Receiver beam correction method, system, device and medium

Abstract

The present invention discloses a receiver beam correction method, system, device and medium, the method comprising: sampling a satellite signal to obtain a sampled signal; squaring the sampled signal to obtain a squared signal term; performing Fourier transform on the squared signal term to extract a signal spectrum, and judging the Fourier transformed signal frequency point and a decision threshold to obtain the frequency of all signals greater than the decision threshold; calculating a frequency deviation value between a frequency deviation approximation result and a preset nominal frequency value; updating a beamforming pre-weighted vector of a multi-beam satellite navigation receiver, and stripping the frequency deviation value by the pre-weighted vector to convert a corrected beam weighted value. The present invention can adaptively calibrate the frequency deviation in a weighted manner, thereby correcting the beam, and does not require modification of the receiver processing module, thereby saving costs and improving calibration efficiency.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a receiver beam correction method, system, equipment and medium. Background Art

[0002] Satellite navigation receivers use crystal oscillators as their frequency reference. However, after prolonged storage, crystal oscillators age and experience frequency drift. In multi-beam satellite navigation receivers, if the frequency deviation exceeds a certain value, the beam pointing weight deviation increases, causing the beam pointing to shift. In severe cases, the receiver may not be able to properly receive satellite signals.

[0003] The current conventional practice is to perform manual calibration before use, which is time-consuming and labor-intensive and cannot meet the actual application needs. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a receiver beam correction method, system, device and medium that can adaptively calibrate frequency deviation through weighted methods to correct the beam.

[0005] In a first aspect, an embodiment of the present invention provides a receiver beam correction method, comprising:

[0006] Acquire satellite signals received by a multi-beam satellite navigation receiver;

[0007] Sampling the satellite signal to obtain a sampled signal;

[0008] Performing a square operation on the sampled signal to obtain a squared signal term;

[0009] Performing a Fourier transform on the squared signal term to extract a signal spectrum, and performing a judgment on the Fourier-transformed signal frequency points and a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by a signal-to-noise ratio of the received satellite signal;

[0010] Calculating an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold;

[0011] Calculating a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value;

[0012] The beamforming pre-weighted vector of the multi-beam satellite navigation receiver is updated, and the frequency deviation value is stripped off by the pre-weighted vector to convert a corrected beam weighted value.

[0013] The method according to the embodiment of the present invention has at least the following beneficial effects:

[0014] First, the satellite signal is sampled to obtain a sampled satellite signal with a certain sampling interval; then the sampled satellite signal is squared to obtain a signal item, which is convenient for subsequent Fourier transform. The signal item is Fourier transformed to obtain a signal spectrum, and the original difficult-to-process time domain signal is converted into an easy-to-analyze frequency domain signal. The Fourier transform also saves a lot of computational effort. Then, the signal frequency point and the decision threshold are judged to obtain the frequency of all signals greater than the decision threshold, and the frequency deviation of the signal is calculated. The obtained frequency deviation value will be used to correct the beam in a weighted manner, which solves the problem of serious distortion of the beam pointing caused by crystal oscillator drift after long-term storage; by correcting the beam in a weighted manner, the processing of this method can be placed outside the receiver, and the beam can be automatically corrected without any adjustment to the receiver, saving a lot of manpower and material costs.

[0015] According to some embodiments of the present invention, sampling the satellite signal to obtain a sampled signal includes:

[0016] Get the satellite signal r(t); where, r(t) represents the satellite signal, i represents the satellite number, d(t) represents the navigation message, p(t) represents the pseudo-random code, ω represents the residual carrier frequency, j represents the imaginary unit in the complex number, M represents the number of satellites, n(t) represents the noise, and r(n) represents the sampled satellite signal;

[0017] The satellite signal r(t) is digitally down-converted and sampled to obtain a sampled signal r(n); wherein, T represents the sampling interval, and n represents the time series index value.

[0018] According to some embodiments of the present invention, performing a square operation on the sampled signal to obtain a squared signal term includes:

[0019]

[0020] Here, pr(n) represents the signal term.

[0021] According to some embodiments of the present invention, the Fourier transform is a fast Fourier transform.

