally, the display panel 241 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. Further, the touch screen 231 may cover the display panel 241. When the touch screen 231 detects a touch operation on or near it, it is transmitted to the processor 270 to determine the type of touch event. Subsequently, the processor 270 provides a corresponding visual output on the display panel 241 according to the type of touch event. Although in Figure 2 In the embodiment, the touch screen 231 and the display panel 241 are used as two independent components to implement the input and output functions of the mobile phone, but in some embodiments, the touch screen 231 and the display panel 241 can be integrated to implement the input and output functions of the mobile phone.

[0059] The sensor assembly 250 includes one or more sensors for providing various aspects of status evaluation for the mobile phone. The sensor assembly 250 may include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor, and the acceleration / deceleration, orientation, opening / closing state of the mobile phone, the relative positioning of the components, or the temperature change of the mobile phone can be detected by the sensor assembly 250. In addition, the sensor assembly 250 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications.

[0060] The audio circuit 260, the speaker 261, and the microphone 262 can provide an audio interface between the user and the mobile phone. The audio circuit 260 can transmit the received audio data to the speaker 261 after converting the received audio data into an electrical signal, which is converted into a sound signal for output; on the other hand, the microphone 262 converts the collected sound signal into an electrical signal, which is received by the audio circuit 260 and converted into audio data, and then the audio data is output to the RF circuit 210 to be sent to, for example, another mobile phone, or the audio data is output to the memory 220 for further processing.

[0061] The processor 270 is the control center of the mobile phone. It uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 220, and calling data stored in the memory 220, it executes various functions of the mobile phone and processes data, thereby monitoring the mobile phone as a whole. Optionally, the processor 270 may include one or more processing units; preferably, the processor 270 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 270.

[0062] The mobile phone also includes a power source 280 (such as a battery) for supplying power to various components. Preferably, the power source can be logically connected to the processor 270 through a power management system, so that the power management system can manage functions such as charging, discharging, and power consumption.

[0063] Furthermore, the mobile phone may also include a connectivity chip 290, and a GNSS module supporting both RDSS and RNSS may be integrated in the connectivity chip 290. Optionally, one or more of a wireless fidelity (WiFi) module, a Bluetooth module, a near field communication (NFC) module, or a frequency modulation (FM) module may also be integrated in the connectivity chip 290, which will not be described in detail in this application.

[0064] Figure 3 A flowchart of a satellite signal processing method provided in an embodiment of the present application is provided. The method can be applied to a satellite positioning device supporting RNSS and RDSS. The RNSS and the RDSS share the same clock. The device can be a user terminal or a chip built into the user terminal. Figure 3 , the method includes the following steps.

[0065] S301: Determine PVT information according to RNSS received signals.

[0066] Among them, the RNSS signal may refer to the signal corresponding to the RNSS, and the RNSS received signal may refer to the RNSS signal received from the satellite by the satellite positioning device. Taking the Beidou satellite navigation system as an example, the RNSS received signal may be the signal of each frequency point such as B1I, B1C, B2a or B2b corresponding to the RNSS sent by the satellite, and the RNSS transmitted signal may be the signal of each frequency point such as B1I, B1C, B2a or B2b corresponding to the RNSS sent by the satellite positioning device. Similarly, the RDSS signal hereinafter may refer to the signal corresponding to the RDSS, the RDSS received signal may refer to the RDSS signal received from the satellite by the satellite positioning device, and the RDSS transmitted signal may refer to the RDSS signal sent by the satellite positioning device to the satellite.

[0067] In addition, the PVT information refers to position velocity and time (PVT) information, which may include one or more of the position information of the device, the moving speed of the device, time information, and clock frequency deviation estimation value. The position information of the device may refer to the position of the satellite positioning device when receiving the RNSS signal; the moving speed of the device may refer to the moving speed of the satellite positioning device when receiving the RNSS signal; the time information may refer to the time information of the satellite sending the RNSS signal, which may also be called the observation time; the clock frequency deviation estimation value may refer to the estimated offset value of the clock frequency of the device when it is offset, wherein the clock frequency deviation estimation value is the difference between the measured clock frequency of the device and the reference clock frequency.

[0068] Specifically, the satellite positioning device may include an RNSS receiver (receive, RX), and the device may receive and process the RNSS received signal through the RNSS RX to obtain the PVT information. For example, the RNSS RX may be used to perform front-end processing on the RNSS received signal, for example, the front-end processing may include RF reception, analog to digital (AD) conversion, filtering and down-conversion, etc.; thereafter, the processed RNSS received signal is captured, tracked, synchronized, decoded, and PVT solved to obtain the PVT information.

