Carrier tracking method and apparatus, terminal device, and storage medium

Abstract

Embodiments of the present application are suitable for the technical field of receivers, and provide a carrier tracking method and device, a terminal device and a storage medium. The method comprises: inputting a local carrier into a carrier processing module comprising two carrier branches to generate two mutually orthogonal replica carriers; calculating correlation integral values between the satellite signal and each of the replica carriers respectively, and inputting all the correlation integral values into a carrier correction module comprising N carrier correction branches to generate N carrier correction values; inputting all the carrier correction values into a preset decision model to generate a target correction value; and performing parameter correction on a local carrier generator according to the target correction value, so that the local carrier generator generates a local carrier consistent with a carrier in the satellite signal. The receiver provided by the embodiments can stably track the carrier in all scenarios.

Description

Technical Field

[0001] This application relates to the field of receiver technology, and in particular to a carrier tracking method, apparatus, terminal device, and storage medium. Background Technology

[0002] After receiving satellite signals, the satellite navigation and positioning receiver on a mobile device needs to perform multiple processing steps, including radio frequency front-end processing, A / D analog-to-digital conversion, satellite signal acquisition, satellite tracking, ephemeris collection, satellite measurement extraction, and position calculation, before it can determine the current position of the mobile device based on the satellite signals. Among these, the satellite tracking step mainly refers to achieving precise synchronization between the satellite signals and the locally replicated signals by reducing the differences in carrier frequency, carrier phase, and code phase between the satellite signals and the locally replicated signals.

[0003] In existing technologies, when a receiver needs to perform carrier tracking on a satellite signal, the difference between the local carrier and the carrier in the satellite signal can be determined using a carrier loop within the receiver. The carrier loop in the receiver can be classified into various types, such as first-order, second-order, and third-order, depending on the order of its corresponding system function. Since an Nth-order loop can accurately and without deviation track an input signal of power N-1 or lower, a higher order carrier loop provides better tracking performance and stronger dynamic tracking capability for satellite signals. However, higher-order carrier loops also have higher circuit complexity, resulting in poorer loop stability. To achieve a balance between tracking performance and loop stability, existing technologies typically select appropriate loops based on the application scenario, such as using second-order loops in low-dynamic motion scenarios and third-order loops in high-dynamic motion scenarios. However, the technical solution of selecting the loop structure according to a specific scenario requires the receiver to constantly switch the loop according to the motion scenario, which is more complicated to operate. In addition, the receiver may also have other motion states outside the motion scenario under a single motion scenario. Once the loop is selected according to the motion scenario, it will lead to a large tracking error when the receiver has other motion states. Summary of the Invention

[0004] In view of this, embodiments of this application provide a carrier tracking method, apparatus, terminal device, and storage medium to improve the stability of carrier tracking in dynamic scenarios.

[0005] A first aspect of this application provides a carrier tracking method, including:

[0006] The local carrier is input to a carrier processing module that includes two carrier splitters, generating two mutually orthogonal replicated carriers;

[0007] The correlation integral values ​​between the satellite signal and each of the replicated carriers are calculated separately, and all the correlation integral values ​​are input into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system function corresponding to each carrier correction branch has a different function order; N is a positive integer greater than or equal to 2;

[0008] All the carrier correction values ​​are input into a preset judgment model to generate the target correction value;

[0009] The parameters of the local carrier generator are corrected according to the target correction value so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal.

[0010] A second aspect of this application provides a carrier tracking device, comprising:

[0011] The replication module is used to input the local carrier to the carrier processing module, which contains two carrier splitters, to generate two mutually orthogonal replicated carriers;

[0012] An integration module is used to calculate the correlation integral value between the satellite signal and each of the replicated carriers, and input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system function corresponding to each carrier correction branch has a different function order; N is a positive integer greater than or equal to 2;

[0013] The determination module is used to input all the carrier correction values ​​into a preset determination model to generate a target correction value;

[0014] The correction module is used to correct the parameters of the local carrier generator according to the target correction value, so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal.

[0015] A third aspect of this application provides a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the carrier tracking method as described in the first aspect above.

[0016] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the carrier tracking method as described in the first aspect above.

[0017] A fifth aspect of this application provides a computer program product that, when run on a computer, causes the computer to execute the carrier tracking method described in the first aspect.

[0018] Compared with the prior art, the embodiments of this application have the following advantages:

[0019] In this embodiment, after the receiver generates a local carrier through a local carrier generator, it can input the local carrier into a carrier processing module containing two carrier branches to generate two orthogonal replicated carriers. Then, the receiver can calculate the correlation integral value between each replicated carrier and the satellite signal. All calculated correlation integral values ​​are input into a carrier correction module, where the receiver can generate N carrier correction values ​​through N carrier correction branches, where N is a positive integer greater than or equal to 2. The receiver can input the N carrier correction values ​​into a decision model to generate a target correction value, and adjust the parameters of the local carrier generator based on the target correction value, enabling the local carrier generator to generate a local carrier consistent with the carrier in the satellite signal. In this embodiment, since the receiver can simultaneously generate two or more carrier correction values ​​through two or more carrier correction branches, the method provided in this embodiment enables the receiver to stably track the carrier in the satellite signal even in changing scenarios. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a satellite signal tracking unit provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of a carrier tracking loop provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of a carrier tracking loop provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of a carrier tracking method provided in an embodiment of this application;

[0025] Figure 5 This is a flowchart illustrating the specific implementation of a carrier tracking method S403 provided in the second embodiment of this application;

[0026] Figure 6 This is a flowchart illustrating the specific implementation of a carrier tracking method S402 provided in the third embodiment of this application;

