Receiver hardware delay calibration method, system, receiver, device and medium

Abstract

The embodiment of the present application provides a method, system, receiver, device and medium for calibrating receiver hardware delay, wherein the method specifically includes: the receiver receives a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; the satellite signal simulator is connected to the receiver via a radio frequency cable; the receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable. The embodiment of the present application can improve the accuracy of the calibration result of the receiver hardware delay.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a method, system, receiver, device and medium for calibrating receiver hardware delay. Background Art

[0002] The measurement of TEC (ionospheric total electron content) can be used to study the distribution and variation characteristics of the ionosphere at different time and space scales, and can be used for radio wave propagation correction in the field of satellite navigation.

[0003] There are many factors that may cause errors in TEC measurement, such as multipath, cycle slip, tropospheric delay and hardware delay. Hardware delay further includes: satellite hardware delay, antenna hardware delay and receiver hardware delay. One of the important error factors is receiver hardware delay. Therefore, accurate calibration of receiver hardware delay is of great significance for TEC measurement.

[0004] In the related art, the calibration method of the receiver hardware delay usually processes the actual signal received by the receiver and calibrates the receiver hardware delay according to the processing result.

[0005] However, the calibration results in the related art are easily affected by the hardware delay of the satellite end and the hardware delay of the antenna. Therefore, the related art has the problem of inaccurate calibration results of the receiver hardware delay. Summary of the invention

[0006] An embodiment of the present application provides a method for calibrating receiver hardware delay, which can improve the accuracy of the calibration result of the receiver hardware delay.

[0007] Correspondingly, an embodiment of the present application also provides a calibration system for receiver hardware delay, a receiver, an electronic device and a machine-readable medium to ensure the implementation and application of the above method.

[0008] In order to solve the above problem, an embodiment of the present application discloses a method for calibrating receiver hardware delay, the method comprising:

[0009] The receiver receives a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; the satellite signal simulator is connected to the receiver via a radio frequency cable;

[0010] The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0011] The embodiment of the present application also discloses a receiver, including:

[0012] A signal receiving module, used for receiving a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; and the satellite signal simulator is connected to the receiver via a radio frequency cable;

[0013] The calibration module is used to calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0014] Optionally, the receiver is located in a temperature box, and the temperature box is used to provide a plurality of preset temperature values ​​within a temperature range;

[0015] The calibration module comprises:

[0016] The first calibration module is used to calibrate the receiver hardware delay corresponding to multiple preset temperature values ​​within the temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0017] Optionally, the receiver further includes:

[0018] A first saving module, used to save the corresponding relationship between the preset temperature value and the receiver hardware delay to a factory configuration file of the receiver; or

[0019] The second saving module is used to save the corresponding relationship between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0020] Optionally, the calibration module includes:

[0021] A first total delay determination module, configured to process the received satellite signal to obtain a total delay at a receiver end;

[0022] The second calibration module is used to calibrate the receiver hardware delay according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

[0023] Optionally, the satellite signal is a multi-frequency signal; the frequencies corresponding to the multi-frequency signal include: a first frequency and a second frequency;

[0024] The calibration module comprises:

[0025] A second total delay determination module is used to determine the total delays of the multi-frequency point signal corresponding to the first frequency point and the second frequency point respectively according to the receiver-end pseudoranges corresponding to the first frequency point and the second frequency point of the multi-frequency point signal;

[0026] The third calibration module is used to determine the receiver hardware delay corresponding to the first frequency point and the second frequency point of the multi-frequency signal according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

[0027] Optionally, the calibration module includes:

[0028] A fourth calibration module, for determining a receiver hardware delay of a satellite signal at a preset frequency point for a satellite signal in a global navigation satellite system;

[0029] The averaging module is used to average the receiver hardware delays of M satellite signals in the global navigation satellite system at a preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point.

[0030] Optionally, the preset delay value is 0, or the preset delay value is greater than 0.

[0031] Optionally, when the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or

[0032] When the length of the radio frequency cable is not less than a length threshold, the cable delay value is a calibrated value.

[0033] The embodiment of the present application also discloses a calibration system for receiver hardware delay, including: a satellite signal simulator, a receiver, and a server;

[0034] Wherein, the satellite signal simulator is connected to the receiver via a radio frequency cable, and the satellite signal simulator is connected to the server through a network;

[0035] The server is used to send working parameters to the satellite signal simulator; the working parameters include: a preset delay value corresponding to the satellite hardware delay;

[0036] The satellite signal simulator is used to send a satellite signal to a receiver; wherein the satellite signal simulator sets the satellite terminal hardware delay to a preset delay value;

[0037] The receiver is used to receive a satellite signal sent by a satellite signal simulator, and calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0038] Optionally, the receiver is located in a temperature box, and the temperature box is used to provide a plurality of preset temperature values ​​within a temperature range;

[0039] The receiver is further used to calibrate receiver hardware delays corresponding to multiple preset temperature values ​​within a temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0040] Optionally, the server is also used to control the incubator to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range, and after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, control the satellite signal simulator to send a satellite signal to the receiver.

[0041] Optionally, the receiver is further used to save the correspondence between the preset temperature value and the receiver hardware delay to the factory configuration file of the receiver; or, save the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0042] Optionally, the receiver is further used to send working parameters to the satellite signal simulator; the working parameters include: an ionospheric delay value corresponding to a preset frequency point;

[0043] The satellite signal simulator is also used to add the ionospheric delay value corresponding to the preset frequency point to the output satellite signal in a pseudo-range delay manner.

[0044] Optionally, the working parameters further include: fixed TEC mode parameters; the fixed TEC mode parameters are used to characterize that the vertical direction TEC has fixedness;

[0045] The process of determining the ionospheric delay value corresponding to the preset frequency point includes:

[0046] Determine the tilt rate projection function based on the elevation angle of the satellite relative to the receiver;

[0047] According to the tilt rate projection function, the vertical TEC is converted into oblique TEC;

[0048] According to the slant TEC, the ionospheric delay value corresponding to the preset frequency point is determined.

[0049] Optionally, the server is further used to determine the elevation angle of the satellite relative to the receiver based on the receiver position information and the satellite position information.

[0050] Optionally, the operating parameters also include: receiver position information, satellite position information and the preset delay value.

[0051] Optionally, the receiver is also used to process the received satellite signal to obtain the total delay at the receiver end, and calibrate the receiver hardware delay based on the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite end hardware delay, and the cable delay value.

[0052] Optionally, the satellite signal is a multi-frequency signal; the frequencies corresponding to the multi-frequency signal include: a first frequency and a second frequency;

[0053] The receiver is further used to determine the total delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the receiver-end pseudoranges corresponding to the multi-frequency signal at the first frequency and the second frequency respectively, and determine the receiver hardware delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency, the preset delay value corresponding to the satellite-end hardware delay, and the cable delay value.

