Signal path positioning method and system of Beidou timing chip under adaptive control

Abstract

The present invention relates to the field of satellite timing technology, and discloses a signal path positioning method of a Beidou timing chip under adaptive conditions, including: performing regional segmentation on an aerial area, generating a boundary curve of the regional boundary of the segmented area; constructing a virtual satellite position of a Beidou satellite, transmitting a Beidou timing signal from the Beidou satellite to a Beidou timing chip to generate a virtual transmission line of the Beidou timing signal, identifying the intersection coordinates between the virtual transmission line and the boundary curve, and calculating the virtual incident angle of the virtual transmission line on the intersection coordinates; calculating the regional refractive index of the aerial area, constructing a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip, constructing a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip; analyzing the real satellite position of the Beidou satellite, and analyzing the adaptive chip position of the Beidou timing chip. The present invention can locate the signal path of satellite transmission when the satellite position and the ground terminal position are unknown.

Description

Technical Field

[0001] The invention relates to a signal path positioning method and system of a Beidou timing chip under adaptive conditions, belonging to the technical field of satellite timing. Background Art

[0002] There are many satellites in space. These satellites are running on specific orbits in space and are responsible for sending and receiving signals. The satellites are equipped with highly sensitive receiving antennas to capture signals from ground stations, and transmitting antennas to forward processed signals. Beidou chip is a chipset that includes RF chip, baseband chip and microprocessor. Related equipment can receive signals transmitted by Beidou satellites through Beidou chip, thereby completing the functions of positioning and navigation. The RF chip receives or transmits signals through a fixed frequency (i.e. frequency point). Currently there are many types, including single frequency point, dual frequency point, multi-frequency point, and multi-system multi-frequency point. It is the most expensive part of the chip. The baseband chip is used to synthesize the baseband signal to be transmitted, or to decode the received baseband signal.

[0003] At present, before ground users can perform timing, they need to first obtain the satellite position and the ground user's position. In order to improve the accuracy and reliability of positioning, it is usually necessary to receive signals from multiple satellites at the same time. By comprehensively processing the signals from multiple satellites, some errors can be eliminated and the accuracy of positioning can be improved. If the satellite position and the user's position are uncertain, the signal path between the satellite and the user cannot be located, and the conditions for two-way precise alignment of the timing signal are not met, resulting in the inability to meet the user's timing needs. Therefore, a solution is urgently needed to locate the signal path transmitted by the satellite when the satellite position and the ground end position are unknown. Summary of the invention

[0004] The present invention provides a signal path positioning method and system for a Beidou timing chip under adaptive conditions, the main purpose of which is to locate the signal path transmitted by a satellite when the satellite position and the ground terminal position are unknown.

[0005] To achieve the above object, the present invention provides a signal path positioning method for a Beidou timing chip under adaptive conditions, comprising:

[0006] Identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data to obtain segmented areas, and generate boundary curves of area boundaries of the segmented areas;

[0007] Constructing a virtual satellite position of a Beidou satellite, transmitting a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and querying a signal transmission angle of the Beidou timing signal;

[0008] Generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the coordinates of the intersection between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line on the coordinates of the intersection;

[0009] Calculate the regional refractive index of the aerial area, and construct a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index, and construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip using the virtual signal path;

[0010] Acquire the known chip position and overhead data of the Beidou timing chip, and when the overhead data matches the air data, analyze the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyze the adaptive chip position of the Beidou timing chip through the real satellite position;

[0011] The real signal path between the real satellite position and the adaptive chip position is obtained from the virtual signal path, and the real signal path is used as the signal path positioning result of the Beidou timing chip.

[0012] Optionally, the performing region segmentation on the aerial region based on the aerial data to obtain the segmented regions includes:

[0013] Subdividing the aerial height of the aerial area by equal length to obtain subdivided intervals;

[0014] Collecting the temperature value, air pressure and wavelength of the aerial area in the subdivided interval from the aerial data;

[0015] Perform similarity analysis on the temperature values, air pressure and wavelength in adjacent subdivided intervals to obtain similarity analysis results;

[0016] According to the similarity analysis result, the segmented intervals are clustered to obtain clustered intervals;

[0017] The clustering interval is used as a segmentation area.

[0018] Optionally, generating a boundary curve of a region boundary of the segmented region includes:

[0019] Obtaining boundary coordinate points on the boundary of the region;

[0020] Selecting the coordinate fitting order of the boundary coordinate point;

[0021] According to the coordinate fitting order, the polynomial model of the boundary coordinate points is constructed using the following formula:

[0022] ;

[0023] ;

[0024] in, represents the polynomial model, A polynomial model representing the x-axis coordinates of the boundary coordinate points, represents parameter variables, , , , Represents the x-axis coordinates of the boundary coordinate points coefficients, The x-axis coordinates of the boundary points are about The function of Represents the boundary coordinate points Polynomial model of the coordinates on the axes, represents parameter variables, , , , Represents the boundary coordinates Axis coordinates coefficients, Represents the boundary coordinates Axis coordinates about The function of Represents the boundary coordinate points Polynomial model of the coordinates on the axes, represents parameter variables, , , , Represents the boundary coordinates Axis coordinates coefficients, Represents the boundary coordinates Axis coordinates about The function of , , represents the coordinate fitting order;

[0025] According to the polynomial model, a boundary curve of the region boundary of the segmented region is generated using the following format:

[0026] ;

[0027] in, represents the boundary curve, The x-axis coordinates of the boundary points are about The function of Represents the boundary coordinates Axis coordinates about The function of Represents the boundary coordinates Axis coordinates about The function of , , Represents a variable.