[0027] Figure 7 This is a flowchart illustrating the specific implementation of carrier tracking methods S402 and S403 provided in the fourth embodiment of this application;

[0028] Figure 8 A flowchart illustrating the specific implementation of a carrier tracking method S403 provided in the fourth embodiment of this application;

[0029] Figure 9 This is a flowchart illustrating the specific implementation of a carrier tracking method S802 provided in the fifth embodiment of this application;

[0030] Figure 10 This is a schematic diagram of a carrier tracking device provided in an embodiment of this application;

[0031] Figure 11 This is a schematic diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0032] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0033] A satellite navigation and positioning receiver on a mobile device can determine the device's current location by receiving satellite signals from the Global Navigation Satellite System. (See reference...) Figure 1 This illustration shows a schematic diagram of signal processing during positioning by a receiver according to an embodiment of this application. Figure 1 As shown, after receiving satellite signals through the antenna, the receiver typically needs to perform radio frequency (RF) front-end processing, digital baseband processing, and positioning and navigation calculations on the satellite signals. The RF front-end processing mainly includes a preamplifier, a downconverter, and a digital-to-analog converter (A / D converter). After RF front-end processing, the receiver generates a digital intermediate frequency (IF) signal, which is then input into the baseband processing chip for baseband processing.

[0034] The baseband processing stage mainly includes a digital signal processor (DSP) and a signal tracking loop. The DSP enables the receiver to acquire satellite signals, while the signal tracking loop enables satellite signal tracking. Through baseband processing, the receiver generates satellite measurements and navigation messages, and performs positioning and navigation calculations based on these. The positioning and navigation calculation stage mainly includes ephemeris collection, satellite measurement extraction, and position calculation. In the receiver positioning process, the baseband processing stage involves the largest amount of data, is the most complex, and has the highest real-time requirements. Therefore, it must typically be implemented using chip hardware and often plays a decisive role in the performance of the entire receiver system.

[0035] The primary purpose of satellite signal acquisition is to identify satellite signals from noise and determine important information such as the satellite signal number, coarse Doppler frequency offset, and code phase. After acquisition, the receiver transmits the acquired information to the satellite signal tracking unit. The tracking unit uses this information as initial parameters to guide the satellite signal by comparing the carrier frequency, carrier phase, and code phase differences between the satellite signal and the locally replicated signal. Based on these differences, the tracking unit continuously adjusts the corresponding parameters of the locally replicated signal, ultimately achieving precise synchronization between them. It also demodulates the modulated message information from the satellite signal, allowing the positioning and navigation calculation stage to extract ephemeris data and satellite measurements based on the message information and the characteristics of the locally replicated signal, thus completing the positioning calculation.

[0036] Continuous tracking of the carrier and pseudocode components in satellite signals is the core function of a satellite signal tracking unit. Only in this way can the carrier and pseudocode components be completely removed from the satellite signal, allowing the extraction of the modulated message information. Therefore, the carrier tracking loop and pseudocode tracking loop (or code tracking loop or code ring for short) are both core components of a satellite signal tracking unit.

[0037] Reference Figure 2 The diagram illustrates a structural schematic of a satellite signal tracking unit provided in an embodiment of this application. Figure 2 As shown, the carrier tracking loop in the satellite signal tracking unit mainly consists of a carrier discriminator and a loop filter, while the pseudocode tracking loop mainly consists of a code loop phase detector and a loop filter. See also... Figure 2After passing through the RF front-end, the receiver inputs the generated digital intermediate frequency (IF) signal into the satellite signal tracking unit. Upon entering the satellite signal tracking unit, the IF signal is first multiplied by a replicated carrier generated by the local carrier generator to achieve carrier stripping. The IF signal can then be input into the in-phase carrier branch (i-branch) and the quadrature carrier branch (q-branch) for carrier stripping. In the in-phase branch, the IF signal is multiplied by the in-phase carrier for carrier stripping. In the quadrature carrier branch, the IF signal is multiplied by the quadrature carrier for carrier stripping. Then, the carrier-stripped IF signal is multiplied by a replicated pseudocode generated by the local pseudocode generator based on multiple different phase branches (Prompt (instantaneous phase P), Early (leading phase E), Late (lagging phase L)) to achieve pseudocode stripping. The satellite signal tracking unit then integrates and accumulates the carrier-stripped and pseudocode-stripped multi-channel data to generate multiple related integral results.

[0038] like Figure 2 As shown in the figure, i E This can represent the digital signal obtained after carrier stripping of the satellite digital intermediate frequency signal on the in-phase branch and multiplication with the leading-phase replicated pseudocode for pseudocode stripping. E It can represent i E The relevant integral value generated after integrating and accumulating the signal. P This can represent the digital signal obtained after carrier stripping of the satellite digital intermediate frequency signal on the in-phase branch and multiplication with the replica pseudocode of the instantaneous phase for pseudocode stripping. P It can represent i P The relevant integral value generated after integrating and accumulating the signal. L This can represent the digital signal obtained after carrier stripping of the satellite digital intermediate frequency signal on the in-phase branch and multiplication with the pseudocode of the lagging phase for pseudocode stripping. L It can represent i L The integral value generated after integrating and accumulating the signal. q E Q can represent the digital signal generated after carrier stripping of the satellite digital intermediate frequency signal on the orthogonal branch and multiplication with the leading phase replica pseudocode for pseudocode stripping. E It can represent q E The integral value generated after integrating and accumulating the signal. q P Q can represent the digital signal after carrier stripping of the satellite digital intermediate frequency signal on the orthogonal branch and pseudocode stripping after multiplication with the replica pseudocode of the instantaneous phase. P It can represent q P The integral value generated after integrating and accumulating the signal. q LQ can represent the digital signal obtained by carrier stripping of the satellite digital intermediate frequency signal on the orthogonal branch and then multiplying it with the pseudocode of the lag phase for pseudocode stripping. L It can represent q L The relevant integral value generated after integrating and accumulating the signal.