[0069] For example, Figure 4As shown, the device includes an RNSS RX, and the RNSS RX includes: an RNSS RX front-end module, an RNSS capture module, an RNSS tracking module, an RNSS synchronization module, an RNSS decoding module, and a PVT solution module. Among them, the RNSS RX front-end module can also be called an RNSS RF channel; the RNSS capture module, the RNSS tracking module, the RNSS synchronization module, the RNSS decoding module, and the PVT solution module are integrated together, and can also be called an RNSS baseband processor. Specifically, the RNSS RX front-end module is used to implement RF reception, AD conversion, filtering, down-conversion, and other processing of the RNSS received signal, and transmit the processed RNSS received signal to the RNSS capture module. The RNSS capture module performs a two-bit search based on the uncertainty of the RNSS received signal in the carrier frequency and code phase, detects the validity of the RNSS received signal, and determines the specific carrier frequency deviation and code phase offset, etc. The RNSS tracking module is used to implement real-time tracking of the carrier frequency and code phase changes of the RNSS received signal, and complete the despreading and demodulation of the RNSS received signal. The RNSS synchronization module performs bit synchronization and frame synchronization based on the demodulated data of the RNSS tracking module to find the bit boundary and frame header of the demodulated data to determine the navigation message. The RNSS decoding module is used to complete the analysis of the navigation message, satellite position calculation, pseudo-range calculation, etc. The PVT solution module realizes the solution of the position, speed, time and other information of the device based on the calculation results of the RNSS decoding module.

[0070] S302: Determine a carrier frequency offset value and a code phase offset value according to the PVT information.

[0071] Among them, carrier frequency deviation and code phase deviation are manifestations of the Doppler effect in the radio field, both of which are caused by the relative motion between the transmitter and the receiver. Carrier frequency deviation can refer to the deviation between the carrier frequency of the signal received by the receiver and the carrier frequency of the signal sent by the transmitter, and the carrier frequency deviation value refers to the frequency deviation value when the deviation occurs. Code phase deviation can refer to the deviation between the signal code element (or code chip) received by the receiver and the signal code element (or code chip) sent by the transmitter, and the code phase deviation value refers to the phase deviation value of the code element (or code chip) when the deviation occurs.

[0072] In addition, the carrier frequency offset value refers to the carrier frequency offset value of the RDSS received signal, specifically, the frequency offset value of the carrier frequency of the RDSS received signal relative to the carrier frequency of the RDSS signal sent by the satellite. The code phase offset value refers to the code phase offset value of the RDSS received signal, specifically, the offset value of the code phase of the RDSS received signal relative to the code phase of the RDSS signal sent by the satellite.

[0073] For example, Figure 4 As shown, the device may also include a prediction unit, which receives the PVT information transmitted by the RNSS RX and determines the carrier frequency offset value and the code phase offset value based on the following implementation method. Optionally, the prediction unit may also be integrated in the RNSS baseband processor, or in the RDSS baseband processor described below.

[0074] In a possible implementation, the PVT information may include the moving speed and the estimated clock frequency deviation of the device, and the carrier frequency deviation value may be determined based on the moving speed and the estimated clock frequency deviation value. Specifically, the Doppler frequency deviation value caused by the relative motion between the device and the GEO satellite providing RNSS services is determined based on the moving speed and the motion state of the GEO satellite providing RNSS services; and the carrier frequency deviation value is determined based on the Doppler frequency deviation value and the estimated clock frequency deviation value.

[0075] Exemplarily, the Doppler frequency deviation value f d The following formula (1) can be satisfied, where v represents the moving speed of the device, ν (n) represents the running speed of the nth GEO satellite, and I(n) represents the unit observation vector of the nth GEO satellite in the device.

[0076]

[0077] Exemplarily, the carrier frequency deviation value f c_offset It can satisfy the following formula (2), where f d Indicates the Doppler frequency deviation value, δ·f μ Indicates the estimated value of clock frequency offset.

[0078] f c_offset =f d +δ·f μ (2)

[0079] In another possible implementation, the PVT information may also include the location information of the device, and the code phase offset value may be determined based on the location information. Specifically, the propagation distance between the device and the GEO satellite is determined based on the location information and the location coordinates of the GEO satellite providing the RNSS service, and the signal transmission delay is determined based on the propagation distance; the code phase offset value when the RDSS signal reaches the device is determined based on the signal propagation delay.