[0028] Optionally, the generating a virtual transmission line of the Beidou timing signal by using the virtual satellite position and the signal transmission angle includes:

[0029] Constructing a rectangular coordinate system of the virtual satellite position with the virtual satellite position as the origin of the coordinate system and the height of the virtual satellite position as the vertical coordinate axis;

[0030] In the rectangular coordinate system, according to the signal transmission angle, the virtual transmission line of the Beidou timing signal is generated using the following formula:

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] ;

[0036] in, represents a virtual transmission line, represents the coordinates of the end point of the virtual emission line, represents the vector corresponding to the virtual emission line, represents the vector on the vertical coordinate axis in the rectangular coordinate system, represents the origin of the coordinate system, Indicates the signal transmission angle, , , Represents a variable, express Length.

[0037] Optionally, identifying the coordinates of the intersection between the virtual emission line and the boundary curve includes:

[0038] Obtaining a polynomial model in the boundary curve;

[0039] Substituting the polynomial model into the virtual transmission line to calculate parameter variable values ​​of the polynomial model through the virtual transmission line;

[0040] The coordinates of the intersection point between the virtual emission line and the boundary curve are calculated using the parameter variable value.

[0041] Optionally, calculating the virtual incident angle of the virtual emission line at the intersection coordinates includes:

[0042] Get the boundary curve;

[0043] Constructing a boundary tangent line of the boundary curve at the intersection coordinates;

[0044] Constructing a tangent perpendicular line of the boundary tangent line at the intersection coordinates;

[0045] Respectively identifying a transmission line vector corresponding to the virtual transmission line and a perpendicular line vector corresponding to the tangent perpendicular line;

[0046] The vector angle between the emission line vector and the vertical line vector is calculated using the following formula:

[0047] ;

[0048] in, represents the vector angle, represents the emission line vector, represents the perpendicular vector, represents the length of the emission line vector, represents the length of the perpendicular vector;

[0049] The vector angle is used as the virtual incident angle of the virtual emission line at the intersection coordinates.

[0050] Optionally, the calculating the regional refractive index of the aerial area includes:

[0051] Collecting the temperature value, air pressure and wavelength of the aerial area in the subdivided intervals;

[0052] According to the temperature value, the air pressure and the wavelength, the regional refractive index of the aerial area is calculated using the following formula:

[0053] ;

[0054] in, represents the regional refractive index, represents wavelength, P represents air pressure, and T represents temperature.

[0055] Optionally, the using the virtual signal path to construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip includes:

[0056] Obtaining signal path coordinates in the virtual signal path;

[0057] Constructing a virtual association relationship between every two adjacent signal path coordinates in the signal path coordinates;

[0058] The virtual association relationship is used to generate a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip.

[0059] Optionally, analyzing the adaptive chip position of the Beidou timing chip by using the real satellite position includes:

[0060] Acquire the relationship between the virtual launch angle and the virtual position corresponding to the real satellite position;

[0061] Selecting the target position relationship of the Beidou satellite at different virtual launch angles from the virtual position relationship using the real satellite position;

[0062] Calculate the initial chip position of the Beidou timing chip corresponding to the real satellite position through the target position relationship;

[0063] Based on the reception of the Beidou timing signal of the Beidou satellite by the Beidou timing chip, an adaptive chip position of the Beidou timing chip is identified from the initial chip position.

[0064] In order to solve the above problems, the present invention also provides a signal path positioning system of a Beidou timing chip under adaptive conditions, the system comprising:

[0065] A curve generating module is used to identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data, obtain segmented areas, and generate a boundary curve of the area boundary of the segmented area;

[0066] An angle query module, used to construct a virtual satellite position of a Beidou satellite, transmit a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and query the signal transmission angle of the Beidou timing signal;

[0067] An angle calculation module, used to generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the intersection coordinates between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line on the intersection coordinates;

[0068] A relationship construction module, used for calculating the regional refractive index of the aerial area, constructing a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index, and constructing a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip using the virtual signal path;

[0069] A position analysis module, used for acquiring the known chip position and overhead data of the Beidou timing chip, and when the overhead data is consistent with the air data, analyzing the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyzing the adaptive chip position of the Beidou timing chip through the real satellite position;

[0070] The result determination module is used to obtain the real signal path between the real satellite position and the adaptive chip position from the virtual signal path, and use the real signal path as the signal path positioning result of the Beidou timing chip.