[0039] By comparing the correlation integration results of the in-phase and quadrature branches of the instantaneous phase splitter (P-splitter), the carrier tracking loop can identify the frequency difference and phase difference between the satellite signal and the local carrier, and update and adjust the frequency and phase parameters of the local carrier generator according to the frequency difference and phase difference. The part of the circuit used to adjust the carrier frequency is called the frequency-locked loop (FLL), and the part of the circuit used to adjust the carrier phase is called the phase-locked loop (PLL).

[0040] Reference Figure 3 This is a schematic diagram of a carrier tracking loop provided in an embodiment of this application. Figure 3 Figure (a) shows a schematic diagram of a phase-locked loop (PLL). The receiver can input the correlation integration results of the in-phase branch and the quadrature branch of the instantaneous phase splitter into the phase detector for phase detection, generating a phase discrimination result. Then, the receiver can input the phase discrimination result into the loop filter. The loop filter in the PLL can be a proportional-integral-derivative (PID) controller. The loop filter can correct the phase discrimination result based on historical phase correction values ​​and adjust the change value of the phase discrimination result based on the historical phase correction values ​​to generate a phase correction value. Finally, the receiver can input the phase correction value into the voltage-controlled oscillator (VCO) of the local carrier generator to adjust the carrier phase of the local carrier generator.

[0041] like Figure 3 Figure (b) shows a schematic diagram of the frequency-locked loop (LLL). The receiver can input the correlation integration results of the in-phase branch and the quadrature branch of the instantaneous phase splitter into the frequency discriminator for phase detection, generating a frequency discrimination result. The receiver can then input the frequency discrimination result into the loop filter. The loop filter in the LLL is the same as the loop filter in the phase-locked loop. The loop filter can correct the frequency discrimination result based on historical phase correction values ​​and adjust the change value of the frequency discrimination result based on historical frequency correction values ​​to generate a frequency correction value. Finally, the receiver can input the frequency correction value into the voltage-controlled oscillator (VCO) of the local carrier generator to adjust the carrier frequency of the local carrier generator.

[0042] In existing technologies, carrier tracking loops can be classified into first-order, second-order, and third-order loops based on the order of the function in their system transfer function. Since the local carrier generator in the receiver is a first-order integrator...

[0043] Therefore, when the system transfer function in the carrier tracking loop is a constant value, the carrier tracking loop can be a first-order loop. A first-order loop can track both phase and frequency steps of the carrier. A phase step is a sudden change in carrier phase caused by abrupt changes in the propagation path during satellite signal propagation. During satellite signal reception, the receiver moves at a constant speed, causing a uniform change in the carrier frequency of the received signal; this uniform change is called a carrier step. However, because a first-order loop generates a constant tracking error when tracking frequency steps, it cannot track frequency ramps in the satellite signal. Conversely, when the receiver accelerates during satellite signal reception, the carrier frequency changes at an accelerated pace; this accelerated change is called carrier ramp.

[0044] When the system transfer function in the carrier tracking loop is a first-order function, the carrier tracking loop can be a second-order loop. A second-order loop can track phase steps, frequency steps, and frequency ramps of the carrier. However, a second-order loop introduces a constant tracking error when tracking the frequency ramp of the carrier.

[0045] When the system transfer function in the carrier tracking loop is a second-order function, the carrier tracking loop can be a third-order loop. A third-order loop can track the phase step, frequency step, and frequency ramp of the carrier, and it will not produce tracking errors whether it tracks the frequency ramp or the frequency step of the carrier.

[0046] Because the first-order ring structure is the simplest, it has the strongest loop stability, but the weakest carrier tracking performance. Similarly, the third-order ring structure is the simplest, resulting in the weakest loop stability, but the strongest carrier tracking performance from the first-order ring. To achieve a balance between performance and stability in carrier tracking and loop stability, existing technologies typically select appropriate carrier tracking rings based on the application scenario. For example, second-order rings are used in low-dynamic motion scenarios, while third-order rings are used in high-dynamic motion scenarios. Furthermore, since frequency-locked loops (LLLs) generally have better stability than phase-locked loops (PLLs), first-order LLLs are often used in combination with second-order PLLs, or vice versa, to implement the carrier loop.

[0047] However, this approach means that once a loop structure is selected for a specific scenario, the receiver's tracking performance and loop stability in other possible scenarios are sacrificed. Furthermore, selecting a specific carrier tracking loop for different application scenarios requires the receiver to frequently switch carrier tracking loops, which is detrimental to stable carrier tracking. For example, when a vehicle is traveling on a highway, its movement may vary depending on traffic conditions. When the highway is clear, the vehicle may move at high speed, while when it is congested, it may move at a slow, low speed. If the onboard receiver in the vehicle positioning system is a conventional receiver, the user can select a high-speed movement mode when entering a highway, allowing the system to control the carrier tracking loop in the receiver to select a third-order loop. However, when the vehicle enters a congested area, the user can switch the system's movement mode to allow the receiver to use a first-order loop for carrier detection, but frequent switching can lead to a poor user experience. Alternatively, the user can continue using the high-speed movement mode, but this would result in the receiver losing the carrier tracking results of the first-order loop under low-speed conditions. Therefore, existing technologies cannot meet the carrier tracking requirements of receivers.

[0048] The technical solution of this application will be described below through specific embodiments.