[0022] According to some embodiments of the present invention, calculating an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold includes:

[0023] Calculating the mean of all signal frequencies greater than the decision threshold;

[0024] Dividing the mean by 2 gives an approximate result of the frequency deviation caused by the crystal oscillator.

[0025] According to some embodiments of the present invention, calculating a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value includes:

[0026]

[0027] Among them, Δf represents the frequency deviation value, f0 represents the nominal frequency value, is the approximate result of frequency deviation.

[0028] According to some embodiments of the present invention, stripping the frequency deviation value by using a pre-weighted vector to calculate a corrected beam weight value includes:

[0029] V=e -j2πΔfnT

[0030] Wherein, V represents the pre-weighted vector.

[0031] In a second aspect, an embodiment of the present invention provides a receiver beam correction system, comprising:

[0032] A signal acquisition module is used to acquire satellite signals received by a multi-beam satellite navigation receiver;

[0033] An ADC sampling module is used to sample the satellite signal to obtain a sampled signal;

[0034] a squaring module, configured to perform a square operation on the sampled signal to obtain a squared signal term;

[0035] a frequency search and decision module, configured to perform a Fourier transform on the squared signal term to extract a signal spectrum, and compare the Fourier-transformed signal frequency points with a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by the signal-to-noise ratio of the received satellite signal;

[0036] A frequency deviation approximate result calculation module, configured to calculate an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold;

[0037] A frequency deviation calculation module, used to calculate a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value;

[0038] The beam weight value calculation module is used to update the beam forming pre-weighted vector of the multi-beam satellite navigation receiver, and remove the frequency deviation value through the pre-weighted vector to convert it into a corrected beam weight value.

[0039] In a third aspect, an embodiment of the present invention provides an electronic device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the receiver beam correction method as described in the first aspect.

[0040] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the receiver beam correction method as described in the first aspect.

[0041] It should be noted that the beneficial effects between the second to fourth aspects of the present invention and the prior art are the same as the beneficial effects of the receiver beam correction method of the first aspect, and will not be described in detail here.

[0042] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0044] Figure 1 This is a flow chart of a receiver beam correction method provided by one embodiment of the present invention;

[0045] Figure 2 This is a structural diagram of a receiver beam correction system provided by one embodiment of the present invention;

[0046] Figure 3 is a structural diagram of an electronic device provided by one embodiment of the present invention;

[0047] Figure 4 It is a schematic diagram of a receiver beam correction method provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0050] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0052] Reference Figure 1 In some embodiments of the present invention, a receiver beam correction method is provided, comprising:

[0053] Step S100: Acquire satellite signals received by a multi-beam satellite navigation receiver.

[0054] Step S200: Sampling the satellite signal to obtain a sampled signal.

[0055] Step S300: Perform a square operation on the sampled signal to obtain a squared signal term.

[0056] Step S400: Perform Fourier transform on the squared signal term to extract the signal spectrum, and compare the Fourier transformed signal frequency points with a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by the signal-to-noise ratio of the received satellite signal.

[0057] Step S500: Calculate an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold.

[0058] Step S600: Calculate the frequency deviation value between the frequency deviation approximation result and the preset nominal frequency value.

[0059] Step S700: Update the beamforming pre-weighted vector of the multi-beam satellite navigation receiver, and remove the frequency deviation value through the pre-weighted vector to convert it into a corrected beam weighted value.

[0060] In this embodiment, step S200 first samples the satellite signal to obtain a sampled satellite signal at a certain sampling interval. Then, in step S300, the sampled satellite signal is squared to obtain a signal term, which facilitates subsequent Fourier transform. In step S400, the signal term is Fourier transformed to obtain a signal spectrum, converting the originally difficult-to-process time domain signal into an easily analyzed frequency domain signal. The Fourier transform also saves a large amount of computational effort. Then, a threshold decision is performed on the signal frequency points to obtain the frequencies of all signals greater than the decision threshold. In steps S500 and S600, the deviation of the obtained signal term is calculated. Finally, the frequency difference obtained in step S700 is used to correct the beam using a weighted method, solving the problem of severe beam pointing distortion caused by crystal oscillator drift after long-term storage. By using a weighted beam correction method, the processing of this method can be performed outside the receiver, eliminating the need for any receiver adjustment and automatically correcting the beam, thus saving significant manpower and material costs.