[0080] Among them, the RDSS signal is sent from the central station to the satellite and then forwarded by the satellite, while the RNSS signal is directly generated and broadcasted on the satellite, so the total delay of the RDSS signal propagation must also consider the uplink propagation delay from the central station to the satellite and the on-board forwarding delay. Since the location of the central station is relatively fixed and the orbit of the GEO satellite is also fixed, the uplink propagation delay and the on-board forwarding delay can be estimated and compensated. Ultimately, the code phase offset of the RDSS signal can be specifically determined by the location of the GEO satellite, the signal propagation delay, the uplink propagation delay, and the on-board forwarding delay.

[0081] Exemplarily, the total delay Δτ of the RDSS signal propagation can satisfy the following formula (3), where Δτ up represents the uplink propagation delay, Δτ down represents the signal propagation delay, Δτ tran Indicates the on-board forwarding delay. For example, the code phase offset This can be achieved by satisfying the following formula (4), where Δτ represents the total propagation delay of the RDSS signal, and f code Indicates code frequency.

[0082] Δτ=Δτ up +Δτ down +Δτ tran (3)

[0083]

[0084] S303: Receive and lock the RDSS receiving signal according to the carrier frequency offset value and the code phase offset value.

[0085] The carrier frequency offset value can be used to lock the carrier frequency of the RDSS received signal within a smaller frequency range, so as to pre-detect the RDSS received signal within a smaller frequency range, thereby shortening the search time of the carrier frequency uncertainty. The code phase offset value can be used to lock the phase of the code element (or code chip) of the RDSS received signal within a smaller phase range, pre-detect the RDSS received signal within a smaller phase range, thereby shortening the search time of the code element (or code chip) phase uncertainty.

[0086] Specifically, the satellite positioning device may include an RDSS receiver (RX), and the device may receive and lock the RDSS receiving signal through the RDSS RX. For example, the RDSS RX may be used to perform front-end processing on the RDSS receiving signal, and the front-end processing may include RF reception, AD conversion, filtering, and down-conversion. Afterwards, the frequency range of the RDSS receiving signal and the phase range of the code element (or code chip) are determined according to the carrier frequency deviation value and the code phase offset value, so as to track, synchronize, and decode the RDSS receiving signal within the corresponding range, and obtain data information of the RDSS receiving signal.

[0087] For example, Figure 4 As shown, the device may also include an RDSS RX, which includes: an RDSS RX front-end module, an RDSS tracking module, an RDSS synchronization module, and an RDSS decoding module. Among them, the RDSS RX front-end module can also be called an RDSS RF channel; the RDSS tracking module, the RDSS synchronization module, and the RDSS decoding module are integrated together and can also be called an RDSS baseband processor. Specifically, the functions of the RDSS RX front-end module, the RDSS synchronization module, and the RDSS decoding module are similar to those of the RDSS RX front-end module. Figure 4 The functions of the corresponding RNSS RX front-end module, RNSS synchronization module and RNSS decoding module in the RNSSRX are similar, and the embodiments of the present application will not be repeated here. The function of the RDSS tracking module is slightly different from that of the RNSS tracking module. The RDSS tracking module can quickly realize real-time tracking of the RDSS receiving signal according to the carrier frequency deviation value and code phase offset value determined in S302, thereby shortening the time to lock the RDSS receiving signal. Optionally, the RDSS RX may also include an RDSS capture module. The function of the RDSS capture module is similar to that of the RNSS tracking module. Figure 4 The functions of the corresponding RNSS acquisition module in the RNSS RX are similar and will not be described in detail in the embodiments of the present application.

[0088] In an embodiment of the present application, based on the PVT information determined by the RNSS received signal, the carrier frequency deviation value and the code phase offset value of the RDSS signal can be obtained, so that based on the carrier frequency deviation value and the code phase offset value, the RDSS received signal can be quickly locked, that is, the carrier frequency deviation value can be used to lock the carrier frequency of the RDSS received signal within a smaller frequency range, and the code phase offset value can be used to lock the phase of the code element (or code chip) of the RDSS received signal within a smaller phase range, thereby reducing the search time of the carrier frequency and the code phase, thereby reducing the hardware design complexity of the satellite positioning device, reducing the cost, and further reducing the power consumption of the device.

[0089] Further, such as Figure 5 As shown, after S302, the method further includes: S304. S303 and S304 may be performed in any order. Figure 5 The example of S304 being located after S303 is used for explanation.

[0090] S304: Correct the carrier frequency of the RDSS transmission signal according to the carrier frequency offset value to obtain the RDSS transmission signal.