[0049] Reference Figure 4 This illustration shows a schematic diagram of a carrier tracking method provided in an embodiment of this application. The carrier tracking method can be applied to an electronic device capable of receiving satellite signals. Specifically, the electronic device can be a satellite signal receiver. In this embodiment, a receiver is used as an example to illustrate the positioning method provided in this application. Specifically, it may include the following steps:

[0050] S401. Input the local carrier into the carrier processing module containing two carrier splitters to generate two mutually orthogonal replicated carriers.

[0051] In this embodiment, after generating a local carrier based on the satellite signal, the receiver can input the generated local carrier into the carrier processing module, which may contain two carrier demultiplexers. The receiver can generate two mutually orthogonal replicated carriers through the two carrier demultiplexers.

[0052] In one possible implementation, the carrier processing module may include a first carrier splitter and a second carrier splitter. The first carrier splitter may not perform any processing on the local carrier, i.e., it directly outputs the local carrier; the carrier output by the first carrier splitter can also be referred to as an in-phase carrier. The second carrier splitter can perform a phase flip on the local carrier, i.e., it can generate an orthogonal carrier with a 90-degree phase shift.

[0053] In one possible implementation, when a user activates the location function on an electronic device equipped with a receiver, or after the receiver receives a user-initiated activation command, it can begin receiving satellite signals via its antenna. Since the signal strength of the satellite signal received by the receiver via the antenna is very low and contains a significant amount of noise, the receiver can first input the satellite signal to an RF front-end processing module. This RF front-end processing module may include a low-noise amplifier and a filter. Within this module, the receiver can amplify the signal strength of the satellite signal using the low-noise amplifier and filter out the noise. Then, the RF front-end processing module can perform digital-to-analog conversion on the amplified and noise-filtered satellite signal to obtain an analog signal. Finally, the RF front-end processing module can perform quadrature sampling of the analog signal to generate an intermediate frequency (IF) digital signal. The receiver can then transmit the generated IF digital signal to a digital baseband processing module. Upon receiving the IF digital signal, the digital baseband processing module can first perform satellite acquisition based on it. Using a preset search and acquisition algorithm, the baseband processing module can roughly estimate the first code phase of the pseudocode and the first carrier frequency of the carrier wave in the satellite signal. The digital baseband processing module can generate a local carrier in the local carrier generator based on the first carrier frequency.

[0054] S402. Calculate the correlation integral value between the satellite signal and each of the replicated carriers respectively, and input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system function corresponding to each carrier correction branch has a different function order; N is a positive integer greater than or equal to 2.

[0055] In this embodiment, after the receiver generates two mutually orthogonal replicated carriers through the carrier processing module, it can calculate the correlation integral value between the satellite signal and each replicated carrier. Then, the receiver can input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches. The N carrier correction branches in the carrier correction module can generate N carrier correction values ​​based on all the correlation integral values. The system function corresponding to each carrier correction branch in the carrier correction module has a different order. N is a positive integer greater than or equal to 2.

[0056] In one possible implementation, after the receiver inputs the intermediate frequency (IF) digital signal to the satellite signal tracking unit, it can input the IF digital signal separately to the in-phase branch and the quadrature branch, multiplying it by the in-phase carrier and the quadrature carrier generated by the local carrier generator, respectively, to perform carrier stripping. Then, the receiver can multiply the carrier-stripped IF digital signal on the in-phase branch with the local pseudo-code of the instantaneous phase to achieve pseudo-code stripping. The receiver can integrate and accumulate the carrier-stripped and pseudo-code-stripped digital signal on the in-phase branch to generate the in-phase correlation integral value between the satellite signal and the in-phase carrier. Similarly, the receiver can multiply the carrier-stripped IF digital signal on the quadrature branch with the local pseudo-code of the instantaneous phase to achieve pseudo-code stripping. The receiver can integrate and accumulate the carrier-stripped and pseudo-code-stripped digital signal on the quadrature branch to generate the quadrature correlation integral value between the satellite signal and the quadrature carrier. The receiver can input both the quadrature correlation integral value and the in-phase correlation integral value into the carrier correction module to generate N carrier correction values.

[0057] S403. Input all the carrier correction values ​​into the preset judgment model to generate the target correction value.

[0058] In this embodiment, after the receiver generates N carrier correction values ​​through the carrier correction module, it can input all the carrier correction values ​​generated by the carrier correction module into a preset judgment model, and generate the target correction value through the judgment model.

[0059] It should be noted that the embodiments of this application do not limit the specific neural network structure of the decision model. The decision model in the receiver can be any machine learning model, such as convolutional neural network, residual neural network, recurrent neural network, etc.

[0060] S404. Adjust the parameters of the local carrier generator according to the target correction value so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal.

[0061] In this embodiment, after the receiver generates the target correction value through the decision model, it can adjust the parameters of the local carrier generator according to the target correction value so that the local carrier generator with the corrected parameters generates a local carrier that is consistent with the carrier in the satellite signal.

[0062] In one possible implementation, after the receiver generates a carrier correction value through a decision model, it can input the carrier correction value into the voltage-controlled oscillator of the local carrier generator and correct the carrier parameters in the voltage-controlled oscillator according to the carrier correction value, so that the local carrier generator generates a local carrier consistent with the carrier in the satellite signal.

[0063] In this embodiment, the receiver can simultaneously generate N carrier correction values ​​using a carrier correction module containing N carrier correction branches, and then generate a carrier correction value based on these N carrier correction values ​​using a decision model. The method provided in this embodiment allows the receiver to simultaneously use at least two carrier correction branches of different orders to generate carrier correction values, enabling the receiver to obtain carrier correction values ​​for each order of carrier correction branch in any scenario, thereby achieving stable carrier tracking in satellite signals.

