A dynamic multi-channel full-frequency satellite capture method, device, equipment and storage medium

Abstract

This application discloses a dynamic multi-channel, full-frequency satellite acquisition method. The method includes: obtaining a ranging code pilot main code or a ranging code main code and storing it in an FPGA ROM; reading it according to an address at a master clock of 62MHz to form an X-bit register; relocating the digital intermediate frequency of the local pseudo-code sequence baseband to near zero frequency as a first baseband signal, multiplying it with the carrier, removing the high-frequency portion and noise, and obtaining a second baseband signal; sampling the second baseband signal and the pseudo-code sequence to generate a third baseband signal, aligning it with the local pseudo-code sequence, performing correlation accumulation, calculating the FFT peak and average energy in real time, and repeating the above calculations; obtaining the pseudo-code initial phase, the frequency point at which the FFT peak energy is maximum, the peak energy, and the average energy to complete the acquisition. The present invention also discloses a dynamic multi-channel, full-frequency satellite acquisition device, corresponding equipment, and storage medium. The present invention can improve computational efficiency and reduce satellite acquisition time.

Description

Technical Field

[0001] The present application relates to the technical field of satellite navigation and satellite positioning, and more specifically, to a dynamic multi-channel full-frequency satellite capture method, device, equipment and storage medium. Background Art

[0002] During rapid flight, individual devices within the carrier experience significant Doppler shift relative to satellites in the satellite communication system. The existing BeiDou-3 frequencies B3I, B1C, and B2A all have a pseudo-code length of 10230. Using longer code lengths can reduce the correlation between pseudo-codes from different satellites and increase the correlation between pseudo-codes from the same satellite. From a satellite system design perspective, increasing pseudo-code length improves the satellite navigation receiver's ability to detect spikes.

[0003] The high-speed motion between satellites and satellite navigation receivers creates a significant Doppler shift, increasing the carrier frequency deviation and pseudo-code phase offset of the signals reaching the receiver. Acquiring satellite signals quickly is challenging for satellite navigation receivers, which is why a method is needed to quickly calculate the carrier frequency and pseudo-code phase offsets. Summary of the Invention

[0004] In response to at least one defect or improvement need in the prior art, the present invention provides a dynamic multi-channel full-frequency satellite capture method, device, equipment and storage medium, which can solve at least one of the problems existing in the above technical issues.

[0005] To achieve the above object, according to a first aspect of the present invention, a dynamic multi-channel full-frequency satellite acquisition method is provided, the method comprising the following steps:

[0006] Obtain the ranging code pilot main code or the ranging code main code and store it in the ROM of the FPGA;

[0007] Under the main clock of 62 MHz, the ranging code pilot main code or the ranging code main code in the ROM of the FPGA is read according to the address, and each bit of the ranging code is shifted left after being read to form a register containing X bits, which is used as the local pseudo code sequence;

[0008] relocating the digital intermediate frequency of the local pseudo-code sequence baseband to near zero frequency as a first baseband signal, multiplying the first baseband signal by a carrier, removing the high-frequency part and noise caused by the non-orthogonal part, and obtaining the second baseband signal;

[0009] Sampling the second baseband signal and the pseudo code sequence based on a clock enable signal to generate a third baseband signal, and storing the third baseband signal in a resource pool in real time;

[0010] Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain a correlation accumulation value, perform an FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into a register;

[0011] The third baseband signal and the local pseudo-code sequence are delayed by one data point, and the above calculation is repeated until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the acquisition.

[0012] Furthermore, the dynamic multi-channel full-frequency satellite acquisition method described above, wherein the sampling of the second baseband signal and the pseudo-code sequence based on the clock enable signal to generate the third baseband signal specifically includes:

[0013] A clock enable signal fc_nco at n times the pseudo code rate of each frequency point is obtained, and the second baseband signal and the pseudo code sequence are sampled based on the clock enable signal fc_nco to generate a third baseband signal at n times the pseudo code rate with a reduced speed and removed carrier.