[0091] The RDSS transmission signal may refer to the RDSS signal sent by the device to the satellite. Due to the relative motion between the device and the satellite, there will be a deviation between the carrier frequency of the transmission signal and the carrier frequency of the RDSS signal received by the satellite, so that the device can correct the carrier frequency of the RDSS transmission signal according to the carrier frequency deviation value, so that the carrier frequency of the corrected RDSS transmission signal is near the system nominal value, which is the reference frequency defined by the system; after that, when the satellite receives the RDSS transmission signal sent by the device, the satellite can forward the transmission signal to the central station, and the central station performs pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmission signal with minimum resources and reduce the signal capture time.

[0092] Specifically, the device may also include a RDSS transmitter (TX), and the device may generate and send the RDSS transmission signal through the RDSS TX. For example, the RDSS TX may be used to perform RDSS channel coding, RDSS modulation, and RDSS shaping filtering on the original bit stream information to obtain an RDSS baseband signal; thereafter, the RDSS baseband signal is subjected to RDSS TX carrier modulation according to the carrier frequency deviation value, and the modulated signal is subjected to a series of RDSS TX front-end processing such as digital to analog (DA) conversion, up-conversion, and amplification to obtain the RDSS transmission signal. Furthermore, the device may also send the RDSS transmission signal through an antenna.

[0093] Exemplary, combined Figure 4 ,like Figure 6As shown, the device may include an RDSS TX, which includes: an RDSS TX front-end module, an RDSS TX carrier modulation module, an RDSS shaping filter module, an RDSS modulation module, and an RDSS channel coding module. Among them, the RDSS TX front-end module can also be called an RDSS RF channel; the RDSS TX carrier modulation module, the RDSS shaping filter module, the RDSS modulation module, and the RDSS channel coding module are integrated together, and can also be called an RDSS baseband processor. Specifically, the RDSS channel coding module is used to perform channel coding on the original bit stream information to ensure that the preset channel coding gain is obtained through corresponding decoding at the receiving end of the RDSS central station. The RDSS modulation module is used to perform spread spectrum modulation processing on the encoded symbol data. The RDSS shaping filter module is used to perform shaping filtering on the modulated signal spectrum and eliminate inter-code interference to obtain an RDSS baseband signal. The RDSS TX carrier modulation module is used to perform carrier modulation on the RDSS baseband signal according to the carrier frequency deviation value to ensure that the carrier frequency of the RDSS intermediate frequency signal obtained after modulation is near the system nominal value. The RDSS TX front-end module is used to perform a series of processing such as DA conversion, up-conversion and amplification on the RDSS intermediate frequency signal to obtain an RDSS transmission signal that meets the predetermined power intensity. After that, the device can send the RDSS transmission signal through the antenna.

[0094] In an embodiment of the present application, after determining the carrier frequency deviation value, the carrier frequency of the RDSS transmission signal is corrected by the carrier frequency deviation value, so that the frequency accuracy of the RDSS transmission signal can be improved. Therefore, after the device sends the RDSS transmission signal, when the RDSS central station receives the RDSS transmission signal, the RDSS central station can perform pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmission signal with minimal resources, thereby improving the communication success rate.

[0095] Figure 7 This is a flow chart of another signal processing method provided in an embodiment of the present application. The method can be applied to a satellite positioning device supporting RNSS and RDSS. The RNSS and the RDSS share the same clock. The device can be a user terminal or a chip built into the user terminal. Figure 7 , the method includes the following steps.

[0096] S401: Determine PVT information according to RNSS received signals.

[0097] Among them, the RNSS signal may refer to the signal corresponding to the RNSS, and the RNSS received signal may refer to the RNSS signal received by the satellite positioning device from the satellite. Similarly, the RDSS signal hereinafter may refer to the signal corresponding to the RDSS, the RDSS received signal may refer to the RDSS signal received by the satellite positioning device from the satellite, and the RDSS transmitted signal may refer to the RDSS signal sent by the satellite positioning device to the satellite.

[0098] In addition, the PVT information may include one or more of the location information of the device, the moving speed of the device, time information, and a clock frequency deviation estimation value. The location information of the device may refer to the location of the satellite positioning device when receiving the RNSS signal; the moving speed of the device may refer to the moving speed of the satellite positioning device when receiving the RNSS signal; the time information may refer to the time information of the satellite sending the RNSS signal, which may also be called the observation time; the clock frequency deviation estimation value may refer to the estimated offset value when the clock of the device is offset, wherein the clock frequency deviation estimation value is the difference between the measured clock frequency of the device and the reference clock frequency.