[0071] Compared with the problem described in the background technology, the embodiment of the present invention performs regional segmentation on the aerial area based on the aerial data to obtain segmented areas, which are used to separate atmospheric layers with different temperature values, air pressures and wavelengths, so as to facilitate the subsequent calculation of the refractive index of different atmospheric layers, thereby improving the accuracy of positioning the signal in the atmospheric transmission path. Furthermore, the embodiment of the present invention generates a boundary curve of the regional boundary of the segmented area, which is used to inversely synthesize the regional boundary into a curve, so as to facilitate the subsequent solution of the intersection of the straight line signal emitted by the satellite and the boundary curve. The embodiment of the present invention generates the virtual satellite position and the signal transmission angle by using the virtual satellite position and the signal transmission angle. A virtual transmission line of a Beidou timing signal is used to convert the rays initially emitted by the Beidou timing signal into a straight line expression, so as to facilitate the subsequent calculation of the intersection points of the Beidou timing signal with the boundary curve when it is refracted in each atmospheric layer at different altitudes. Furthermore, an embodiment of the present invention identifies the coordinates of the intersection points between the virtual transmission line and the boundary curve to identify the coordinates of the intersection points between the virtual transmission line and the boundary curve, so as to calculate the intersection points of the boundary curve of the first layer passed by the Beidou timing signal. Furthermore, an embodiment of the present invention calculates the virtual incident angle of the virtual transmission line on the coordinates of the intersection points to calculate The incident angle of the Beidou timing signal entering the atmosphere where refraction may occur facilitates the subsequent calculation of the refraction of the Beidou timing signal at the incident angle based on the known atmospheric refractive index. The embodiment of the present invention calculates the regional refractive index of the aerial area to track the refraction path of the signal in the air. Further, the embodiment of the present invention constructs a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip by using the virtual signal path to identify the relationship between the ground coordinates and the satellite coordinates, thereby subsequently determining the coordinates of the satellite based on some known ground coordinates. The embodiment of the present invention analyzes the real satellite position of the Beidou satellite based on the known chip position and the virtual position relationship to determine the unknown satellite position based on part of the ground position. Further, the embodiment of the present invention analyzes the adaptive chip position of the Beidou timing chip through the real satellite position to pre-analyze the ground receiving position of the satellite at different emission angles under the premise that the position of the ground user terminal is unknown, thereby monitoring the response of the chips at these receiving positions to the satellite signal on the ground, and finally determining the position of the ground chip, thereby locating the signal path of the satellite transmission when the satellite position and the ground terminal position are unknown. Therefore, the signal path positioning method of the Beidou timing chip under adaptive conditions proposed in the present invention can locate the signal path transmitted by the satellite when the satellite position and the ground terminal position are unknown. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1A schematic flow chart of a signal path positioning method for a Beidou timing chip under adaptive conditions provided by an embodiment of the present invention;

[0073] Figure 2 A schematic diagram of a module for implementing a signal path positioning method of a Beidou timing chip under adaptation provided by an embodiment of the present invention.

[0074] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0075] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0076] The embodiment of the present application provides a signal path positioning method for a Beidou timing chip under adaptation. The execution subject of the signal path positioning method for the Beidou timing chip under adaptation includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the signal path positioning method for the Beidou timing chip under adaptation can be executed by software or hardware installed in a terminal device or a server device. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0077] Embodiment 1:

[0078] Reference Figure 1 As shown, it is a flow chart of a method for positioning a signal path of a Beidou timing chip under adaptation provided by an embodiment of the present invention. In this embodiment, the method for positioning a signal path of a Beidou timing chip under adaptation includes:

[0079] S1. Identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data, obtain segmented areas, and generate boundary curves of area boundaries of the segmented areas.

[0080] In the embodiment of the present invention, the Beidou timing chip refers to a chipset including an RF chip, a baseband chip and a microprocessor. The relevant equipment can receive signals transmitted by Beidou satellites through the Beidou chip, thereby completing the functions of timing, positioning and navigation. The RF chip receives or transmits signals through a fixed frequency (i.e. frequency point). Currently, there are many types, such as single frequency point, dual frequency point, multi-frequency point, and multi-system multi-frequency point. It is the most expensive part of the chip. The baseband chip is used to synthesize the baseband signal to be transmitted, or to decode the received baseband signal. Furthermore, the Beidou satellite refers to a satellite with receiving and transmitting functions, and the aerial area refers to the atmosphere between the Beidou timing chip and the Beidou satellite. Furthermore, the aerial data refers to the temperature values, air pressure and wavelength data at different aerial coordinate points on a daily, monthly and annual basis.

[0081] Furthermore, the embodiment of the present invention performs regional segmentation on the aerial area based on the aerial data to obtain segmented areas, which are used to separate atmospheric layers with different temperature values, air pressures and wavelengths, thereby facilitating the subsequent calculation of the refractive index of different atmospheric layers, thereby improving the accuracy of positioning the signal in the atmospheric transmission path.

[0082] The segmented area refers to an area where the atmosphere is divided into atmospheres at different altitudes according to altitude intervals.

[0083] In one embodiment of the present invention, the aerial area is segmented based on the aerial data to obtain segmented areas, including: performing equal-length subdivisions on the aerial height of the aerial area to obtain segmented intervals; collecting temperature values, air pressure and wavelength of the aerial area in the segmented intervals from the aerial data; performing similarity analysis on the temperature values, air pressure and wavelength in adjacent segmented intervals to obtain similarity analysis results; performing interval clustering on the segmented intervals based on the similarity analysis results to obtain clustered intervals; and using the clustered intervals as segmented areas.