[0061] In some embodiments of the present invention, obtaining satellite signals received by a multi-beam satellite navigation receiver and sampling the satellite signals to obtain sampled signals include:

[0062] Get the satellite signal r(t); where, r(t) represents the satellite signal, i represents the satellite number, d(t) represents the navigation message, p(t) represents the pseudo-random code, ω represents the residual carrier frequency, j represents the imaginary unit in the complex number, M represents the number of satellites, n(t) represents the noise, and r(n) represents the sampled satellite signal;

[0063] The satellite signal r(t) is digitally down-converted and sampled to obtain the sampled signal r(n); wherein, T represents the sampling interval, and n represents the time series index value.

[0064] It should be noted that the satellite signal is sampled at a certain sampling interval to obtain a sampled signal with a time series.

[0065] By obtaining the sampled satellite signals with a time series, the complexity of subsequent operations can be reduced, and the satellite signals of a specific time period can be obtained, which facilitates the monitoring of the satellite signals of the specific time period.

[0066] In some embodiments of the present invention, performing a square operation on the sampled signal to obtain a squared signal term includes:

[0067]

[0068] Here, pr(n) represents the signal term.

[0069] It should be noted that the squared pseudo-random code and message of each satellite's signal are 1, and the carrier frequency is doubled. Therefore, the squared signal item consists of multiple single-frequency signals.

[0070] The signal term is obtained by squaring the sampled satellite signal, which is convenient for subsequent Fourier transform.

[0071] In some embodiments of the present invention, the Fourier transform is a fast Fourier transform.

[0072] The time domain signal is converted into the frequency domain signal through fast Fourier transform, making the operation simpler.

[0073] In some embodiments of the present invention, calculating an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold includes:

[0074] Calculate the mean of all signal frequencies greater than the decision threshold;

[0075] Divide the mean by 2 to approximate the frequency deviation caused by the crystal oscillator.

[0076] It should be noted that the frequency of each satellite in the signal item is averaged, the average value is divided by 2, and an approximate result of the frequency deviation result is obtained. At this time, the approximate result of the frequency deviation caused by the crystal oscillator can be calculated.

[0077] In some embodiments of the present invention, calculating the frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value includes:

[0078]

[0079] Among them, Δf represents the frequency deviation value, f0 represents the nominal frequency value, is the approximate result of frequency deviation.

[0080] The frequency difference is calculated using the preset nominal frequency value and the frequency deviation result. Since the preset nominal frequency value can be adjusted, it is suitable for different scenarios. The frequency difference result calculated using the nominal frequency value and the frequency deviation result is highly accurate and is not prone to errors in the frequency difference calculation. Moreover, what is modified is the reference frequency, not the local oscillator, which will not affect the frequency system of the receiving system.

[0081] In some embodiments of the present invention, the frequency deviation value is stripped from the pre-weighted vector to calculate the corrected beam weight value, including:

[0082] V=e -j2πΔfnT

[0083] Wherein, V represents the pre-weighted vector.

[0084] The pre-weighted vector is obtained by reverse calculation of the frequency difference result, and the beam is corrected by the pre-weighted vector. Since it is done in a weighted manner, there is no need to increase resource costs to modify the receiver processing module, and it is applicable to various scenarios and easy to implement.

[0085] Reference Figure 4 To facilitate understanding by those skilled in the art, a specific embodiment of the present invention provides a receiver beam correction method, comprising the following steps:

[0086] The first step is to sample the received signal.

[0087] The satellite signal received by the receiver is:

[0088]

[0089] Where r(t) represents the satellite signal, i represents the satellite number, d(t) represents the navigation message, p(t) represents the pseudo-random code, ω represents the residual carrier frequency, j represents the imaginary unit in the complex number, M represents the number of satellites, and n(t) represents the noise;

[0090] The satellite signal is sampled to obtain the sampled satellite signal, which is:

[0091]

[0092] Among them, r(n) represents the sampled satellite signal, T represents the sampling interval, and n represents the time series index value.