[0064] Figure 5 A flowchart illustrating a specific implementation of a carrier tracking method S403 provided in the second embodiment of this application is shown. See also... Figure 5 Compared to Figure 4 In the embodiment provided, S401 of the pseudocode tracking method includes: S501, which is detailed below:

[0065] S501. Input all the relevant integral values ​​and all the carrier correction values ​​into the determination model to generate a target correction value; all the relevant integral values ​​are used to determine the signal-to-noise ratio information corresponding to the satellite signal; the determination model is used to determine the target correction value based on the signal-to-noise ratio information and all the carrier correction values.

[0066] In this embodiment, after the receiver calculates the correlation integral value between the satellite signal and each replicated carrier, it can also input all the correlation integral values ​​and all carrier correction values ​​into the decision model, so that the decision model can generate the target correction value based on all the correlation integral values ​​and all carrier correction values.

[0067] Specifically, the decision model can determine the signal-to-noise ratio (SNR) information in the satellite signal based on all relevant integral values ​​input from the receiver. The decision model can also determine the relationship between various carrier correction values ​​based on all carrier correction values ​​input from the receiver. Finally, the decision model can determine the target correction value based on the SNR information represented by all relevant integral values ​​and the relationship between the correction values.

[0068] In this embodiment, the receiver can also input all relevant integral values ​​together with all carrier correction values ​​into the decision model. Since the relevant integral values ​​can provide the decision model with signal-to-noise ratio information of the satellite signal, the decision model can generate more accurate carrier correction values ​​by combining all relevant integral values.

[0069] Figure 6 A flowchart illustrating a specific implementation of a carrier tracking method S402 provided in the third embodiment of this application is shown. See also... Figure 6 Compared to Figure 4 In the embodiment provided, S402 of the carrier tracking method includes: S4021 to S4022, which are detailed below:

[0070] S4021. Input all the relevant integral values ​​into the discriminator to generate a discrimination result; the discrimination result is used to determine the difference between the carrier in the current satellite signal and the local carrier.

[0071] In this embodiment, the carrier correction module of the receiver may include a discriminator and a loop filter module. After calculating the correlation integral values ​​between the satellite signal and each replicated carrier, the receiver can input all correlation integral values ​​into the discriminator. The discriminator can determine the difference between the local carrier and the carrier in the satellite signal based on all correlation integral values ​​and generate a discrimination result. The receiver can determine the difference between the local carrier and the carrier in the current satellite signal based on the discrimination result generated by the discriminator.

[0072] In one possible implementation, the discriminator can input all relevant integral values ​​into a pre-defined discrimination algorithm for calculation, generating a discrimination result. The discrimination algorithm in the discriminator can also be as follows:

[0073]

[0074] Where D can be used to represent the identification result, Q P It can be used to represent the relevant integral results corresponding to orthogonal branches, I P It can be used to represent the relevant integral results corresponding to branches in phase.

[0075] In one possible implementation, the discrimination algorithm in the discriminator can also be as follows:

[0076]

[0077] The meanings of each symbol are the same as those in the previous identification algorithm, and will not be repeated here.

[0078] S4022. Input the identification result and the historical correction value into the N loop filters respectively to generate carrier correction values ​​corresponding to each of the orders.

[0079] In this embodiment, the receiver's loop filtering module may further include N loop filters of different orders. These different loop filters constitute different carrier correction branches in the carrier correction module. After the receiver generates an identification result through the discriminator, it can input the identification result and historical correction values ​​into the N loop filters respectively. Each loop filter can generate a carrier correction value based on its own order, the identification result input by the receiver, and the historical correction value. Therefore, through the N loop filters of different orders in the loop filtering module, the receiver can generate N carrier correction values.

[0080] In one possible implementation, the loop filtering module can contain three loop filters of different orders: a first-order loop filter, a second-order loop filter, and a third-order loop filter. The receiver can generate a first-order carrier correction value using the first-order loop filter. The receiver can generate a second-order carrier correction value using the second-order loop filter. And the receiver can generate a third-order carrier correction value using the third-order loop filter.

[0081] The method provided in this embodiment allows the receiver to input the discrimination results into a first-order loop filter, a second-order loop filter, and a third-order loop filter, respectively. Since the first-order loop filter can perform stable carrier tracking of satellite signals in low-dynamic environments, and the combination of the second-order and third-order loop filters can accurately obtain the frequency ramp value of satellite signals in low-dynamic environments, the method provided in this embodiment enables the receiver to achieve dynamic and stable carrier tracking in any scenario.

[0082] Figure 7 A flowchart illustrating the specific implementation of carrier tracking methods S402 and S403 provided in the fourth embodiment of this application is shown. See also... Figure 7 Compared to Figure 4 In the embodiment provided, S402 of the carrier tracking method includes S701 to S702, and S403 of the carrier tracking method provided in this embodiment includes S703, as detailed below:

[0083] S701. Input all the relevant integral values ​​into the frequency correction module containing N frequency correction branches to generate N frequency correction values.

[0084] In this embodiment, the carrier correction branch in the carrier correction module may include a frequency correction module and a phase correction module. After calculating the correlation integral value between the satellite signal and each replicated carrier, the receiver can input all the correlation integral values ​​into the frequency correction module, which contains N frequency correction branches. The receiver can then generate N frequency correction values ​​through the N frequency correction branches in the frequency correction module.

[0085] In one possible implementation, the frequency correction module may include a frequency discriminator and N frequency loop filters, each of which constitutes a frequency correction branch. The receiver first inputs all relevant integral values ​​into the frequency discriminator to generate a frequency discrimination result. Then, the receiver inputs the frequency discrimination result into each of the N frequency loop filters to correct the frequency discrimination result based on historical frequency correction values, thereby generating a frequency correction value. The frequency loop filters in the frequency correction module have different orders.