[0099] Specifically, the satellite positioning device may include an RNSS receiver (rcccivc, RX), and the device may receive and process the RNSS reception signal through the RNSS RX to obtain the PVT information. For example, Figure 6As shown, the device includes an RNSS RX, and the RNSS RX includes: an RNSS RX front-end module, an RNSS capture module, an RNSS tracking module, an RNSS synchronization module, an RNSS decoding module, and a PVT solution module. Among them, the RNSS RX front-end module can also be called an RNSS RF channel; the RNSS capture module, the RNSS tracking module, the RNSS synchronization module, the RNSS decoding module, and the PVT solution module are integrated together, and can also be called an RNSS baseband processor. Specifically, the RNSS RX front-end module is used to implement RF reception, AD conversion, filtering, down-conversion, and other processing of the RNSS received signal, and transmit the processed RNSS received signal to the RNSS capture module. The RNSS capture module performs a two-bit search based on the uncertainty of the RNSS received signal in the carrier frequency and code phase, detects the validity of the RNSS received signal, and determines the specific carrier frequency deviation and code phase offset, etc. The RNSS tracking module is used to implement real-time tracking of the carrier frequency and code phase changes of the RNSS received signal, and complete the despreading and demodulation of the RNSS received signal. The RNSS synchronization module performs bit synchronization and frame synchronization based on the demodulated data of the RNSS tracking module to find the bit boundary and frame header of the demodulated data to determine the navigation message. The RNSS decoding module is used to complete the analysis of the navigation message, satellite position calculation, pseudo-range calculation, etc. The PVT solution module realizes the solution of the device's position, moving speed, time and other information based on the calculation results of the RNSS decoding module.

[0100] S402: Determine a carrier frequency deviation value according to the PVT information.

[0101] Among them, carrier frequency deviation is a manifestation of the Doppler effect in the radio field, which is caused by the relative motion between the transmitter and the receiver. Carrier frequency deviation can refer to the offset between the carrier frequency of the signal received by the receiver and the carrier frequency of the signal sent by the transmitter. The carrier frequency deviation value refers to the frequency deviation value when the offset occurs. The carrier frequency deviation value refers to the carrier frequency deviation value of the RDSS received signal, specifically, the frequency deviation value of the carrier frequency of the RDSS received signal relative to the carrier frequency of the RDSS signal sent by the satellite.

[0102] For example, Figure 6As shown, the device may also include a prediction unit, which receives the PVT information transmitted by the RNSS RX and determines the carrier frequency deviation value based on the following possible implementation methods. Optionally, the prediction unit may also be integrated in the RNSS baseband processor, or in the RDSS baseband processor described below. In one possible implementation method, the PVT may include the moving speed and clock frequency deviation estimate of the device, and the carrier frequency deviation value may be determined based on the moving speed and the clock frequency deviation estimate. Specifically, based on the moving speed and the motion state of the GEO satellite providing RNSS services, the Doppler frequency deviation value caused by the relative motion between the device and the GEO satellite is determined; and the carrier frequency deviation value is determined based on the Doppler frequency deviation value and the clock frequency deviation estimate. For the specific process, please refer to the relevant description of formula (1) and formula (2) provided above, and the embodiments of the present application will not be repeated here.

[0103] S403: Correct the carrier frequency of the RDSS transmission signal according to the carrier frequency offset value to obtain the RDSS transmission signal.

[0104] The RDSS transmission signal may refer to the RDSS signal sent by the device to the satellite. Due to the relative motion between the device and the satellite, there will be a deviation between the carrier frequency of the transmission signal and the carrier frequency of the RDSS signal received by the satellite, so that the device can correct the carrier frequency of the RDSS transmission signal according to the carrier frequency deviation value, so that the carrier frequency of the corrected RDSS transmission signal is near the system nominal value, which is the reference frequency defined by the system; after that, when the satellite receives the RDSS transmission signal sent by the device, the satellite can forward the transmission signal to the central station, and the central station performs pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmission signal with minimum resources and reduce the signal capture time.