[0084] Exemplarily, the process of equally subdividing the aerial altitude of the aerial area to obtain subdivided intervals is, for example: taking the aerial area with an altitude of 100 to 1000 meters as a subdivided interval, and taking the aerial area with an altitude of 1001 to 1901 meters as a subdivided area. It should be noted that the subdivided intervals in the aforementioned example are divided at intervals of 900 meters, and other altitude parameters can be used for division in actual scenarios.

[0085] Optionally, the process of performing similarity analysis on the temperature values, air pressure and wavelength in adjacent subdivided intervals to obtain the similarity analysis results refers to analyzing the similarity of the temperature values, air pressure and wavelength of two adjacent subdivided intervals, for example, using the Pearson correlation coefficient to calculate the similarity between the temperature value, air pressure and wavelength of the first subdivided interval and the temperature value, air pressure and wavelength of the second subdivided interval. Furthermore, the process of performing interval clustering on the subdivided intervals according to the similarity analysis results to obtain clustered intervals refers to merging the two subdivided areas into the same subdivided interval when the similarity analysis result shows that the similarity is higher than a preset threshold.

[0086] Furthermore, the embodiment of the present invention generates a boundary curve of the region boundary of the segmented region to inversely synthesize the region boundary into a curve, thereby facilitating the subsequent solution of the intersection of the straight line signal emitted by the satellite and the boundary curve.

[0087] Among them, the boundary curve refers to the curve fitted by the coordinate points on the boundary of the area. The area boundary arc curve, the entire curve shape is like a ring, this is because the height from the center of the entire earth sphere to the outside constitutes the boundary of the sphere, for example, objects at the same height at different ground positions on the sphere, the heights of these objects are on the same spherical surface.

[0088] In one embodiment of the present invention, the step of generating a boundary curve of the region boundary of the segmented region includes: obtaining boundary coordinate points on the region boundary; selecting a coordinate fitting order of the boundary coordinate points; and constructing a polynomial model of the boundary coordinate points according to the coordinate fitting order using the following formula:

[0089] ;

[0090] ;

[0091] in, represents the polynomial model, A polynomial model representing the x-axis coordinates of the boundary coordinate points, represents parameter variables, , , , Represents the x-axis coordinates of the boundary coordinate points coefficients, The x-axis coordinates of the boundary points are about The function of Represents the boundary coordinate points Polynomial model of the coordinates on the axes, represents parameter variables, , , , Represents the boundary coordinates Axis coordinates coefficients, Represents the boundary coordinates Axis coordinates about The function of Represents the boundary coordinate points Polynomial model of the coordinates on the axes, represents parameter variables, , , , Represents the boundary coordinates Axis coordinates coefficients, Represents the boundary coordinates Axis coordinates about The function of , , represents the coordinate fitting order;

[0092] According to the polynomial model, a boundary curve of the region boundary of the segmented region is generated using the following format:

[0093] ;

[0094] in, represents the boundary curve, The x-axis coordinates of the boundary points are about The function of Represents the boundary coordinates Axis coordinates about The function of Represents the boundary coordinates Axis coordinates about The function of , , Represents a variable.

[0095] It should be noted that before constructing the polynomial model, , , are known coordinate points, , , , , , Parameters such as are unknown. At this time, fast optimization algorithms such as particle swarm optimization algorithm are used to optimize parameters, and different sizes can be found. , , , , , These parameters meet , that is, the calculation result is , the parameters obtained by these parameter optimizations are used to construct the polynomial model. Therefore, a parameter of a polynomial model, for example There can be multiple values, but any of these values ​​must satisfy the three polynomial models .

[0096] S2. Construct a virtual satellite position of a Beidou satellite, transmit a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and query a signal transmission angle of the Beidou timing signal.

[0097] In the embodiment of the present invention, the position symbol of the Beidou satellite whose virtual satellite position is unknown, that is, the position of the Beidou satellite is represented by a certain mathematical symbol, so as to facilitate subsequent calculation operations.

[0098] Furthermore, in an embodiment of the present invention, the Beidou timing signal refers to a signal used to provide timing for a Beidou timing chip on the ground, and the signal transmission angle refers to the deflection of the Beidou timing signal relative to the reference axis of height, which is a known parameter of the Beidou satellite.

[0099] S3. Generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the intersection coordinates between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line on the intersection coordinates.

[0100] The embodiment of the present invention generates a virtual transmission line of the Beidou timing signal by utilizing the virtual satellite position and the signal transmission angle, so as to convert the ray initially emitted by the Beidou timing signal into a straight line expression, thereby facilitating the subsequent calculation of the intersection points of the Beidou timing signal with the boundary curve when it is refracted in the atmospheric layer at each different altitude.

[0101] The virtual transmission line refers to a curve formed by the signal path of the Beidou timing signal before it contacts the boundary curve.

[0102] In one embodiment of the present invention, the virtual transmission line of the Beidou timing signal is generated by using the virtual satellite position and the signal transmission angle, including: taking the virtual satellite position as the origin of the coordinate system and the height of the virtual satellite position as the vertical coordinate axis to construct a rectangular coordinate system of the virtual satellite position; in the rectangular coordinate system, according to the signal transmission angle, using the following formula to generate the virtual transmission line of the Beidou timing signal:

[0103] ;

[0104] ;

[0105] ;

[0106] ;

[0107] ;

[0108] in, represents a virtual transmission line, represents the coordinates of the end point of the virtual emission line, represents the vector corresponding to the virtual emission line, represents the vector on the vertical coordinate axis in the rectangular coordinate system, represents the origin of the coordinate system, Indicates the signal transmission angle, , , Represents a variable, express Length.