[0086] In one possible implementation, the frequency correction module may include three frequency loop filters: a first-order frequency loop filter, a second-order frequency loop filter, and a third-order frequency loop filter.

[0087] S702. Input all the relevant integral values ​​into the phase correction module containing N phase correction branches to generate N phase correction values.

[0088] In this embodiment, after calculating the correlation integral value between the satellite signal and each replicated carrier, the receiver can input all the correlation integral values ​​into a phase correction module containing N phase correction branches. The receiver can then generate N phase correction values ​​through the N phase correction branches in the phase correction module.

[0089] In one possible implementation, the phase correction module may include a phase detector and N phase loop filters, each of which constitutes a phase correction branch. The receiver first inputs all relevant integral values ​​into the phase detector to generate a phase discrimination result. Then, the receiver can input the phase discrimination result into each of the N phase loop filters to correct the phase discrimination result based on historical phase correction values, thereby generating a phase correction value. The phase loop filters in the phase correction module have different orders.

[0090] In one possible implementation, the phase correction module may include three phase loop filters: a first-order phase loop filter, a second-order phase loop filter, and a third-order phase loop filter.

[0091] S703. Input all the frequency correction values ​​and all the phase correction values ​​into the determination model to generate the target frequency correction value and the target phase correction value.

[0092] In this embodiment, after the receiver generates multiple frequency correction values ​​and multiple phase correction values ​​through the frequency correction module and the phase correction module, it can input all the frequency correction values ​​and all the phase correction values ​​together into the decision model to generate the target frequency correction value and the target phase correction value through the decision model.

[0093] In one possible implementation, after the receiver generates the frequency target correction value and the phase target correction value, the frequency target correction value and the phase target correction value can be input together into the voltage-controlled oscillator of the local carrier generator to adjust the frequency parameters and phase parameters in the voltage-controlled oscillator so that the local carrier generator generates a local carrier that is consistent with the carrier in the satellite signal.

[0094] The method provided in this embodiment allows the receiver to input all frequency correction values ​​and all phase correction values ​​into the decision model. The decision model can combine multiple frequency correction values ​​and multiple phase correction values ​​to simultaneously output the target frequency correction value and the target phase correction value. Therefore, the method provided in this embodiment can improve the carrier tracking performance of the receiver in changing scenarios and improve carrier tracking efficiency.

[0095] Figure 8 A flowchart illustrating a specific implementation of a carrier tracking method S403 provided in the fourth embodiment of this application is shown. See also... Figure 8 Compared to Figure 4 In the embodiment provided, the carrier tracking method includes steps S801 to S803 before step S403, which are detailed below:

[0096] S801. Obtain the user-inputted model to be trained and training samples containing N carrier correction values, and process the training samples through the model to be trained to generate initial target correction values; the training samples include the desired target correction values.

[0097] In this embodiment, before generating the phase correction value based on all relevant integration results and the expected correlation values ​​corresponding to all phase delay branches, the receiver also needs to obtain the user-input model to be trained and training samples. The receiver can process the training samples using the model to be trained to generate initial target correction values. Each training sample can contain N carrier correction values ​​and expected target correction values.

[0098] In one possible implementation, the user-input training samples include frequency training samples and phase training samples. The frequency training samples may contain N frequency correction values ​​and a desired frequency correction value. The phase training samples may contain N phase correction values ​​and a desired phase correction value. The model to be trained can process the frequency training samples to generate initial frequency correction values ​​and process the phase training samples to generate initial phase correction values.

[0099] S802. Determine the error value of the initial target correction value based on the initial target correction value and the expected target correction value.

[0100] In this embodiment, after the receiver generates the initial target correction value through the model to be trained, it can also determine the error value of the initial target correction value based on the initial target correction value and the expected target correction value in the training sample corresponding to the initial target correction value.

[0101] In one possible implementation, after the receiver generates the initial frequency correction value, it can calculate the frequency error value of the initial frequency correction value based on the expected frequency correction value in the frequency training sample corresponding to the initial frequency correction value. Similarly, after the receiver generates the initial phase correction value, it can calculate the phase error value of the initial phase correction value based on the expected phase correction value in the phase training sample corresponding to the initial phase correction value.

[0102] S803. Update the model to be trained based on the error value until the error value meets the preset training stopping condition, and take the model to be trained corresponding to the error value meeting the training stopping condition as the judgment model.

[0103] In this embodiment, after calculating the error value, the receiver can update the training model based on the error value corresponding to each training sample, and then process the training samples using the updated training model to generate new error values. The receiver can continuously execute the training process S801 to S803 described above until the error value generated by the training model meets the training stop condition preset by the user. If the error value meets the training stop condition, the receiver can stop training the training model and use the training model corresponding to the error value meeting the training stop condition as the judgment model.

[0104] In one possible implementation, the receiver can update the model to be trained based on the frequency error value and the phase error value.

[0105] In one possible implementation, after the receiver generates an error value using the model to be trained, it can determine whether the error value meets a preset training stopping condition by checking if the error value is less than a preset error threshold. If the receiver determines that the error value is less than the error threshold, it can determine that the error value meets the training stopping condition, stop training the model to be trained, and use the current model to be trained as the decision model. If the receiver determines that the error value is greater than or equal to the error threshold, it can determine that the error value does not meet the training stopping condition, update the parameters in the model to be trained based on the error value, and process the training samples using the updated model to generate new error values.

[0106] In this embodiment, the decision model in the receiver is generated by training the model to be trained according to the training stopping condition, thus ensuring the accuracy of the target correction value generated by the decision model.