[0105] Specifically, the device may further include a RDSS transmitter (TX), and the device may generate and send the RDSS transmission signal through the RDSS TX. Figure 6As shown, the device may include an RDSS TX, which includes: an RDSS TX front-end module, an RDSS TX carrier modulation module, an RDSS shaping filter module, an RDSS modulation module, and an RDSS channel coding module. Among them, the RDSS TX front-end module can also be called an RDSS RF channel; the RDSS TX carrier modulation module, the RDSS shaping filter module, the RDSS modulation module, and the RDSS channel coding module are integrated together, and can also be called an RDSS baseband processor. Specifically, the RDSS channel coding module is used to perform channel coding on the original bit stream information to ensure that the preset channel coding gain is obtained through corresponding decoding at the receiving end of the RDSS central station. The RDSS modulation module is used to perform spread spectrum modulation processing on the encoded symbol data. The RDSS shaping filter module is used to perform shaping filtering on the modulated signal spectrum and eliminate inter-code interference to obtain an RDSS baseband signal. The RDSS TX carrier modulation module is used to perform carrier modulation on the RDSS baseband signal according to the carrier frequency deviation value to ensure that the carrier frequency of the RDSS intermediate frequency signal obtained after modulation is near the system nominal value. The RDSS TX front-end module is used to perform a series of processing such as DA conversion, up-conversion and amplification on the RDSS intermediate frequency signal to obtain an RDSS transmission signal that meets the predetermined power intensity. After that, the device can send the RDSS transmission signal through the antenna.

[0106] In an embodiment of the present application, after determining the PVT information based on the RNSS received signal and determining the carrier frequency deviation value based on the PVT information, the carrier frequency of the RDSS transmit signal is corrected by the carrier frequency deviation value, so that the frequency accuracy of the RDSS transmit signal can be improved. Therefore, after the device sends the RDSS transmit signal, when the RDSS central station receives the RDSS transmit signal, the RDSS central station can perform pre-detection near the system nominal value, so that the central station can complete the capture of the RDSS transmit signal with minimal resources, improve the communication success rate, and thereby improve the performance and user experience of the RNSS and RDSS integration.

[0107] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of a satellite positioning device. It is understandable that each device, such as a satellite positioning device, includes a hardware structure and / or software module corresponding to each function in order to realize the above functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0108] The embodiment of the present application can divide the functional modules of the satellite positioning device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above functional modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module according to the corresponding function:

[0109] In the case of an integrated unit, Figure 8 A possible structural diagram of the satellite positioning device involved in the above embodiment is shown. The device can be a user terminal, or a chip built into the user terminal, and the device includes: an RNSS receiver 501, a prediction unit 502 and an RDSS receiver 503. Further, the device also includes: an RDSS transmitter 504.

[0110] In a possible embodiment, the RNSS receiver 501 is used to support the device to execute S301 in the above method embodiment; the prediction unit 502 is used to support the device to execute S302 in the above method embodiment; the RDSS receiver 503 is used to support the device to execute S303 in the above method embodiment; and the RDSS transmitter 504 is used to support the device to execute S304 in the above method embodiment. In another possible embodiment, the RNSS receiver 501 is used to support the device to execute S401 in the above method embodiment; the prediction unit 502 is used to support the device to execute S402 in the above method embodiment; and the RDSS transmitter 504 is used to support the device to execute S404 in the above method embodiment.

[0111] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0112] On the basis of hardware implementation, the above-mentioned RNSS receiver 501, prediction unit 502, RDSS receiver 503 and RDSS transmitter 504 may be partial functions of the processor, the RNSS receiver 501 and RDSS receiver 503 may be partial functions of the receiver, the RDSS transmitter 504 may be partial functions of the transmitter, the receiver and the transmitter may be integrated into a transceiver, which may also be called a communication interface.

[0113] Fig. 9 This is a structural diagram of a possible product form of a satellite positioning device involved in an embodiment of the present application.

[0114] As a possible product form, the satellite positioning device can be a satellite positioning device, which includes a processor 602 and a transceiver 603; the processor 602 is used to control and manage the actions of the satellite positioning device, for example, to support the device to execute one or more steps S301 to S304 in the above method embodiment, or one or more steps S401 to S403 in the above method embodiment, and / or for other technical processes described herein; the transceiver 603 is used to support the device to execute the steps of receiving RNSS signals and / or RDSS signals in the above method embodiment, or sending RDSS signals. Optionally, the satellite positioning device may also include a memory 601.

[0115] As another possible product form, the satellite positioning device can be a satellite positioning single board, which includes a processor 602 and a transceiver 603; the processor 602 is used to control and manage the actions of the device, for example, to support the device to execute one or more steps S301 to S304 in the above method embodiment, or one or more steps S401 to S403 in the above method embodiment, and / or for other technical processes described herein; the transceiver 603 is used for the device to execute the steps of receiving RNSS signals and / or RDSS signals in the above method embodiment, or sending RDSS signals. Optionally, the satellite positioning single board may also include a memory 601.