[0054] Optionally, the receiver is also used to determine the receiver hardware delay of a satellite signal at a preset frequency point for a satellite signal in the global navigation satellite system, and to average the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point.

[0055] Optionally, the preset delay value is 0, or the preset delay value is greater than 0.

[0056] Optionally, when the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or

[0057] When the length of the radio frequency cable is not less than a length threshold, the cable delay value is a calibrated value.

[0058] An embodiment of the present application also discloses an electronic device, including: a processor; and a memory, on which executable code is stored. When the executable code is executed, the processor executes the method executed by the receiver or satellite signal simulator or server in the aforementioned method.

[0059] The embodiment of the present application also discloses a machine-readable medium having executable code stored thereon. When the executable code is executed, the processor executes the method executed by the receiver or satellite signal simulator or server in the aforementioned method.

[0060] The embodiments of the present application include the following advantages:

[0061] In the technical solution of the embodiment of the present application, a satellite signal simulator is used to simulate satellite signals. The satellite signal simulator can simulate the relevant parameters of GNSS satellites and the ionosphere and atmosphere, that is, the satellite signal output by the satellite signal simulator is the result of the combined action of GNSS satellite->ionosphere->atmosphere.

[0062] Since the satellite signal simulator of the embodiment of the present application sets the satellite-end hardware delay to a preset delay value, the receiver can calibrate the receiver hardware delay according to the preset delay value; therefore, the embodiment of the present application can, to a certain extent, avoid the problem of inaccurate calibration results of the receiver hardware delay caused by changes in the satellite-end hardware delay of the actual signal, and thus the embodiment of the present application can improve the accuracy of the calibration results of the receiver hardware delay.

[0063] In addition, the embodiment of the present application uses a radio frequency cable to directly connect the receiver to the satellite signal simulator. Since the antenna receiving link in the propagation path is removed, the embodiment of the present application can eliminate the antenna delay; therefore, the embodiment of the present application can avoid the influence of the antenna delay change on the calibration result of the receiver hardware delay to a certain extent, and then the embodiment of the present application can further improve the accuracy of the calibration result of the receiver hardware delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a structural schematic diagram of a receiver hardware delay calibration system according to an embodiment of the present application;

[0065] Figure 2 It is a flowchart of the steps of a method for calibrating receiver hardware delay according to an embodiment of the present application;

[0066] Figure 3 It is a flowchart of the steps of a method for calibrating receiver hardware delay according to an embodiment of the present application;

[0067] Figure 4 is a structural schematic diagram of a receiver according to an embodiment of the present application;

[0068] Figure 5 It is a schematic diagram of the structure of a device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] The embodiments of the present application may be applied to GNSS (Global Navigation Satellite System). GNSS is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed, and time information at any location on the surface of the earth or in near-Earth space. The GNSS system provides positioning, navigation, timing, and communication services to users worldwide by deploying a group of GNSS satellites in Earth orbit. Examples of GNSS systems may include: GPS (Global Positioning System) and the BeiDou system. It will be understood that the embodiments of the present application are not limited to specific GNSS systems.

[0071] The propagation path of satellite signals is: GNSS satellite -> ionosphere -> atmosphere -> antenna -> RF cable -> receiver. When GNSS satellites transmit satellite signals, they will generate delays, which are called satellite-side delays. GNSS ground receiving equipment usually includes: antennas, RF cables, and receivers. The antenna receives satellite signals and converts them into electrical signals, transmits them to the receiver, and the receiver processes the electrical signals. In the propagation path on the ground, the antenna, RF cable, and receiver hardware circuits will all generate certain delays. For simplicity, the delay generated by the antenna is called antenna delay, the delay generated by the RF cable is called RF cable delay, and the delay generated by the receiver hardware circuit is called receiver hardware delay.

[0072] In the related art, the calibration method of the receiver hardware delay usually processes the actual signal received by the receiver and calibrates the receiver hardware delay according to the processing result. However, the calibration result in the related art is easily affected by the hardware delay of the satellite end and the hardware delay of the antenna. Therefore, the calibration result of the receiver hardware delay in the related art is inaccurate.

[0073] In response to the technical problem of inaccurate calibration results of receiver hardware delay in related technologies, an embodiment of the present application provides a method for calibrating receiver hardware delay, which specifically includes: a receiver receives a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite-end hardware delay to a preset delay value; the satellite signal simulator is connected to the receiver via a radio frequency cable; the receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0074] The embodiment of the present application uses a satellite signal simulator to simulate satellite signals. The satellite signal simulator can simulate the relevant parameters of GNSS satellites and the ionosphere and atmosphere, that is, the satellite signal output by the satellite signal simulator is the result of the combined action of GNSS satellite->ionosphere->atmosphere.

[0075] Since the satellite signal simulator of the embodiment of the present application sets the satellite-end hardware delay to a preset delay value, the receiver can calibrate the receiver hardware delay according to the preset delay value; therefore, the embodiment of the present application can, to a certain extent, avoid the problem of inaccurate calibration results of the receiver hardware delay caused by changes in the satellite-end hardware delay of the actual signal, and thus the embodiment of the present application can improve the accuracy of the calibration results of the receiver hardware delay.

[0076] In addition, the embodiment of the present application uses a radio frequency cable to directly connect the receiver to the satellite signal simulator. Since the antenna receiving link in the propagation path is removed, the embodiment of the present application can eliminate the antenna delay; therefore, the embodiment of the present application can avoid the influence of the antenna delay change on the calibration result of the receiver hardware delay to a certain extent, and then the embodiment of the present application can further improve the accuracy of the calibration result of the receiver hardware delay.

[0077] System Example

[0078] Reference Figure 1 , shows a schematic diagram of the structure of a receiver hardware delay calibration system according to an embodiment of the present application, the system specifically comprising: a satellite signal simulator 101, a receiver 102 and a server 103;

[0079] The satellite signal simulator 101 is connected to the receiver 102 via a radio frequency cable, and the satellite signal simulator 101 is connected to the server 103. For example, the satellite signal simulator 101 and the server 103 perform data exchange based on a wired network or a wireless network.

[0080] The server 103 is used to send working parameters to the satellite signal simulator 101; the working parameters specifically include: a preset delay value corresponding to the satellite hardware delay;

[0081] The satellite signal simulator 101 is used to send a satellite signal to the receiver 102; wherein the satellite signal simulator 101 sets the satellite terminal hardware delay to a preset delay value;

[0082] The receiver 102 is used to receive the satellite signal sent by the satellite signal simulator 101, and calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0083] The satellite signal simulator may be a GNSS simulator. A GNSS simulator is a radio frequency generator that can transmit the same precise data as a GNSS satellite. In addition, the GNSS simulator can change operating parameters directly from the test bench, and the operating parameters may include but are not limited to: receiver position information, satellite position information, and satellite hardware delay.