[0093] The second step is to perform a square operation on the sampled satellite signal:

[0094] R(n) is squared. Because the pseudo-random codes of different satellites are uncorrelated, the cross-term is small and is considered a noise term. The squared pseudo-random code and message of each satellite's signal are equal to 1. The carrier frequency is doubled, so the squared signal term consists of multiple single-frequency signals. The signal term is shown in the following formula:

[0095]

[0096] Here, pr(n) represents the signal term.

[0097] The third step is to perform fast Fourier transform on the signal item to obtain the envelope value.

[0098] Perform fast Fourier transform on pr(n):

[0099]

[0100] Where X(k) represents the N-point discrete Fourier transform of pr(n), X i(k) represents the same direction component, X q (k) represents the orthogonal component.

[0101] Step 4: Determine the envelope value.

[0102] The decision is made based on the envelope value obtained by fast Fourier transform. If |X(k)|>Th, it is determined to be a signal and its frequency is obtained. After making decisions on all frequency points in turn, the frequency of all signals is obtained, f i ,i=1,……,M. Th is the decision threshold, which is related to the signal-to-noise ratio of the received signal.

[0103] Step 5: Calculate the frequency deviation.

[0104] Average the frequency results and divide by 2 to get the approximate result of the frequency deviation caused by the crystal oscillator. The calculation formula is as follows:

[0105]

[0106] Read the stored nominal frequency value f0 and calculate the frequency difference; the calculation formula is as follows:

[0107]

[0108] Step 6: Calculate the pre-weighted vector of the receiver using the frequency difference, and perform weighted correction on the receiver beam based on the pre-weighted vector. The calculation formula is:

[0109] V=e -j2πΔfnT

[0110] Wherein, Δf is the frequency deviation value calculated above.

[0111] Reference Figure 2 One embodiment of the present invention further provides a receiver beam correction system, comprising a signal acquisition module 1001, an ADC sampling module 1002, a square module 1003, a frequency search and decision module 1004, a frequency deviation approximate result calculation module 1005, a frequency deviation calculation module 1006, and a beam weight value calculation module 1007, wherein:

[0112] The signal acquisition module 1001 is used to acquire satellite signals received by a multi-beam satellite navigation receiver.

[0113] The ADC sampling module 1002 is used to sample the satellite signal to obtain a sampled signal.

[0114] The squaring module 1003 is configured to perform a square operation on the sampled signal to obtain a squared signal term.

[0115] The frequency search and decision module 1004 is used to perform a Fourier transform on the squared signal term to extract the signal spectrum, and compare the Fourier transformed signal frequency points with a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by the signal-to-noise ratio of the received satellite signal.

[0116] The frequency deviation approximate result calculation module 1005 is used to calculate the frequency deviation approximate result caused by the crystal oscillator based on all signal frequencies greater than the decision threshold.

[0117] The frequency deviation calculation module 1006 is configured to calculate a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value.

[0118] The beam weight value calculation module 1007 is used to update the beamforming pre-weighted vector of the multi-beam satellite navigation receiver and remove the frequency deviation value through the pre-weighted vector to convert it into a corrected beam weight value.

[0119] It should be noted that, since the receiver beam correction system in this embodiment and the above-mentioned receiver beam correction method are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0120] refer to Figure 3 Another embodiment of the present invention further provides an electronic device, which can be any type of smart terminal, such as a mobile phone, a tablet computer, a personal computer, etc.

[0121] Specifically, the electronic device 6000 includes: one or more control processors 6001 and a memory 6002, Figure 3 In the example, a control processor 6001 and a memory 6002 are used. The control processor 6001 and the memory 6002 can be connected via a bus or other means. Figure 3 The bus connection is taken as an example.

[0122] The memory 6002 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions / modules corresponding to an electronic device in an embodiment of the present invention;

[0123] The control processor 6001 executes various functional applications and data processing of a receiver beam correction method by running non-transitory software programs, instructions and modules stored in the memory 6002, that is, implements a receiver beam correction method of the above method embodiment.

[0124] The memory 6002 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function; the data storage area may store data generated by using a receiver beam correction method, etc. Furthermore, the memory 6002 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 6002 may optionally include a memory remotely located relative to the control processor 6001. Such remote memory may be connected to the electronic device 6000 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0125] In one or more modules stored in the memory 6002, when executed by the one or more control processors 6001, a receiver beam correction method in the above method embodiment is executed, such as executing the above described Figure 1 method steps.