[0116] As another possible product form, the satellite positioning device is also implemented by a general processor, commonly known as a chip. The processor includes: a processor 602 and a communication interface 603; optionally, the general processor may also include a memory 601.

[0117] As another possible product form, the satellite positioning device can also be implemented using the following: one or more field-programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0118] The processor 602 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. Fig. 9 In the embodiment, the processor 602, the communication interface / transceiver 603 and the memory 601 can be connected via a bus 604, which can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus 604 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0119] The present application also provides a satellite positioning system. Fig.10 As shown, the system includes a processor 701, a memory 702 and an antenna 703, and the processor 701, the memory 702 and the antenna 703 are connected via a bus 704; wherein the antenna 703 is used for receiving RNSS signals and / or RDSS signals, or sending RDSS signals, the memory 702 is used for storing executable instructions, and the processor 701 executes the executable instructions to enable the system to perform one or more steps in the satellite signal processing method provided in the above method embodiment.

[0120] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, the steps of the above method embodiment are executed; and the aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0121] On the one hand, an embodiment of the present application also provides a readable storage medium, which stores computer execution instructions. When a device (which may be a single-chip microcomputer, chip, controller, etc.) or a processor executes the steps in the antenna switching method provided in the present application.

[0122] On the one hand, an embodiment of the present application also provides a computer program product, which includes computer execution instructions, and the computer execution instructions are stored in a computer-readable storage medium; at least one processor of the device can read the computer execution instructions from the computer-readable storage medium, and at least one processor executes the computer execution instructions so that the device executes the steps in the antenna switching method provided in the present application.

[0123] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0124] Finally, it should be noted that the above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A satellite positioning device, characterized in that: The device comprises: Satellite radio navigation system RNSS radio frequency channel, used for receiving RNSS receiving signals; An RNSS baseband processor, coupled to the RNSS radio frequency channel, is used to perform position, velocity and time PVT calculation on the RNSS received signal to obtain PVT information; a satellite radio determination system RDSS baseband processor, configured to determine a carrier frequency according to a carrier frequency deviation value of a RDSS received signal, wherein the carrier frequency deviation value of the RDSS received signal is generated based on the PVT information of the RNSS received signal; The RDSS radio frequency channel is coupled to the RDSS baseband processor and is used to receive the RDSS receive signal based on the carrier frequency.

2. The device according to claim 1, characterized in that The RDSS baseband processor is further configured to determine a code phase of the RDSS received signal according to a code phase offset value, wherein the code phase offset value is generated based on the PVT information; The RDSS radio frequency channel is further used to receive the RDSS receive signal based on the code phase and the carrier frequency.

3. The device according to claim 1, characterized in that The PVT information includes at least one of the following: location information, moving speed, and clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is the difference between the measured clock frequency of the device and the reference clock frequency.

4. The device according to claim 3, characterized in that The RNSS baseband processor or the RDSS baseband processor is further configured to: A Doppler frequency deviation value is determined according to the moving speed, and the carrier frequency deviation value is determined according to the Doppler frequency deviation value and the clock frequency deviation estimation value.

5. The device according to claim 4, characterized in that The sum of the Doppler frequency deviation value and the clock frequency deviation estimation value is the carrier offset value of the RDSS received signal.

6. The device according to any one of claims 3 to 5, characterized in that: The RNSS baseband processor or the RDSS baseband processor is further configured to: A signal propagation delay is determined according to the position information, and a code phase offset value is determined according to the signal propagation delay.

7. The device according to claim 6, characterized in that The code phase offset value is the product of the signal propagation delay and the code frequency.

8. The device according to claim 1, characterized in that The RDSS baseband processor is further used to correct the carrier frequency of the RDSS transmission signal according to the carrier frequency offset value to obtain the RDSS transmission signal; The RDSS radio frequency channel is also used to send the RDSS transmission signal.

9. The device according to claim 1, characterized in that The device is a satellite positioning chip or a satellite positioning device.

10. A satellite positioning device, characterized in that: The device comprises: Satellite radio navigation system RNSS radio frequency channel, used for receiving RNSS receiving signals; An RNSS baseband processor, coupled to the RNSS radio frequency channel, is used to perform position, velocity and time PVT calculation on the RNSS received signal to obtain PVT information; a satellite radio determination system RDSS baseband processor, configured to correct a carrier frequency of an RDSS transmission signal according to a carrier frequency deviation value of an RDSS reception signal to obtain the RDSS transmission signal, wherein the carrier frequency deviation value of the RDSS reception signal is generated based on the PVT information of the RNSS reception signal; The RDSS radio frequency channel is coupled to the RDSS baseband processor and is used to send the RDSS transmission signal.