[0084] In actual applications, the GNSS simulator can simulate the trajectory of the actual GNSS satellite in orbit for a period of time according to the ephemeris information of the actual GNSS satellite in orbit by setting the working parameters, and give the corresponding signal output power according to the relevant interface files. In addition, the GNSS simulator can achieve consistency of GNSS satellite position, receiver position, GNSS satellite signal power and other information in multiple running scenarios based on the simulated receiver position in the process of repeating multiple running scenarios.

[0085] In the embodiment of the present application, the server 103 may send working parameters to the satellite signal simulator 101 so that the satellite signal simulator 101 operates according to the working parameters.

[0086] The preset delay value corresponding to the satellite hardware delay may be a kind of working parameter, so that the satellite signal simulator 101 sets the satellite hardware delay to the preset delay value. The preset delay value may be 0, or the preset delay value may be greater than 0. One purpose of the embodiment of the present application is to set the satellite hardware delay to a fixed preset delay value, thereby avoiding the inaccurate calibration result of the receiver hardware delay caused by the change of the satellite hardware delay of the actual signal, without limiting the specific preset delay value.

[0087] After the satellite signal simulator 101 sets the satellite hardware delay to a preset delay value, it can send a satellite signal to the receiver 102 .

[0088] The receiver 102 may be a GNSS receiver. The receiver 102 may include a processing chip. For example, the receiver 102 may include a SOC (System on a Chip) chip. The SOC chip not only has the ability to receive satellite signals, but also has the ability to process satellite signals, thereby enabling the calibration of the receiver hardware delay. Specifically, the receiver 102 may utilize the SOC chip to receive the satellite signal sent by the satellite signal simulator 101, and calibrate the receiver hardware delay according to the received satellite signal, the preset delay value, and the cable delay value corresponding to the RF cable.

[0089] The receiver 102 may process the received satellite signal to obtain the total delay of the receiver. After the antenna delay is removed in the embodiment of the present application, the total delay of the receiver in the embodiment of the present application specifically includes: receiver hardware delay, satellite hardware delay, and cable delay, etc. Since the preset delay value corresponding to the satellite hardware delay is pre-set, the cable delay value may also be obtained based on the length of the RF cable or the delay calibration of the RF cable, therefore, the embodiment of the present application may remove the preset delay value and the cable delay value corresponding to the RF cable from the total delay to obtain the receiver hardware delay.

[0090] The method of obtaining the cable delay value based on the length of the RF cable or the delay calibration of the RF cable specifically includes:

[0091] When the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or

[0092] When the length of the radio frequency cable is not less than a length threshold, the cable delay value is a calibrated value.

[0093] The length threshold may be determined by those skilled in the art according to actual application requirements, for example, the length threshold may be N meters, where N may be a positive integer less than 10. The embodiment of the present application may adopt other calibration methods to calibrate the cable delay value of the RF cable, and the embodiment of the present application does not limit the specific calibration method of the cable delay value of the RF cable.

[0094] In practical applications, the receiver hardware delay may vary with the temperature. In view of this feature, the embodiment of the present application may place the receiver in a temperature box, and use the temperature box to set multiple preset temperature values ​​within the temperature range.

[0095] The temperature range can be determined by those skilled in the art according to actual application requirements, for example, the working range is [0°C, 50°C]. In order to improve the accuracy of the calibration result, a temperature interval of 0.5°C can be used to select multiple preset temperature values ​​from the working range. Examples of multiple preset temperature values ​​may include: 0°C, 0.5°C, 1°C, etc.

[0096] The process of calibrating the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the RF cable specifically includes: calibrating the receiver hardware delay corresponding to multiple preset temperature values ​​within the temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the RF cable. For one satellite signal, one receiver hardware delay can be obtained at one preset temperature value.

[0097] In practical applications, the server can control the temperature box to obtain multiple preset temperature values, and can also send a corresponding trigger instruction to the satellite signal simulator for each preset temperature value. The trigger instruction can be used to instruct the satellite signal simulator to send a satellite signal to the receiver.

[0098] Specifically, the server controls the incubator to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, the server controls the satellite signal simulator to send a satellite signal to the receiver.

[0099] When the working range is [0℃, 50℃], gradually increasing the temperature from low to high is specifically: gradually increasing the temperature from 0℃ to 50℃ according to the temperature interval. Of course, it can be understood that gradually increasing the temperature from low to high is just an example. In fact, it can also be gradually reduced from high to low, that is, gradually reducing the temperature from 50℃ to 0℃ according to the temperature interval.

[0100] The embodiment of the present application can be applied to the factory test link of the receiver. The calibrated receiver can select the corresponding receiver hardware delay according to the different operating temperatures in the working state, so as to correct the receiver hardware delay in real time during detection. The embodiment of the present application improves the calibration accuracy of the receiver hardware delay, and can calibrate the entire temperature range corresponding to the working state.

[0101] In a specific implementation, the receiver can save the correspondence between the preset temperature value and the receiver hardware delay to the factory configuration file of the receiver; or, the receiver can save the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0102] The embodiment of the present application writes the receiver hardware delays at different preset temperature values ​​into the factory configuration file of the receiver, thereby obtaining all the receiver hardware delays of the receiver within the temperature range. In this way, different receiver hardware delays can be used according to different temperatures of different working environments when the receiver is working, thereby avoiding drastic changes in hardware delays caused by drastic changes in the environment. The receiver hardware delay used in calculating the TEC measurement value can also be changed according to the real-time temperature change, thereby obtaining a more accurate real-time TEC measurement value.

[0103] Optionally, the receiver is further used to save the correspondence between the preset temperature value and the receiver hardware delay to the factory configuration file of the receiver; or, save the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0104] Optionally, the server is further used to send working parameters to the satellite signal simulator; the working parameters include: an ionospheric delay value corresponding to a preset frequency point;

[0105] The satellite signal simulator is further used to add the ionospheric delay value corresponding to the preset frequency point to the output satellite signal in a pseudo-range delay manner.

[0106] Optionally, the working parameters further include: fixed TEC mode parameters; the fixed TEC mode parameters are used to characterize that the vertical direction TEC has fixedness;

[0107] The process of determining the ionospheric delay value corresponding to the preset frequency point includes:

[0108] Determine the tilt rate projection function based on the elevation angle of the satellite relative to the receiver;

[0109] According to the tilt rate projection function, the vertical TEC is converted into oblique TEC;

[0110] According to the slant TEC, the ionospheric delay value corresponding to the preset frequency point is determined.

[0111] Optionally, the server is further used to determine the elevation angle of the satellite relative to the receiver based on the receiver position information and the satellite position information.

[0112] Optionally, the operating parameters also include: receiver position information, satellite position information and the preset delay value.