[0126] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0127] It should be noted that, since the electronic device in this embodiment and the above-mentioned receiver beam correction method are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0128] One embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute: the receiver beam correction method as described in the above embodiment.

[0129] It should be noted that, since the computer-readable storage medium in this embodiment and the above-mentioned receiver beam correction method are based on the same inventive concept, the corresponding contents in the method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0130] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing data (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired data and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any data delivery media.

[0131] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0132] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A receiver beam correction method, characterized in that: The receiver beam correction method includes: Acquire satellite signals received by a multi-beam satellite navigation receiver; Sampling the satellite signal to obtain a sampled signal; Performing a square operation on the sampled signal to obtain a squared signal term; Performing a Fourier transform on the squared signal term to extract a signal spectrum, and performing a judgment on the Fourier-transformed signal frequency points and a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by a signal-to-noise ratio of the received satellite signal; Calculating an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold; Calculating a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value; The beamforming pre-weighted vector of the multi-beam satellite navigation receiver is updated, and the frequency deviation value is stripped off by the pre-weighted vector to convert a corrected beam weighted value.

2. The receiver beam correction method according to claim 1, wherein: The acquiring of satellite signals received by the multi-beam satellite navigation receiver and sampling the satellite signals to obtain sampled signals includes: Get the satellite signal r(t); where, r(t) represents the satellite signal, i represents the satellite number, d(t) represents the navigation message, p(t) represents the pseudo-random code, ω represents the residual carrier frequency, j represents the imaginary unit in the complex number, M represents the number of satellites, n(t) represents the noise, and r(n) represents the sampled satellite signal; The satellite signal r(t) is digitally down-converted and sampled to obtain a sampled signal r(n); wherein, T represents the sampling interval, and n represents the time series index value.

3. The receiver beam correction method according to claim 2, wherein: The step of performing a square operation on the sampled signal to obtain a squared signal term includes: Here, pr(n) represents the signal term.

4. The receiver beam correction method according to claim 1, wherein: The Fourier transform is a fast Fourier transform.

5. The receiver beam correction method according to claim 1, wherein: Calculating an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold includes: Calculating the mean of all signal frequencies greater than the decision threshold; Dividing the mean by 2 gives an approximate result of the frequency deviation caused by the crystal oscillator.

6. The receiver beam correction method according to claim 1, wherein: Calculating a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value includes: Among them, Δf represents the frequency deviation value, f0 represents the nominal frequency value, is the approximate result of frequency deviation.

7. The receiver beam correction method according to claim 6, characterized in that: The step of stripping the frequency deviation value by the pre-weighted vector to obtain a corrected beam weight value includes: V=e -j2πΔfnT Wherein, V represents the pre-weighted vector.

8. A receiver beam correction system, characterized in that: include: A signal acquisition module is used to acquire satellite signals received by a multi-beam satellite navigation receiver; An ADC sampling module is used to sample the satellite signal to obtain a sampled signal; a squaring module, configured to perform a square operation on the sampled signal to obtain a squared signal term; a frequency search and decision module, configured to perform a Fourier transform on the squared signal term to extract a signal spectrum, and compare the Fourier-transformed signal frequency points with a decision threshold to obtain all signal frequencies greater than the decision threshold; wherein the decision threshold is generated by the signal-to-noise ratio of the received satellite signal; A frequency deviation approximate result calculation module, configured to calculate an approximate result of the frequency deviation caused by the crystal oscillator based on all signal frequencies greater than the decision threshold; A frequency deviation calculation module, used to calculate a frequency deviation value between the frequency deviation approximation result and a preset nominal frequency value; The beam weight value calculation module is used to update the beam forming pre-weighted vector of the multi-beam satellite navigation receiver, and remove the frequency deviation value through the pre-weighted vector to convert it into a corrected beam weight value.

9. An electronic device, characterized in that: The invention comprises at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to perform the receiver beam correction method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the receiver beam correction method according to any one of claims 1 to 7.

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