[0109] It should be noted that, since the virtual transmission line is a straight line passing through the origin, this straight line only needs to satisfy the requirements of passing through the origin and the signal transmission angle, and the selection of the end point coordinates only requires selecting a maximum value based on common sense, and this maximum value needs to ensure that the virtual transmission line passes through the boundary curve.

[0110] Furthermore, the embodiment of the present invention identifies the coordinates of the intersection between the virtual transmission line and the boundary curve to identify the coordinates of the intersection between the virtual transmission line and the boundary curve, so as to calculate the intersection of the boundary curve of the first layer passed by the Beidou timing signal.

[0111] The intersection coordinates refer to the coordinate points on the highest-level boundary curve closest to the Beidou satellite that intersect with the virtual transmission line.

[0112] In one embodiment of the present invention, the identifying the coordinates of the intersection between the virtual transmission line and the boundary curve includes: obtaining a polynomial model in the boundary curve; substituting the polynomial model into the virtual transmission line to calculate parameter variable values ​​of the polynomial model through the virtual transmission line; and calculating the coordinates of the intersection between the virtual transmission line and the boundary curve using the parameter variable values.

[0113] The parameter variable value is t.

[0114] Optionally, the process of calculating the coordinates of the intersection point between the virtual emission line and the boundary curve using the parameter variable value refers to calculating using t , , process.

[0115] Furthermore, the embodiment of the present invention calculates the virtual incident angle of the virtual transmission line at the intersection coordinates to calculate the incident angle of the Beidou timing signal entering the atmosphere where refraction may occur, thereby facilitating the subsequent calculation of the refraction of the Beidou timing signal under the incident angle based on the known atmospheric refractive index.

[0116] The virtual incident angle refers to the incident angle of the Beidou timing signal entering the atmosphere where refraction may occur.

[0117] In one embodiment of the present invention, the calculation of the virtual incident angle of the virtual emission line at the intersection coordinates includes: obtaining a boundary curve; constructing a boundary tangent of the boundary curve at the intersection coordinates; constructing a tangent perpendicular to the boundary tangent at the intersection coordinates; respectively identifying an emission line vector corresponding to the virtual emission line and a perpendicular vector corresponding to the tangent perpendicular; and calculating the vector angle between the emission line vector and the perpendicular vector using the following formula:

[0118] ;

[0119] in, represents the vector angle, represents the emission line vector, represents the perpendicular vector, represents the length of the emission line vector, represents the length of the perpendicular vector;

[0120] The vector angle is used as the virtual incident angle of the virtual emission line at the intersection coordinates.

[0121] S4. Calculate the regional refractive index of the aerial area, and construct a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index, and construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip using the virtual signal path.

[0122] The embodiment of the present invention calculates the regional refractive index of the aerial area to track the refraction path of the signal in the air.

[0123] The regional refractive index refers to the refractive index of the aerial region with respect to the signal.

[0124] In one embodiment of the present invention, the calculating of the regional refractive index of the aerial region includes: collecting the temperature value, air pressure and wavelength of the aerial region in the subdivided interval; and calculating the regional refractive index of the aerial region using the following formula according to the temperature value, the air pressure and the wavelength:

[0125] ;

[0126] in, represents the regional refractive index, represents wavelength, P represents air pressure, and T represents temperature.

[0127] Further, optionally, the process of constructing a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index refers to: calculating the refraction angle based on the incident angle and the incident coordinates, determining the refraction line based on the refraction angle, and again calculating the intersection of the refraction line and the boundary curve of the next layer until the boundary curve of the ground is calculated, and the obtained set of intersections of the refraction line and the boundary curve is used as the virtual signal path.

[0128] Furthermore, an embodiment of the present invention constructs a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip by utilizing the virtual signal path, so as to identify the relationship between the ground coordinates and the satellite coordinates, thereby subsequently determining the coordinates of the satellite based on partially known ground coordinates.

[0129] The virtual position relationship refers to the mapping relationship between the virtual satellite position and the virtual chip position.

[0130] In one embodiment of the present invention, the use of the virtual signal path to construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip includes: obtaining signal path coordinates in the virtual signal path; constructing a virtual association relationship between every two adjacent signal path coordinates in the signal path coordinates; and using the virtual association relationship to generate a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip.

[0131] The signal path coordinates refer to the intersection coordinates of the Beidou timing signal on each layer of the boundary curve, and the virtual association relationship refers to the calculation formula for calculating the intersection points on the boundary curve of the next layer by the intersection points on the boundary curve of the previous layer. For example, and The calculated mapping relationship between the origin (0, 0, 0) and the intersection coordinates.

[0132] Optionally, the process of using the virtual association relationship to generate a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip refers to merging the virtual position relationship between any two coordinate points into a virtual position relationship between the virtual satellite position and the virtual chip position. For example, the virtual satellite position 1 and the virtual chip position 4 go through two intersection points 2 and 3, then the mapping relationship between 1 and 4 is determined based on the mapping relationships between 1 and 2, between 2 and 3, and between 3 and 4.