[0113] Optionally, the receiver is also used to process the received satellite signal to obtain the total delay at the receiver end, and calibrate the receiver hardware delay based on the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite end hardware delay, and the cable delay value.

[0114] Optionally, the satellite signal is a multi-frequency signal; the frequencies corresponding to the multi-frequency signal include: a first frequency and a second frequency;

[0115] The receiver is further used to determine the total delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the receiver-end pseudoranges corresponding to the multi-frequency signal at the first frequency and the second frequency respectively, and determine the receiver hardware delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency, the preset delay value corresponding to the satellite-end hardware delay, and the cable delay value.

[0116] Optionally, the receiver is also used to determine the receiver hardware delay of a satellite signal at a preset frequency point for a satellite signal in the global navigation satellite system, and to average the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point.

[0117] Method Example 1

[0118] refer to Figure 2 , shows a schematic flow chart of the steps of a method for calibrating receiver hardware delay according to an embodiment of the present application, and the method may specifically include the following steps:

[0119] Step 201: The receiver receives a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite hardware delay to a preset delay value; and the satellite signal simulator is connected to the receiver via a radio frequency cable;

[0120] Step 202: The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0121] Before the receiver receives the satellite signal sent by the satellite signal simulator, the satellite signal simulator can set its own working parameters according to the working parameters sent by the server, and send the satellite signal to the receiver according to the trigger instruction sent by the server.

[0122] For example, the above-mentioned working parameters may include: receiver position information, satellite position information, satellite hardware delay, etc. Among them, the preset delay value corresponding to the satellite hardware delay may be a kind of working parameter, so that the satellite signal simulator sets the satellite hardware delay to the preset delay value. The preset delay value may be 0, or the preset delay value may be greater than 0. One purpose of an embodiment of the present application is to set the satellite hardware delay to a fixed preset delay value, thereby avoiding the inaccurate calibration result of the receiver hardware delay caused by the change of the satellite hardware delay of the actual signal, without limiting the specific preset delay value.

[0123] In a specific implementation, the server can control the incubator to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, the server sends a trigger instruction to the satellite signal simulator to control the satellite signal simulator to send a satellite signal to the receiver.

[0124] In an optional implementation of the present application, a satellite signal simulator is used to generate a first simulation scene with an ionosphere, in which the TEC value of the ionosphere is known and can be stored in real time. The satellite-side hardware delay is set to a fixed preset delay value, which can be 0 for ease of calculation.

[0125] Further, the satellite signal simulator can generate a second simulation scenario with ionospheric delay, and can output a multi-frequency signal. A multi-frequency signal can refer to a signal including two or more frequencies. For simplicity, the frequencies of the multi-frequency signal can include: a first frequency, a second frequency, and a third frequency, etc. The multi-frequency signal can include: multiple frequency signals.

[0126] The ionospheric delay may refer to the delay of the ionosphere to the satellite signal. In the second simulation scenario, the satellite signal simulator may add the ionospheric delay value to the output satellite signal, so as to obtain different delay information of each frequency point signal under the effect of the ionospheric delay value, thereby adding the ionospheric delay value to the output satellite signal.

[0127] In an optional implementation of the present application, the server may send working parameters to the satellite signal simulator; the working parameters include: an ionospheric delay value corresponding to a preset frequency point; the satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point to the output satellite signal in a pseudorange delay manner. The preset frequency point may be a frequency point used by a satellite signal sent by a GNSS satellite, and the embodiments of the present application do not limit the specific preset frequency point.

[0128] Optionally, the operating parameters may further include: fixed TEC mode parameters; the fixed TEC mode parameters are used to characterize that the vertical direction TEC has fixedness.

[0129] The vertical TEC is fixed, which means it is fixed. Thus, the ionospheric delay value generated in the vertical direction is also fixed. Therefore, the ionospheric delay value can be determined based on the elevation angle and tilt rate projection function.

[0130] It should be noted that, when the vertical TEC is not fixed, the ionospheric delay value can also be determined. However, in the first case where the vertical TEC is fixed, the computational complexity of the ionospheric delay value in the first case is lower than that in the second case where the vertical TEC is not fixed. Therefore, the processing speed in the first case is greater than that in the second case.

[0131] In actual applications, the server can determine the ionospheric delay value corresponding to the preset frequency point

[0132] When the vertical TEC is fixed, the process of determining the ionospheric delay value corresponding to the preset frequency point specifically includes: determining the tilt rate projection function according to the elevation angle of the satellite relative to the receiver; converting the vertical TEC into oblique TEC according to the oblique TEC; and determining the ionospheric delay value corresponding to the preset frequency point according to the oblique TEC.

[0133] The elevation angle of the satellite relative to the receiver can be determined based on the receiver position information and the satellite position information.

[0134] In practical applications, the elevation angle θ of each satellite relative to the receiver can be calculated based on the receiver position information and satellite position information set by the satellite signal simulator. i , where i represents the satellite ID, which represents the number of the satellite.

[0135] Assume that the satellite position information is The receiver location information is The coordinates of the receiver in the geodetic coordinate system are in, Y i s , Represents the coordinates of the satellite in the X, Y and Z directions respectively; X r , Y r , Z r Respectively represent the coordinates of the receiver in the X, Y and Z directions; φ r , r 、h r Represent the longitude, latitude and altitude of the receiver respectively; the transformation matrix M can be calculated using formula (1):

[0136]

[0137] Then use formula (2) to calculate the observation vector Among them, E represents the east coordinate in the northeast sky coordinate system, N represents the north coordinate in the northeast sky coordinate system, and U represents the celestial coordinate in the northeast sky coordinate system:

[0138]

[0139] Finally, the satellite elevation angle is calculated using formula (3):

[0140]

[0141] The embodiment of the present application can use formula (4) to determine the tilt rate projection function F according to the elevation angle of the satellite relative to the receiver:

[0142]

[0143] Among them, R e is the radius of the earth, h is the assumed puncture point height, examples of puncture point heights may include: P km, etc., and P may be a positive integer.

[0144] The embodiment of the present application can use formula (5) to convert the vertical TEC into the oblique TEC according to the slope projection function:

[0145] STEC i =VTEC*F (5)

[0146] Among them, VTEC represents vertical TEC, STEC i represents the slant TEC of the ith satellite.

[0147] The embodiment of the present application can use formula (6) to determine the ionospheric delay value corresponding to the preset frequency point according to the oblique TEC:

[0148]

[0149] Among them, f k Indicates the frequency corresponding to the preset frequency point k, Indicates the ionospheric delay value corresponding to satellite i at the preset frequency k.

[0150] The server can use remote commands to control the satellite signal simulator to add the ionospheric delay value to the output satellite signal in the form of pseudorange delay. Formula (7) shows the pseudorange of the satellite signal output by the satellite signal simulator:

[0151]

[0152] in, is the true pseudorange corresponding to the satellite numbered i at the preset frequency k, is the pseudorange of the satellite numbered i at the preset frequency k after adding the ionospheric delay value, that is, It represents the pseudorange delay after taking into account the influence of ionospheric delay value.