[0014] Furthermore, the above-mentioned dynamic multi-channel full-frequency satellite acquisition method, wherein the third baseband signal of N ms in the resource pool is read and aligned with the local pseudo code sequence and correlated and accumulated to obtain the correlation accumulation value, specifically includes:

[0015] Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, and perform correlation accumulation. Accumulate every Y points to obtain the correlation accumulation value of Y points.

[0016] Furthermore, in the above-mentioned dynamic multi-channel full-frequency satellite acquisition method, the pseudo code search is performed on X channels in parallel within one pseudo code period, wherein one pseudo code period is t0, and the pseudo code search is performed based on the X channels. The time required to complete the search of the pseudo code sequence within one pseudo code period is t1=t0 / X.

[0017] Furthermore, in the above-mentioned dynamic multi-channel full-frequency satellite acquisition method, the clock enable signal fc_nco is twice the pseudo code rate of each frequency point.

[0018] Furthermore, the above-mentioned dynamic multi-channel full-frequency satellite capture method generates a capture completion flag after the capture is completed. After the query on the ARM side is valid, the capture result is read and judged and processed.

[0019] Furthermore, the above-mentioned dynamic multi-channel full-frequency satellite capture method is based on the BOC modulation mode of the newly added frequency point B1C. After judging and processing the capture results, it searches for multiple code phases before and after the maximum value to obtain the final captured pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy and the average energy.

[0020] According to a second aspect of the present invention, a dynamic multi-channel full-frequency satellite acquisition device is also provided, comprising:

[0021] The carrier NCO module written in FPGA is used to relocate the baseband digital intermediate frequency to near zero frequency under the 62MHz master clock after the capture module is triggered on the ARM side;

[0022] The low-pass filter module is used to move the baseband data to near zero frequency and remove the high-frequency part and noise caused by the non-orthogonal part after multiplication with the carrier;

[0023] The sampling module is used to sample the input 62MHz zero-IF baseband signal and pseudo-code signal based on the fc_nco signal of the carrier NCO module, and store the real-time sampled baseband signal in the resource pool;

[0024] An accumulation module is configured to read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain a correlation accumulation value, perform an FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into a register;

[0025] The capture module is configured to delay the third baseband signal and the local pseudo-code sequence by one data value and repeat the above calculation until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the capture.

[0026] According to a third aspect of the present invention, a dynamic multi-channel full-frequency satellite capture device is also provided, which includes at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit performs the steps of any one of the above methods.

[0027] According to the fourth aspect of the present invention, a storage medium is also provided, which stores a computer program that can be executed by a dynamic multi-channel full-frequency satellite acquisition device. When the computer program runs on the dynamic multi-channel full-frequency satellite acquisition device, the dynamic multi-channel full-frequency satellite acquisition device executes the steps of any one of the above methods.

[0028] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0029] (1) The present invention provides a dynamic multi-channel full-frequency satellite acquisition method. By performing multi-channel code phase parallel acquisition, the method simultaneously completes the capture of X pseudo-code phase delay signals, shortening the time of the traditional single-channel code phase acquisition algorithm to 1 / X, thereby improving computational efficiency and reducing satellite acquisition time.

[0030] (2) The dynamic multi-channel full-frequency satellite acquisition method provided by the present invention is used to add a multi-peak search with multiple code chips adjacent to the peak in the traditional PMF-FFT algorithm for the BOC signal of B1C, which can solve the multi-peak problem of the B1C signal caused by BOC modulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A flowchart of a dynamic multi-channel full-frequency satellite acquisition method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0034] The terms "first," "second," "third," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0035] Figure 1 This is a flow chart of a dynamic multi-channel full-frequency satellite acquisition method provided by an embodiment of the present application. Figure 1As shown, the embodiment of the present application provides a dynamic multi-channel full-frequency satellite acquisition method, including the following steps:

[0036] Obtain the ranging code pilot main code or the ranging code main code and store it in the ROM of the FPGA.

[0037] Specifically, Matlab can be used to generate the ranging pilot code or ranging code master code in advance and store it in the FPGA's ROM. The ranging code is a spatial signal file, a binary code sequence used to measure the distance from the satellite to the receiver, and a pseudo-random noise code.