[0133] S5. Obtain the known chip position and overhead data of the Beidou timing chip. When the overhead data matches the air data, analyze the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyze the adaptive chip position of the Beidou timing chip through the real satellite position.

[0134] The embodiment of the present invention analyzes the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, so as to determine the unknown satellite position based on a partial ground position.

[0135] In the embodiment of the present invention, the known chip position refers to the Beidou timing chip positioning at some known positions, and the air data refers to data such as temperature, wavelength and air pressure, because different air data have different refractive indices.

[0136] Furthermore, an embodiment of the present invention analyzes the adaptive chip position of the Beidou timing chip through the real satellite position, so as to pre-analyze the ground receiving position of the satellite at different transmission angles under the premise that the position of the ground user terminal is unknown, thereby monitoring the response of the chips at these receiving positions to the satellite signals on the ground, and finally determining the position of the ground chip, thereby locating the signal path transmitted by the satellite when the satellite position and the ground terminal position are unknown.

[0137] The adaptive chip position refers to a ground receiving position obtained on the premise of pre-analyzing which ground positions the satellite will transmit to.

[0138] In one embodiment of the present invention, analyzing the adaptive chip position of the Beidou timing chip through the real satellite position includes: obtaining the relationship between the virtual emission angle and the virtual position corresponding to the real satellite position; selecting the target position relationship of the Beidou satellite under different virtual emission angles from the virtual position relationship using the real satellite position; calculating the initial chip position of the Beidou timing chip corresponding to the real satellite position through the target position relationship; and identifying the adaptive chip position of the Beidou timing chip from the initial chip position based on the reception of the Beidou timing signal of the Beidou satellite by the Beidou timing chip.

[0139] Among them, the target position relationship refers to multiple different target position relationships determined based on the determined real satellite position, the refractive index of the space where the real satellite position is located, and different emission angles. Therefore, multiple different target position relationships also correspond to multiple different initial chip positions. The initial chip position refers to the position on the ground where the satellite signal can be received based on the determined real satellite position, the refractive index of the space where the real satellite position is located, and different emission angles. The reception situation refers to the response data of the Beidou timing chip on the ground to the received signal.

[0140] S6. Obtain a real signal path between the real satellite position and the adaptive chip position from the virtual signal path, and use the real signal path as a signal path positioning result of the Beidou timing chip.

[0141] The real signal path refers to the path formed by the coordinate points of the signal in the atmosphere when the satellite position and the ground terminal position are unknown.

[0142] Compared with the problem described in the background technology, the embodiment of the present invention performs regional segmentation on the aerial area based on the aerial data to obtain segmented areas, which are used to separate atmospheric layers with different temperature values, air pressures and wavelengths, so as to facilitate the subsequent calculation of the refractive index of different atmospheric layers, thereby improving the accuracy of positioning the signal in the atmospheric transmission path. Furthermore, the embodiment of the present invention generates a boundary curve of the regional boundary of the segmented area, which is used to inversely synthesize the regional boundary into a curve, so as to facilitate the subsequent solution of the intersection of the straight line signal emitted by the satellite and the boundary curve. The embodiment of the present invention generates the virtual satellite position and the signal transmission angle by using the virtual satellite position and the signal transmission angle. A virtual transmission line of a Beidou timing signal is used to convert the rays initially emitted by the Beidou timing signal into a straight line expression, so as to facilitate the subsequent calculation of the intersection points of the Beidou timing signal with the boundary curve when it is refracted in each atmospheric layer at different altitudes. Furthermore, an embodiment of the present invention identifies the coordinates of the intersection points between the virtual transmission line and the boundary curve to identify the coordinates of the intersection points between the virtual transmission line and the boundary curve, so as to calculate the intersection points of the boundary curve of the first layer passed by the Beidou timing signal. Furthermore, an embodiment of the present invention calculates the virtual incident angle of the virtual transmission line on the coordinates of the intersection points to calculate The incident angle of the Beidou timing signal entering the atmosphere where refraction may occur facilitates the subsequent calculation of the refraction of the Beidou timing signal at the incident angle based on the known atmospheric refractive index. The embodiment of the present invention calculates the regional refractive index of the aerial area to track the refraction path of the signal in the air. Further, the embodiment of the present invention constructs a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip by using the virtual signal path to identify the relationship between the ground coordinates and the satellite coordinates, thereby subsequently determining the coordinates of the satellite based on some known ground coordinates. The embodiment of the present invention analyzes the real satellite position of the Beidou satellite based on the known chip position and the virtual position relationship to determine the unknown satellite position based on part of the ground position. Further, the embodiment of the present invention analyzes the adaptive chip position of the Beidou timing chip through the real satellite position to pre-analyze the ground receiving position of the satellite at different emission angles under the premise that the position of the ground user terminal is unknown, thereby monitoring the response of the chips at these receiving positions to the satellite signal on the ground, and finally determining the position of the ground chip, thereby locating the signal path of the satellite transmission when the satellite position and the ground terminal position are unknown. Therefore, the signal path positioning method of the Beidou timing chip under adaptive conditions proposed in the present invention can locate the signal path transmitted by the satellite when the satellite position and the ground terminal position are unknown.

[0143] Embodiment 2:

[0144] like Figure 2As shown, it is a functional module diagram of the signal path positioning system of the Beidou timing chip under the adaptation of the present invention.