[0153] In step 201, a receiver may receive a satellite signal transmitted by a satellite signal simulator via a radio frequency cable.

[0154] In step 202, the receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0155] The receiver can process the received satellite signal to obtain the total delay of the receiver. After the antenna delay is removed in the embodiment of the present application, the total delay of the receiver in the embodiment of the present application specifically includes: receiver hardware delay, satellite hardware delay and cable delay, etc. Since the preset delay value corresponding to the satellite hardware delay is pre-set, the cable delay value can also be obtained based on the length of the RF cable or the delay calibration of the RF cable, therefore, the embodiment of the present application can remove the preset delay value and the cable delay value corresponding to the RF cable from the total delay to obtain the receiver hardware delay.

[0156] Formula (8) shows the total delay The total delay specifically includes: Satellite hardware delay Antenna delay Ionospheric delay value Cable delay value and receiver hardware delay

[0157]

[0158] Since the satellite signal simulator is directly connected to the receiver via a radio frequency cable, antenna delay can be eliminated.

[0159] Since the satellite signal simulator has set the satellite hardware delay to the preset delay value, is known.

[0160] Since the cable delay value can also be obtained based on the length of the RF cable or the delay calibration of the RF cable, the cable delay value is also known.

[0161] Therefore, the calculation process of the receiver hardware delay is shown in formula (9):

[0162]

[0163] If the length of the RF cable is less than the length threshold, the cable delay value may be 0; further, assuming that the satellite signal simulator sets the satellite hardware delay to 0, the receiver hardware delay may be calculated as follows:

[0164]

[0165] In an optional implementation of the present application, the satellite signal may be a multi-frequency signal; the frequency points corresponding to the multi-frequency signal include: a first frequency point and a second frequency point. Of course, the frequency points corresponding to the multi-frequency signal may be three, and the embodiment of the present application may use two of the frequency points to calibrate the receiver hardware delay. The first frequency point and the second frequency point may refer to any two frequency points included in the multi-frequency signal.

[0166] The process of calibrating the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the RF cable by the above-mentioned receiver specifically includes: the receiver determines the total delay of the multi-frequency signal corresponding to the first frequency point and the second frequency point respectively according to the receiver-end pseudoranges corresponding to the multi-frequency signal at the first frequency point and the second frequency point respectively; the receiver determines the receiver hardware delay of the multi-frequency signal corresponding to the first frequency point and the second frequency point respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite-end hardware delay, and the cable delay value.

[0167] The receiver can calculate the total delay using a dual-frequency method. Assuming that the frequencies of the first frequency point and the second frequency point are f1 and f2 respectively, the receiver-side pseudoranges of the satellite signals at the first frequency point and the second frequency point are and Then the total delay of the first frequency point can be calculated using formula (11):

[0168] Similarly, the total delay corresponding to frequency fk can be obtained using formula (12):

[0169]

[0170] The embodiments of the present application can use pseudo-range measurement technology to determine the pseudo-range at the receiver. Pseudo-range measurement technology can calculate the distance between the satellite and the receiver based on the signal transmission time between the two. The pseudo-range is the difference between the signal reception time t1 and the signal transmission time t2 multiplied by the speed of light in vacuum, where the signal reception time t1 is directly read from the receiver's clock, and the signal transmission time t2 involves the phase measurement of the ranging code in the signal.

[0171] The process of calibrating the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the RF cable includes: determining the receiver hardware delay of a satellite signal at a preset frequency for the satellite signal in the global navigation satellite system; averaging the receiver hardware delays of M satellite signals in the global navigation satellite system at the preset frequency to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency.

[0172] The global navigation satellite system here may be a GPS system or a BeiDou system, etc. The M satellite signals in the global navigation satellite system may be multiple satellite signals transmitted by a satellite signal simulator for the global navigation satellite system within a preset time period, and M may be a positive integer. The length of the preset time period may be Q hours, etc., and Q may be a positive integer.

[0173] The receiver hardware delays of M satellite signals in the global navigation satellite system at the same preset frequency are averaged. The receiver hardware delays of the M satellite signals at the same preset frequency can be summed, and the summed result is divided by M. The quotient obtained can be used as the receiver hardware delay corresponding to the preset frequency of the global navigation satellite system.

[0174] In order to realize the calibration of various receiver hardware delays within the temperature range, the receiver can be placed in an incubator, and the incubator can be used to set various preset temperature values ​​within the temperature range; the server can control the incubator to gradually increase the temperature from low to high according to all the various preset temperature values ​​within the temperature range; after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, the server controls the satellite signal simulator to send a satellite signal to the receiver. The embodiment of the present application can repeat steps 201 and 202 for each preset temperature value to obtain the receiver hardware delay corresponding to each preset temperature value.

[0175] In the embodiment of the present application, the calibration result corresponding to the receiver hardware delay can be used as the factory configuration file of the receiver, so that during operation, the receiver can select the calibrated receiver hardware delay from the factory configuration file in real time according to the operating temperature, thereby reducing the impact of temperature changes on the TEC observed by the receiver.

[0176] Therefore, the method of the embodiment of the present application may further include:

[0177] The receiver saves the correspondence between the preset temperature value and the receiver hardware delay to a factory configuration file of the receiver; or

[0178] The receiver saves the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0179] Referring to Table 1, an example of recorded information in a factory configuration file of an embodiment of the present application is shown, wherein the recorded information specifically includes fields such as a preset temperature value, a frequency point, and a receiver hardware delay.

[0180] During the operation of the receiver, the factory configuration file can be searched according to the operating temperature and operating frequency to obtain the target receiver hardware delay corresponding to the operating temperature and operating frequency. During the search process, the operating temperature can be matched with the preset temperature value, and the operating frequency can be matched with the frequency point to obtain the target receiver hardware delay with both the operating temperature and the operating frequency point successfully matched.

[0181] Table 1

[0182] Preset temperature value Frequency Receiver Hardware Delay 0℃ Frequency 1 Delay 1 0℃ Frequency 2 Delay 2 0℃ Frequency 3 Delay 3 0.5℃ Frequency 1 Delay 4 0.5℃ Frequency 2 Delay 5 0.5℃ Frequency 3 Delay 6 …… …… ……

[0183] The calibration results of the embodiment of the present application can be used for TEC measurement. TEC measurement can provide accurate ionospheric correction information for satellite navigation, communication and other systems. On the other hand, the ionospheric disturbances generated when the ionosphere changes dramatically may cause interruption of satellite and ground communications, and failure of satellite navigation systems such as aircraft and ships. Therefore, using TEC measurement results to correct the satellite navigation system can improve the accuracy of satellite navigation. On the other hand, it can provide early warning information for space environmental disaster prevention and mitigation.