[0107] Figure 9 A flowchart illustrating a specific implementation of a carrier tracking method S802 provided in the fifth embodiment of this application is shown. See also... Figure 9 Compared to Figure 7In the embodiment provided, S802 of the carrier tracking method includes: S8021, which is detailed below:

[0108] S8021. Import the initial target correction value and the expected target correction value into the cross-entropy loss function to calculate the error value.

[0109] In this embodiment, after the receiver processes the training samples using the model to be trained to generate initial target correction values, it can import both the initial target correction values ​​and the expected target correction values ​​in the corresponding training samples into the cross-entropy loss function. The receiver can calculate the error value corresponding to the initial target correction value using the cross-entropy loss function and update the parameters in the model to be trained based on the error value. Based on the error value calculated by the cross-entropy loss function, the model to be trained can determine the distance between the previously generated initial target correction value and the expected target correction value, and adjust the parameters in the model to be trained according to the distance represented by the error value.

[0110] In this embodiment, since the cross-entropy loss function can effectively handle multi-class classification problems, even when the user input training samples include both frequency training samples and phase training samples, the cross-entropy loss function can still calculate the frequency error value and the phase error value very well.

[0111] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0112] Reference Figure 10 The diagram illustrates a carrier tracking device according to an embodiment of this application, which may specifically include a copying module 1001, an integration module 1002, a determination module 1003, and a correction module 1004, wherein:

[0113] The replication module 1001 is used to input the local carrier to the carrier processing module containing two carrier splitters to generate two mutually orthogonal replicated carriers;

[0114] Integration module 1002 is used to calculate the correlation integral value between the satellite signal and each of the replicated carriers, and input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system function corresponding to each carrier correction branch has a different function order; N is a positive integer greater than or equal to 2;

[0115] The determination module 1003 is used to input all the carrier correction values ​​into a preset determination model to generate a target correction value;

[0116] The correction module 1004 is used to correct the parameters of the local carrier generator according to the target correction value, so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal.

[0117] The determination module 1003 can also be used to input all the relevant integral values ​​and all the carrier correction values ​​into the determination model to generate a target correction value; all the relevant integral values ​​are used to determine the signal-to-noise ratio information corresponding to the satellite signal; the determination model is used to determine the target correction value based on the signal-to-noise ratio information and all the carrier correction values.

[0118] The integration module 1002 can also be used to input all the relevant integration values ​​to the discriminator to generate a discrimination result; the discrimination result is used to determine the difference between the carrier in the current satellite signal and the local carrier; the discrimination result and the historical correction value are respectively input to the N loop filters to generate carrier correction values ​​corresponding to each of the orders.

[0119] The loop filtering module may also include a first-order loop filter, a second-order loop filter, and a third-order loop filter.

[0120] The integration module 1002 can also be used to input all the relevant integration values ​​into the frequency correction module containing N frequency correction branches to generate N frequency correction values; and to input all the relevant integration values ​​into the phase correction module containing N phase correction branches to generate N phase correction values; the determination module 1003 can also be used to input all the frequency correction values ​​and all the phase correction values ​​into the determination model to generate the target frequency correction value and the target phase correction value.

[0121] The carrier tracking device may further include a training module for acquiring a user-input model to be trained and training samples containing N carrier correction values; processing the training samples using the model to be trained to generate an initial target correction value; the training samples include a desired target correction value; determining an error value of the initial target correction value based on the initial target correction value and the desired target correction value; updating the model to be trained based on the error value until the error value meets a preset training stopping condition; and using the model to be trained corresponding to the error value meeting the training stopping condition as the judgment model.

[0122] The training module can also be used to import the initial target correction value and the expected target correction value into the cross-entropy loss function to calculate the error value.

[0123] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0124] Reference Figure 11 The diagram illustrates a terminal device provided in an embodiment of this application. Figure 11 As shown, the terminal device 1100 in this embodiment includes: a processor 1110, a memory 1120, and a computer program 1121 stored in the memory 1120 and executable on the processor 1110. When the processor 1110 executes the computer program 1121, it implements the steps in the various embodiments of the carrier tracking method described above, for example... Figure 4 Steps S401 to S404 are shown. Alternatively, when the processor 1110 executes the computer program 1121, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 10 The functions of modules 1001 to 1004 are shown.

[0125] For example, the computer program 1121 can be divided into one or more modules / units, which are stored in the memory 1120 and executed by the processor 1110 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 1121 in the terminal device 1100. For example, the computer program 1121 can be divided into a copying module, an integration module, a judgment module, and a correction module, with the specific functions of each module as follows:

[0126] The replication module is used to input the local carrier to the carrier processing module, which contains two carrier splitters, to generate two mutually orthogonal replicated carriers;

[0127] An integration module is used to calculate the correlation integral value between the satellite signal and each of the replicated carriers, and input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system function corresponding to each carrier correction branch has a different function order; N is a positive integer greater than or equal to 2;

[0128] The determination module is used to input all the carrier correction values ​​into a preset determination model to generate a target correction value;

[0129] The correction module is used to correct the parameters of the local carrier generator according to the target correction value, so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal.

[0130] The terminal device 1100 may be the receiver in the foregoing embodiments. The terminal device 1100 may include, but is not limited to, a processor 1110 and a memory 1120. Those skilled in the art will understand that... Figure 11 This is merely one example of terminal device 1100 and does not constitute a limitation on terminal device 1100. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device 1100 may also include input / output devices, network access devices, buses, etc.

[0131] The processor 1110 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0132] The memory 1120 can be an internal storage unit of the terminal device 1100, such as a hard disk or memory of the terminal device 1100. The memory 1120 can also be an external storage device of the terminal device 1100, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the terminal device 1100. Furthermore, the memory 1120 can include both internal and external storage units of the terminal device 1100. The memory 1120 is used to store the computer program 1121 and other programs and data required by the terminal device 1100. The memory 1120 can also be used to temporarily store data that has been output or will be output.