[0145] The signal path positioning system 200 of the Beidou timing chip under the adaptive mode of the present invention can be installed in an electronic device. According to the functions implemented, the signal path positioning system of the Beidou timing chip under the adaptive mode may include a curve generation module 201, an angle query module 202, an angle calculation module 203, a relationship construction module 204, a position analysis module 205 and a result determination module 206. The module of the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0146] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0147] The curve generating module 201 is used to identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data, obtain segmented areas, and generate a boundary curve of the area boundary of the segmented area;

[0148] The angle query module 202 is used to construct a virtual satellite position of a Beidou satellite, transmit a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and query the signal transmission angle of the Beidou timing signal;

[0149] The angle calculation module 203 is used to generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the intersection coordinates between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line at the intersection coordinates;

[0150] The relationship building module 204 is used to calculate the regional refractive index of the aerial area, and according to the regional refractive index, use the virtual incident angle and the intersection coordinates to build a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip, and use the virtual signal path to build a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip;

[0151] The position analysis module 205 is used to obtain the known chip position and overhead data of the Beidou timing chip, and when the overhead data is consistent with the air data, analyze the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyze the adaptive chip position of the Beidou timing chip through the real satellite position;

[0152] The result determination module 206 is used to obtain the real signal path between the real satellite position and the adaptive chip position from the virtual signal path, and use the real signal path as the signal path positioning result of the Beidou timing chip.

[0153] In detail, the modules in the signal path positioning system 200 of the Beidou timing chip under the adaptive mode in the embodiment of the present invention are used in the same manner as above. Figure 1 The signal path positioning method of the Beidou timing chip under adaptation described in the above is the same technical means and can produce the same technical effect, so it will not be repeated here.

[0154] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A signal path positioning method for a Beidou timing chip under adaptive conditions, characterized in that: The method comprises: Identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data to obtain segmented areas, and generate boundary curves of area boundaries of the segmented areas; Constructing a virtual satellite position of a Beidou satellite, transmitting a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and querying a signal transmission angle of the Beidou timing signal; Generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the coordinates of the intersection between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line on the coordinates of the intersection; Calculate the regional refractive index of the aerial area, and construct a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index, and construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip using the virtual signal path; Acquire the known chip position and overhead data of the Beidou timing chip, and when the overhead data matches the air data, analyze the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyze the adaptive chip position of the Beidou timing chip through the real satellite position; The real signal path between the real satellite position and the adaptive chip position is obtained from the virtual signal path, and the real signal path is used as the signal path positioning result of the Beidou timing chip.

2. The signal path positioning method of the Beidou timing chip under the adaptive condition as claimed in claim 1, characterized in that: The performing region segmentation on the aerial region based on the aerial data to obtain segmented regions includes: Subdividing the aerial height of the aerial area by equal length to obtain subdivided intervals; Collecting the temperature value, air pressure and wavelength of the aerial area in the subdivided interval from the aerial data; Perform similarity analysis on the temperature values, air pressure and wavelength in adjacent subdivided intervals to obtain similarity analysis results; According to the similarity analysis result, the segmented intervals are clustered to obtain clustered intervals; The clustering interval is used as a segmentation area.

3. The signal path positioning method of the Beidou timing chip under the adaptive condition as claimed in claim 1, characterized in that: The step of generating a boundary curve of a region boundary of the segmented region comprises: Obtaining boundary coordinate points on the boundary of the region; Selecting the coordinate fitting order of the boundary coordinate point; According to the coordinate fitting order, the polynomial model of the boundary coordinate points is constructed using the following formula: in, represents the polynomial model, x(t)=α n t n +α n-1 t n-1 +…+α2t 2 +α1t+α0 represents the polynomial model of the x-axis coordinates of the boundary coordinate points, t represents the parameter variable, α n , α n-1 …α2, α1, α0 represent the n+1 coefficients of the x-axis coordinates of the boundary coordinate point, x(t) represents the function of the x-axis coordinates of the boundary coordinate point with respect to t, y(t) = β m t m +β m-1 t m-1 +…+β2t 2 +β1t+β0 represents the polynomial model of the y-axis coordinates of the boundary coordinate points, t represents the parameter variable, β m , β m-1 …β2, β1, β0 represent the m+1 coefficients of the boundary coordinate point on the y-axis, y(t) represents the function of the boundary coordinate point on the y-axis with respect to t, z(t) = γ k t k +γ k-1 t k-1 +…+γ2t 2 +γ1t+γ0 represents the polynomial model of the coordinates on the z-axis of the boundary coordinate point, t represents the parameter variable, γ k , γ k-1 …γ2, γ1, γ0 represent the k+1 coefficients of the coordinates of the boundary coordinate point on the z-axis, z(t) represents the function of the coordinates of the boundary coordinate point on the z-axis with respect to t, and n, m, k represent the coordinate fitting order; According to the polynomial model, a boundary curve of the region boundary of the segmented region is generated using the following format: in, represents the boundary curve, x(t) represents the function of the x-axis coordinate of the boundary coordinate point with respect to t, y(t) represents the function of the y-axis coordinate of the boundary coordinate point with respect to t, z(t) represents the function of the z-axis coordinate of the boundary coordinate point with respect to t, and x, y, and z represent variables.