[0184] In summary, the calibration method of the receiver hardware delay in the embodiment of the present application uses a satellite signal simulator to simulate satellite signals. The satellite signal simulator can simulate the relevant parameters of the GNSS satellite and the ionosphere and atmosphere, that is, the satellite signal output by the satellite signal simulator is the result of the combined action of the GNSS satellite->ionosphere->atmosphere.

[0185] Since the satellite signal simulator of the embodiment of the present application sets the satellite-end hardware delay to a preset delay value, the receiver can calibrate the receiver hardware delay according to the preset delay value; therefore, the embodiment of the present application can, to a certain extent, avoid the problem of inaccurate calibration results of the receiver hardware delay caused by changes in the satellite-end hardware delay of the actual signal, and thus the embodiment of the present application can improve the accuracy of the calibration results of the receiver hardware delay.

[0186] In addition, the embodiment of the present application uses a radio frequency cable to directly connect the receiver to the satellite signal simulator. Since the antenna receiving link in the propagation path is removed, the embodiment of the present application can eliminate the antenna delay; therefore, the embodiment of the present application can avoid the influence of the antenna delay change on the calibration result of the receiver hardware delay to a certain extent, and then the embodiment of the present application can further improve the accuracy of the calibration result of the receiver hardware delay.

[0187] Furthermore, the embodiments of the present application can be applied to the factory test of the receiver. The calibrated receiver can select the corresponding receiver hardware delay according to the different operating temperatures in the working state, so as to correct the receiver hardware delay in real time during detection. The embodiments of the present application improve the calibration accuracy of the receiver hardware delay, and can calibrate the entire temperature range corresponding to the working state.

[0188] Method Example 2

[0189] refer to Figure 3 , shows a schematic flow chart of the steps of a method for calibrating receiver hardware delay according to an embodiment of the present application, and the method may specifically include the following steps:

[0190] Step 301: The satellite signal simulator sets the preset delay value corresponding to the receiver position information, the satellite position information, the satellite hardware delay, and the fixed TEC mode parameters;

[0191] In one implementation, the thin ionosphere layer assumption is adopted, that is, it is assumed that the ionosphere electrons are concentrated in a thin layer at a height of Pkm from the ground, and at the same time, the height of the receiver location is set to be lower than Pkm. Of course, the user can also set the height of the thin ionosphere layer greater than Pkm according to needs. In practical applications, the height of the receiver location is usually lower than the height of the thin ionosphere layer. P can be a positive integer of about 350.

[0192] The fixed TEC mode parameters are used to characterize the fixedness of TEC in the vertical direction. That is, for each longitude and latitude coordinate at the Pkm altitude, the total electron content of the ionosphere in the vertical direction is a fixed value VTEC. The satellite signal simulator can set the preset delay value corresponding to the satellite hardware delay to 0.

[0193] Step 302: The server determines the ionospheric delay value corresponding to the preset frequency point according to the receiver position information, the satellite position information and the vertical TEC;

[0194] Step 303: The server sends the ionospheric delay value to the satellite signal simulator;

[0195] Step 304: the server controls the temperature box to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range; after the real-time temperature value of the temperature box reaches a preset temperature value and the real-time temperature value is in a stable state, the server sends a trigger instruction to the satellite signal simulator;

[0196] Step 305: The satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point to the output satellite signal in a pseudo-range delay manner, and sends the satellite signal to the receiver;

[0197] Step 306: The receiver processes the received satellite signal to obtain a total delay at the receiver end;

[0198] Step 307: The receiver calibrates the receiver hardware delay according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value, and the cable delay value.

[0199] Step 308: The receiver averages the receiver hardware delays of the M satellite signals in the global navigation satellite system at the preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point;

[0200] Step 309: The receiver saves the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0201] In practical applications, the M satellite signals in the global navigation satellite system may be multiple satellite signals transmitted by a satellite signal simulator for the global navigation satellite system within a preset time period. The length of the preset time period may be Q hours or the like.

[0202] Therefore, in step 304, the server can control the incubator to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range at a time interval of Q hours or more than Q hours, so that a preset temperature value is maintained for a time period of Q hours or more than Q hours. After the time interval is reached, the server can control the incubator to increase the temperature and control the satellite signal simulator to repeatedly send satellite signals to the receiver.

[0203] It should be noted that, for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0204] Based on the above embodiment, this embodiment further provides a receiver, referring to Figure 4 The receiver specifically includes: a signal receiving module 401 and a calibration module 402.

[0205] The signal receiving module 401 is used to receive a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; and the satellite signal simulator is connected to the receiver via a radio frequency cable;

[0206] The calibration module 402 is used to calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0207] Optionally, the receiver is located in a thermostat, and the thermostat is used for multiple preset temperature values ​​within a temperature range.

[0208] Optionally, the calibration module 402 specifically includes:

[0209] The first calibration module is used to calibrate the receiver hardware delay corresponding to multiple preset temperature values ​​within the temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

[0210] Optionally, the receiver may further include:

[0211] A first saving module, used to save the corresponding relationship between the preset temperature value and the receiver hardware delay to a factory configuration file of the receiver; or

[0212] The second saving module is used to save the corresponding relationship between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

[0213] Optionally, the calibration module 402 specifically includes:

[0214] A first total delay determination module, configured to process the received satellite signal to obtain a total delay at a receiver end;

[0215] The second calibration module is used to calibrate the receiver hardware delay according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

[0216] Optionally, the satellite signal is a multi-frequency signal; the frequencies corresponding to the multi-frequency signal include: a first frequency and a second frequency;

[0217] The calibration module 402 specifically includes:

[0218] A second total delay determination module is used to determine the total delays of the multi-frequency point signal corresponding to the first frequency point and the second frequency point respectively according to the receiver-end pseudoranges corresponding to the first frequency point and the second frequency point of the multi-frequency point signal;

[0219] The third calibration module is used to determine the receiver hardware delay corresponding to the first frequency point and the second frequency point of the multi-frequency signal according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

[0220] Optionally, the calibration module 402 specifically includes:

[0221] A fourth calibration module, for determining a receiver hardware delay of a satellite signal at a preset frequency point for a satellite signal in a global navigation satellite system;

[0222] The averaging module is used to average the receiver hardware delays of M satellite signals in the global navigation satellite system at a preset frequency point to obtain the receiver hardware delay corresponding to the global navigation satellite system at the preset frequency point.

[0223] Optionally, the preset delay value is 0, or the preset delay value is greater than 0.

[0224] Optionally, when the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or

[0225] When the length of the radio frequency cable is not less than a length threshold, the cable delay value is a calibrated value.