11. The device according to claim 10, characterized in that The PVT information includes at least one of the following: a moving speed, a clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is a difference between a measured clock frequency of the device and a reference clock frequency.

12. The device according to claim 11, characterized in that The RNSS baseband processor or the RDSS baseband processor is further configured to: A Doppler frequency deviation value is determined according to the moving speed, and a carrier frequency deviation value of the RDSS received signal is determined according to the Doppler frequency deviation value and the clock frequency deviation estimation value.

13. The device according to claim 12, characterized in that The sum of the Doppler frequency offset value and the clock frequency offset estimation value is the carrier offset value.

14. The device according to any one of claims 10 to 13, characterized in that: The device is a satellite positioning chip or a satellite positioning device.

15. A satellite signal processing method, characterized in that: The method comprises: Receive RNSS signals from satellite radio navigation system; Performing position, velocity and time PVT calculation on the RNSS received signal to obtain PVT information; Determining a carrier frequency of a satellite radio determination system RDSS received signal according to a carrier frequency deviation value of the RDSS received signal, wherein the carrier frequency deviation value of the RDSS received signal is generated based on the PVT information of the RNSS received signal; The RDSS receive signal is received based on a carrier frequency of the RDSS receive signal.

16. The method according to claim 15, characterized in that The method further comprises: Determining a code phase of the RDSS received signal according to a code phase offset value, wherein the code phase offset value is generated based on the PVT information; The RDSS reception signal is received based on a code phase of the RDSS reception signal and the carrier frequency.

17. The method according to claim 15, characterized in that The PVT information includes at least one of the following: location information, moving speed, and clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is the difference between the measurement clock frequency of the method and the reference clock frequency.

18. The method according to claim 17, characterized in that The method further comprises: A Doppler frequency deviation value is determined according to the moving speed, and the carrier frequency deviation value is determined according to the Doppler frequency deviation value and the clock frequency deviation estimation value.

19. The method according to claim 18, characterized in that The sum of the Doppler frequency deviation value and the clock frequency deviation estimation value is the carrier offset value of the RDSS.

20. The method according to claim 17, characterized in that The method further comprises: A signal propagation delay is determined according to the position information, and a code phase offset value is determined according to the signal propagation delay.

21. The method according to claim 20, characterized in that The code phase offset value is the product of the signal propagation delay and the code frequency.

22. The method according to any one of claims 15 to 21, characterized in that: The method further comprises: Correcting the carrier frequency of the RDSS transmission signal according to the carrier frequency offset value to obtain the RDSS transmission signal; The RDSS transmit signal is sent.

23. A satellite signal processing method, characterized in that: The method comprises: Receive RNSS signals from satellite radio navigation system; Performing position, velocity and time PVT calculation on the RNSS received signal to obtain PVT information; Correcting the carrier frequency of a satellite radio determination system RDSS transmission signal according to a carrier frequency deviation value of the RDSS reception signal to obtain the RDSS transmission signal, wherein the carrier frequency deviation value of the RDSS reception signal is generated based on the PVT information of the RNSS reception signal; The RDSS transmit signal is sent.

24. The method according to claim 23, characterized in that The PVT information includes at least one of the following: a moving speed, a clock frequency deviation estimation value; wherein the clock frequency deviation estimation value is a difference between a measured clock frequency and a reference clock frequency of the method.

25. The method according to claim 24, characterized in that The method further comprises: A Doppler frequency deviation value is determined according to the moving speed, and the carrier frequency deviation value is determined according to the Doppler frequency deviation value and the clock frequency deviation estimation value.

26. The method according to claim 25, characterized in that The sum of the Doppler frequency deviation value and the clock frequency deviation estimation value is the carrier offset value of the RDSS received signal.

27. A satellite positioning system, characterized in that: The system comprises an antenna and a satellite positioning device as claimed in any one of claims 1 to 9.

28. A satellite positioning system, characterized in that: The system comprises an antenna and a satellite positioning device as claimed in any one of claims 10 to 14.

29. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a device, the device executes the satellite signal processing method according to any one of claims 15 to 22, or executes the satellite signal processing method according to any one of claims 23 to 26.

30. A computer program product, characterized in that The computer program product includes a computer program. When the computer program is executed on a device, the device executes the satellite signal processing method according to any one of claims 15 to 22, or executes the satellite signal processing method according to any one of claims 23 to 26.

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