4. The signal path positioning method of the Beidou timing chip under the adaptive condition as claimed in claim 1, characterized in that: The method of generating a virtual transmission line of the Beidou timing signal by using the virtual satellite position and the signal transmission angle includes: Constructing a rectangular coordinate system of the virtual satellite position with the virtual satellite position as the origin of the coordinate system and the height of the virtual satellite position as the vertical coordinate axis; In the rectangular coordinate system, according to the signal transmission angle, the virtual transmission line of the Beidou timing signal is generated using the following formula: (A x ,A y ,A z ) in, represents a virtual transmission line, (A x ,A y ,A z )=(a x ,a y ,a z ) represents the coordinates of the end point of the virtual emission line, represents the vector corresponding to the virtual emission line, represents the vector on the vertical coordinate axis in the rectangular coordinate system, (0,0,0) represents the origin of the coordinate system, θ represents the signal transmission angle, x, y, z represent variables, and L represents Length.

5. The signal path positioning method of the Beidou timing chip under adaptive conditions as claimed in claim 1, characterized in that: The identifying the coordinates of the intersection between the virtual transmission line and the boundary curve comprises: Obtaining a polynomial model in the boundary curve; Substituting the polynomial model into the virtual transmission line to calculate parameter variable values ​​of the polynomial model through the virtual transmission line; The coordinates of the intersection point between the virtual emission line and the boundary curve are calculated using the parameter variable value.

6. The signal path positioning method of the Beidou timing chip under adaptive conditions as claimed in claim 1, characterized in that: The calculating the virtual incident angle of the virtual emission line at the intersection coordinates includes: Get the boundary curve; Constructing a boundary tangent line of the boundary curve at the intersection coordinates; Constructing a tangent perpendicular line of the boundary tangent line at the intersection coordinates; Respectively identifying a transmission line vector corresponding to the virtual transmission line and a perpendicular line vector corresponding to the tangent perpendicular line; The vector angle between the emission line vector and the vertical line vector is calculated using the following formula: Wherein, δ represents the vector angle, C represents the emission line vector, D represents the vertical line vector, |C| represents the length of the emission line vector, and |D| represents the length of the vertical line vector; The vector angle is used as the virtual incident angle of the virtual emission line at the intersection coordinates.

7. The signal path positioning method of the Beidou timing chip under adaptive conditions as claimed in claim 1, characterized in that: The calculating the regional refractive index of the aerial area comprises: Collecting the temperature value, air pressure and wavelength of the aerial area in the subdivided intervals; According to the temperature value, the air pressure and the wavelength, the regional refractive index of the aerial area is calculated using the following formula: Among them, r represents the regional refractive index, λ represents the wavelength, P represents the air pressure, and T represents the temperature value.

8. The signal path positioning method of the Beidou timing chip under adaptive conditions as claimed in claim 1, characterized in that: The using the virtual signal path to construct a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip includes: Obtaining signal path coordinates in the virtual signal path; Constructing a virtual association relationship between every two adjacent signal path coordinates in the signal path coordinates; The virtual association relationship is used to generate a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip.

9. The signal path positioning method of the Beidou timing chip under adaptive conditions as claimed in claim 1, characterized in that: The step of analyzing the adaptive chip position of the Beidou timing chip by using the real satellite position includes: Acquire the relationship between the virtual launch angle and the virtual position corresponding to the real satellite position; Selecting the target position relationship of the Beidou satellite at different virtual launch angles from the virtual position relationship using the real satellite position; Calculate the initial chip position of the Beidou timing chip corresponding to the real satellite position through the target position relationship; Based on the reception of the Beidou timing signal of the Beidou satellite by the Beidou timing chip, an adaptive chip position of the Beidou timing chip is identified from the initial chip position.

10. A signal path positioning system for a Beidou timing chip under adaptive conditions, characterized in that: The system comprises: A curve generating module is used to identify the air area between the Beidou timing chip and the Beidou satellite, collect air data in the air area, segment the air area based on the air data, obtain segmented areas, and generate a boundary curve of the area boundary of the segmented area; An angle query module, used to construct a virtual satellite position of a Beidou satellite, transmit a Beidou timing signal from the Beidou satellite to the Beidou timing chip, and query the signal transmission angle of the Beidou timing signal; An angle calculation module, used to generate a virtual transmission line of the Beidou timing signal using the virtual satellite position and the signal transmission angle, identify the intersection coordinates between the virtual transmission line and the boundary curve, and calculate the virtual incident angle of the virtual transmission line on the intersection coordinates; A relationship construction module, used for calculating the regional refractive index of the aerial area, constructing a virtual signal path of the Beidou timing signal between the Beidou satellite and the Beidou timing chip using the virtual incident angle and the intersection coordinates according to the regional refractive index, and constructing a virtual position relationship between the virtual satellite position and the virtual chip position of the Beidou timing chip using the virtual signal path; A position analysis module, used for acquiring the known chip position and overhead data of the Beidou timing chip, and when the overhead data is consistent with the air data, analyzing the real satellite position of the Beidou satellite based on the relationship between the known chip position and the virtual position, and analyzing the adaptive chip position of the Beidou timing chip through the real satellite position; The result determination module is used to obtain the real signal path between the real satellite position and the adaptive chip position from the virtual signal path, and use the real signal path as the signal path positioning result of the Beidou timing chip.

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