[0226] In summary, the receiver of the embodiment of the present application uses a satellite signal simulator to simulate satellite signals. The satellite signal simulator can simulate the relevant parameters of GNSS satellites and the ionosphere and atmosphere, that is, the satellite signal output by the satellite signal simulator is the result of the combined action of GNSS satellite->ionosphere->atmosphere.

[0227] Since the satellite signal simulator of the embodiment of the present application sets the satellite-end hardware delay to a preset delay value, the receiver can calibrate the receiver hardware delay according to the preset delay value; therefore, the embodiment of the present application can, to a certain extent, avoid the problem of inaccurate calibration results of the receiver hardware delay caused by changes in the satellite-end hardware delay of the actual signal, and thus the embodiment of the present application can improve the accuracy of the calibration results of the receiver hardware delay.

[0228] In addition, the embodiment of the present application uses a radio frequency cable to directly connect the receiver to the satellite signal simulator. Since the antenna receiving link in the propagation path is removed, the embodiment of the present application can eliminate the antenna delay; therefore, the embodiment of the present application can avoid the influence of the antenna delay change on the calibration result of the receiver hardware delay to a certain extent, and then the embodiment of the present application can further improve the accuracy of the calibration result of the receiver hardware delay.

[0229] Furthermore, the embodiments of the present application can be applied to the factory test of the receiver. The calibrated receiver can select the corresponding receiver hardware delay according to the different operating temperatures in the working state, so as to correct the receiver hardware delay in real time during detection. The embodiments of the present application improve the calibration accuracy of the receiver hardware delay, and can calibrate the entire temperature range corresponding to the working state.

[0230] The embodiment of the present application also provides a non-volatile readable storage medium, which stores one or more modules (programs). When the one or more modules are applied to a device, the device can execute instructions (instructions) of each method step in the embodiment of the present application.

[0231] The present application embodiment provides one or more machine-readable media on which instructions are stored, and when executed by one or more processors, an electronic device executes one or more of the methods described in the above embodiments. In the present application embodiment, the electronic device includes various types of devices such as terminal devices and servers (clusters).

[0232] The embodiments of the present disclosure may be implemented as a device that uses any appropriate hardware, firmware, software, or any combination thereof to perform the desired configuration, and the device may include: electronic devices such as terminal devices, servers (clusters), etc. Specifically, in the embodiments of the present application, the above-mentioned electronic devices may be receivers or servers or satellite signal simulators. Figure 5 An exemplary apparatus 1100 that can be used to implement various embodiments described in this application is schematically shown.

[0233] For one embodiment, Figure 5An exemplary apparatus 1100 is shown having one or more processors 1102, a control module (chip set) 1104 coupled to at least one of the (one or more) processors 1102, a memory 1106 coupled to the control module 1104, a non-volatile memory / storage device 1108 coupled to the control module 1104, one or more input / output devices 1110 coupled to the control module 1104, and a network interface 1112 coupled to the control module 1104.

[0234] The processor 1102 may include one or more single-core or multi-core processors, and the processor 1102 may include any combination of general-purpose processors or special-purpose processors (such as graphics processors, application processors, baseband processors, etc.). In some embodiments, the device 1100 can be used as a terminal device, server (cluster), etc. described in the embodiments of the present application.

[0235] In some embodiments, the device 1100 may include one or more computer-readable media (e.g., memory 1106 or non-volatile memory / storage device 1108) having instructions 1114 and one or more processors 1102 configured to execute the instructions 1114 in combination with the one or more computer-readable media to implement a module to perform the actions described in the present disclosure.

[0236] For one embodiment, the control module 1104 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1102 and / or any suitable device or component in communication with the control module 1104 .

[0237] The control module 1104 may include a memory controller module to provide an interface to the memory 1106. The memory controller module may be a hardware module, a software module, and / or a firmware module.

[0238] The memory 1106 may be used, for example, to load and store data and / or instructions 1114 for the device 1100. For one embodiment, the memory 1106 may include any suitable volatile memory, such as a suitable DRAM (Dynamic Random Access Memory). In some embodiments, the memory 1106 may include a double data rate type four synchronous dynamic random access memory.

[0239] For one embodiment, the control module 1104 may include one or more input / output controllers to provide an interface to the non-volatile memory / storage device 1108 and the input / output device(s) 1110 .

[0240] For example, non-volatile memory / storage 1108 may be used to store data and / or instructions 1114. Non-volatile memory / storage 1108 may include any suitable non-volatile memory (e.g., flash memory) and / or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drives, one or more optical disk drives, and / or one or more digital versatile optical disk drives).

[0241] The non-volatile memory / storage device 1108 may include storage resources that are physically part of the device on which the apparatus 1100 is installed, or it may be accessible to the device without being part of the device. For example, the non-volatile memory / storage device 1108 may be accessed via (one or more) input / output devices 1110 over a network.

[0242] The input / output device(s) 1110 may provide an interface for the apparatus 1100 to communicate with any other appropriate device, and the input / output device 1110 may include a communication component, an audio component, a sensor component, etc. The network interface 1112 may provide an interface for the apparatus 1100 to communicate through one or more networks, and the apparatus 1100 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and / or protocols, for example, accessing a wireless network based on a communication standard, such as WiFi (Wireless Fidelity), 2G (2nd Generation Wireless Telephone Technology), 3G (3rd Generation Wireless Telephone Technology), 4G (4th Generation Wireless Telephone Technology), 5G (5th Generation Wireless Telephone Technology), etc., or a combination thereof for wireless communication.

[0243] For one embodiment, at least one of the processor(s) 1102 may be packaged together with the logic of one or more controllers (e.g., a memory controller module) of the control module 1104. For one embodiment, at least one of the processor(s) 1102 may be packaged together with the logic of one or more controllers of the control module 1104 to form a system-in-package. For one embodiment, at least one of the processor(s) 1102 may be integrated on the same die with the logic of one or more controllers of the control module 1104. For one embodiment, at least one of the processor(s) 1102 may be integrated on the same die with the logic of one or more controllers of the control module 1104 to form a system-on-chip.

[0244] In various embodiments, the device 1100 may be, but is not limited to, a terminal device such as a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet computer, a netbook, etc.). In various embodiments, the device 1100 may have more or fewer components and / or different architectures. For example, in some embodiments, the device 1100 includes one or more cameras, a keyboard, a liquid crystal display screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, a dedicated integrated circuit, and a speaker.

[0245] Among them, the main control chip can be used as a processor or control module in the detection device, sensor data, location information, etc. are stored in a memory or non-volatile memory / storage device, the sensor group can be used as an input / output device, and the communication interface may include a network interface.