[0133] This application also discloses a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the carrier tracking method as described in the foregoing embodiments.

[0134] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the carrier tracking method as described in the foregoing embodiments.

[0135] This application also discloses a computer program product that, when run on a computer, causes the computer to execute the carrier tracking method described in the foregoing embodiments.

[0136] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A carrier tracking method, characterized in that, include: The local carrier is input to a carrier processing module that includes two carrier splitters, generating two mutually orthogonal replicated carriers; The correlation integral values ​​between the satellite signal and each of the replicated carriers are calculated separately, and all the correlation integral values ​​are input into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system functions corresponding to each carrier correction branch have different order; N is a positive integer greater than or equal to 2; the carrier correction module includes a frequency correction module and a phase correction module, the carrier correction values ​​include frequency correction values ​​and phase correction values, and the target correction values ​​include frequency target correction values ​​and phase target correction values; the step of calculating the correlation integral values ​​between the satellite signal and each of the replicated carriers and inputting all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values ​​includes: inputting all the correlation integral values ​​into a frequency correction module containing N frequency correction branches to generate N frequency correction values; and inputting all the correlation integral values ​​into a phase correction module containing N phase correction branches to generate N phase correction values. The process of inputting all carrier correction values ​​into a preset decision model to generate a target correction value includes: inputting all relevant integral values, all frequency correction values, and all phase correction values ​​into the decision model to generate the target frequency correction value and the target phase correction value; wherein, a user-input model to be trained and a training sample containing N carrier correction values ​​are obtained, and the training sample is processed by the model to be trained to generate an initial target correction value; the training sample includes a desired target correction value; an error value of the initial target correction value is determined based on the initial target correction value and the expected target correction value; the model to be trained is updated based on the error value until the error value meets a preset training stop condition, and the model to be trained corresponding to the error value meeting the training stop condition is used as the decision model; all relevant integral values ​​are used to determine the signal-to-noise ratio information corresponding to the satellite signal; the decision model is used to determine the target correction value based on the signal-to-noise ratio information and all carrier correction values; The parameters of the local carrier generator are corrected according to the target correction value so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal. This includes: inputting the target correction value into the voltage-controlled oscillator of the local carrier generator, and correcting the carrier parameters in the voltage-controlled oscillator according to the carrier correction value.

2. The method according to claim 1, characterized in that, The carrier correction module includes a discriminator and a loop filter module; the loop filter module contains N loop filters of different orders; the step of calculating the correlation integral value between the satellite signal and each of the replicated carriers, and inputting all the correlation integral values ​​into the carrier correction module containing N carrier correction branches to generate N carrier correction values ​​includes: All relevant integral values ​​are input into the discriminator to generate a discrimination result; the discrimination result is used to determine the difference between the carrier in the current satellite signal and the local carrier. The identification result and the historical correction value are respectively input into the N loop filters to generate carrier correction values ​​corresponding to each of the orders.

3. The method according to claim 2, characterized in that, The loop filtering module includes a first-order loop filter, a second-order loop filter, and a third-order loop filter.

4. The method according to claim 1, characterized in that, The step of determining the error value of the initial target correction value based on the initial target correction value and the expected target correction value includes: The initial target correction value and the expected target correction value are imported into the cross-entropy loss function to calculate the error value.

5. A carrier tracking device, characterized in that, include: The replication module is used to input the local carrier to the carrier processing module, which contains two carrier splitters, to generate two mutually orthogonal replicated carriers; An integration module is used to calculate the correlation integral values ​​between the satellite signal and each of the replicated carriers, and input all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values; the system functions corresponding to each carrier correction branch have different order; N is a positive integer greater than or equal to 2; the carrier correction module includes a frequency correction module and a phase correction module, the carrier correction values ​​include frequency correction values ​​and phase correction values, and the target correction values ​​include frequency target correction values ​​and phase target correction values; the step of calculating the correlation integral values ​​between the satellite signal and each of the replicated carriers and inputting all the correlation integral values ​​into a carrier correction module containing N carrier correction branches to generate N carrier correction values ​​includes: inputting all the correlation integral values ​​into a frequency correction module containing N frequency correction branches to generate N frequency correction values; and inputting all the correlation integral values ​​into a phase correction module containing N phase correction branches to generate N phase correction values. The determination module is used to input all the carrier correction values ​​into a preset determination model to generate a target correction value, including: inputting all the relevant integral values, all the frequency correction values, and all the phase correction values ​​into the determination model to generate the target frequency correction value and the target phase correction value; all the relevant integral values ​​are used to determine the signal-to-noise ratio information corresponding to the satellite signal; the determination model is used to determine the target correction value based on the signal-to-noise ratio information and all the carrier correction values; The correction module is used to correct the parameters of the local carrier generator according to the target correction value so that the local carrier generated by the local carrier generator is consistent with the carrier in the satellite signal. The correction module includes: inputting the target correction value into the voltage-controlled oscillator of the local carrier generator, and correcting the carrier parameters in the voltage-controlled oscillator according to the carrier correction value. The carrier tracking device also includes a training module for acquiring a user-input model to be trained and training samples containing N carrier correction values. The training samples are processed by the model to be trained to generate an initial target correction value. The training samples include expected target correction values. An error value of the initial target correction value is determined based on the initial target correction value and the expected target correction value. The model to be trained is updated based on the error value until the error value meets a preset training stopping condition. The model to be trained corresponding to the error value meeting the training stopping condition is used as the judgment model.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the carrier tracking method as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the carrier tracking method as described in any one of claims 1-4.

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