[0246] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0247] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0248] The present application embodiment is described with reference to the flowchart and / or block diagram of the method, terminal device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, and the combination of the process and / or box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device produce a device for implementing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0249] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0250] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce computer-implemented processing, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0251] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0252] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0253] The above is a detailed introduction to a receiver hardware delay calibration method, a receiver hardware calibration system, a receiver, an electronic device and a machine-readable medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for calibrating receiver hardware delay, characterized in that: The method comprises: The receiver receives a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; the satellite signal simulator is connected to the receiver via a radio frequency cable; the satellite signal is a multi-frequency signal; the frequency points corresponding to the multi-frequency signal include: a first frequency point and a second frequency point; The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable; The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable, including: The receiver determines, according to the receiver-end pseudoranges corresponding to the first frequency point and the second frequency point of the multi-frequency point signal, the total delay corresponding to the first frequency point and the second frequency point respectively; The receiver determines the receiver hardware delay corresponding to the first frequency point and the second frequency point of the multi-frequency signal respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

2. The method according to claim 1, characterized in that The method further comprises: placing the receiver in a temperature box, and using the temperature box to set a plurality of preset temperature values ​​within a temperature range; The calibrating of the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable comprises: The receiver hardware delay corresponding to a plurality of preset temperature values ​​within the temperature range is calibrated according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

3. The method according to claim 2, characterized in that The method further comprises: The server controls the temperature box to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range; After the real-time temperature value of the temperature box reaches a preset temperature value and the real-time temperature value is in a stable state, the server controls the satellite signal simulator to send a satellite signal to the receiver.

4. The method according to claim 2, characterized in that: The method further comprises: The receiver saves the correspondence between the preset temperature value and the receiver hardware delay to a factory configuration file of the receiver; or The receiver saves the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

5. The method according to claim 1, characterized in that The method further comprises: The server sends working parameters to the satellite signal simulator; the working parameters include: an ionospheric delay value corresponding to a preset frequency point; The satellite signal simulator adds the ionospheric delay value corresponding to the preset frequency point to the output satellite signal in the form of pseudo-range delay.

6. The method according to claim 5, characterized in that The working parameters also include: fixed TEC mode parameters; the fixed TEC mode parameters are used to characterize that the vertical direction TEC has fixed properties; The process of determining the ionospheric delay value corresponding to the preset frequency point includes: Determine the tilt rate projection function based on the elevation angle of the satellite relative to the receiver; According to the tilt rate projection function, the vertical TEC is converted into oblique TEC; According to the slant TEC, the ionospheric delay value corresponding to the preset frequency point is determined.

7. The method according to claim 6, characterized in that The method further comprises: The elevation angle of the satellite relative to the receiver is determined based on the receiver position information and the satellite position information.

8. The method according to claim 6, characterized in that The working parameters also include: receiver position information, satellite position information and the preset delay value.

9. The method according to claim 6, characterized in that The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable, including: The receiver processes the received satellite signal to obtain the total delay at the receiver end; The receiver calibrates the receiver hardware delay according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

10. The method according to claim 1, characterized in that The receiver calibrates the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable, including: Determine the receiver hardware delay of a satellite signal at a preset frequency for a satellite signal in a global navigation satellite system; The receiver hardware delays of M satellite signals in the global navigation satellite system at a preset frequency are averaged to obtain the receiver hardware delay corresponding to the preset frequency of the global navigation satellite system.

11. The method according to claim 1, characterized in that: The preset delay value is 0, or the preset delay value is greater than 0.

12. The method according to claim 1, characterized in that When the length of the radio frequency cable is less than a length threshold, the cable delay value is 0; or When the length of the radio frequency cable is not less than a length threshold, the cable delay value is a calibrated value.

13. A receiver, characterized in that: include: A signal receiving module, used for receiving a satellite signal sent by a satellite signal simulator; wherein the satellite signal simulator sets the satellite end hardware delay to a preset delay value; the satellite signal simulator is connected to the receiver via a radio frequency cable; the satellite signal is a multi-frequency signal; the frequency points corresponding to the multi-frequency signal include: a first frequency point and a second frequency point; A calibration module, used to calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable; Wherein, the calibration module comprises: A second total delay determination module is used to determine the total delays of the multi-frequency point signal corresponding to the first frequency point and the second frequency point respectively according to the receiver-end pseudoranges corresponding to the first frequency point and the second frequency point of the multi-frequency point signal; The third calibration module is used to determine the receiver hardware delay corresponding to the first frequency point and the second frequency point of the multi-frequency signal according to the total delay, the ionospheric delay value corresponding to the preset frequency point, the preset delay value corresponding to the satellite hardware delay, and the cable delay value.

14. A calibration system for receiver hardware delay, characterized in that: include: Satellite signal simulator, receiver and server; The satellite signal is a multi-frequency signal; The frequencies corresponding to the multi-frequency signal include: a first frequency and a second frequency; Wherein, the satellite signal simulator is connected to the receiver via a radio frequency cable, and the satellite signal simulator is connected to the server through a network; The server is used to send working parameters to the satellite signal simulator; the working parameters include: a preset delay value corresponding to the satellite hardware delay; The satellite signal simulator is used to send a satellite signal to a receiver; wherein the satellite signal simulator sets the satellite terminal hardware delay to a preset delay value; The receiver is used to receive a satellite signal sent by a satellite signal simulator, and calibrate the receiver hardware delay according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable; The receiver is further used to determine the total delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the receiver-end pseudoranges corresponding to the multi-frequency signal at the first frequency and the second frequency respectively, and determine the receiver hardware delay of the multi-frequency signal corresponding to the first frequency and the second frequency respectively according to the total delay, the ionospheric delay value corresponding to the preset frequency, the preset delay value corresponding to the satellite-end hardware delay, and the cable delay value.

15. The system according to claim 14, characterized in that The receiver is located in a temperature box, and the temperature box is used to provide a plurality of preset temperature values ​​within a temperature range; The receiver is also used to calibrate the receiver hardware delay corresponding to multiple preset temperature values ​​within the temperature range according to the received satellite signal, the preset delay value and the cable delay value corresponding to the radio frequency cable.

16. The system according to claim 15, characterized in that The server is also used to control the incubator to gradually increase the temperature from low to high according to all the preset temperature values ​​within the temperature range, and after the real-time temperature value of the incubator reaches a preset temperature value and the real-time temperature value is in a stable state, control the satellite signal simulator to send a satellite signal to the receiver.

17. The system according to claim 15, characterized in that The receiver is also used to save the correspondence between the preset temperature value and the receiver hardware delay to the factory configuration file of the receiver; or save the correspondence between the preset temperature value and frequency point and the receiver hardware delay to the factory configuration file of the receiver.

18. An electronic device, characterized in that: include: processor; and A memory having executable codes stored thereon, which, when executed, causes the processor to execute the method executed by the receiver or satellite signal simulator or server as claimed in any one of claims 1 to 12.

19. A machine-readable medium having executable codes stored thereon, which, when executed, causes a processor to execute the method executed by a receiver or a satellite signal simulator or a server as claimed in any one of claims 1 to 12.

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