[0038] Under the main clock of 62MHz, the ranging code pilot main code or ranging code main code in the FPGA ROM is read out according to the address. After each bit of ranging code is read, it is shifted left to form a register containing X bits, which is used as the local pseudo code sequence.

[0039] Specifically, under the main clock of 62 MHz, the ranging code pilot main code or the ranging code main code stored in advance in the ROM is read out according to the address of the ranging code pilot main code or the ranging code main code. Each time a ranging code bit is generated, it is shifted left to form an X-bit register, which is called a local pseudo code sequence.

[0040] The digital intermediate frequency of the local pseudo code sequence baseband is moved to near zero frequency as the first baseband signal, the first baseband signal is multiplied by the carrier, and the high frequency part and noise caused by the non-orthogonal part are removed to obtain the second baseband signal.

[0041] Specifically, the carrier NCO module written in the FPGA is called to relocate the digital intermediate frequency of the local pseudo-code baseband sequence to near zero frequency, which is used as the first baseband signal. The low-pass filter module written in the FPGA is called to remove the high-frequency component and noise caused by the non-orthogonal component after multiplication with the carrier from the relocated baseband signal near zero frequency, and the obtained signal is used as the second baseband signal.

[0042] The second baseband signal and the pseudo code sequence are sampled based on the clock enable signal to generate a third baseband signal, and the third baseband signal is stored in a resource pool in real time.

[0043] Specifically, the NCO module written in FPGA is called to generate a clock enable signal, and the input second baseband signal and pseudo code sequence are sampled based on the clock enable signal to generate a reduced-speed, carrier-free third baseband signal.

[0044] The third baseband signal is stored in a resource pool in real time, where the resource pool is a baseband pool where all basebands share capacity. At the same time, baseband resources are dynamically allocated to achieve traffic scheduling.

[0045] Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain the correlation accumulation value, perform FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into the register.

[0046] Specifically, a third baseband signal of Nms is read from the resource pool, aligned with the local pseudo code sequence, and accumulated. The third baseband signal read from the resource pool can be selected based on actual conditions. To meet actual computing requirements, the selected third baseband signal should be at least 4ms.

[0047] Correlation accumulation is a common technique used in the art for signal processing and will not be further described in this application. An FFT operation, i.e., a Fast Fourier Transform (FFT), is performed under the control of a certain frequency master clock. The FFT peak energy and average energy can be calculated in real time, and the results are buffered in a register. The master clock frequency can be selected appropriately based on actual needs, for example, 62 MHz, 125 MHz, or 128 MHz.

[0048] The third baseband signal and the local pseudo-code sequence are delayed by one data point, and the above calculation is repeated until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the acquisition.

[0049] Specifically, the data in the resource pool (i.e., the third baseband signal) is re-read and delayed by one data point with the local pseudo-code sequence. Correlation accumulation is performed again, and the FFT peak energy and average energy are calculated. Repeat these steps until all pseudo-code phase points within a pseudo-code cycle are calculated. The one with the highest FFT peak energy is recorded. This yields the pseudo-code initial phase, the frequency point with the highest FFT peak energy, the peak energy, and the average energy.

[0050] Within a pseudocode cycle t0, X channels perform pseudocode searches in parallel. The time required to complete the pseudocode sequence search within one cycle is t1 = t0 / X. If the FFT peak energy that meets the conditions is found, that is, the FFT peak energy is greater than the predetermined threshold, the acquisition is confirmed to be complete.

[0051] The embodiments of the present application provide a dynamic multi-channel full-frequency satellite acquisition method. By performing multi-channel code phase parallel capture, the method simultaneously captures X pseudo-code phase delayed signals, shortening the time of a traditional single-channel code phase acquisition algorithm to 1 / X, thereby improving computational efficiency and reducing satellite acquisition time.

[0052] Optionally, the dynamic multi-channel full-frequency satellite acquisition method provided in an embodiment of the present application samples the second baseband signal and the pseudo-code sequence based on the clock enable signal to generate a third baseband signal, specifically including:

[0053] A clock enable signal fc_nco at n times the pseudo code rate of each frequency point is obtained, and the second baseband signal and the pseudo code sequence are sampled based on the clock enable signal fc_nco to generate a third baseband signal at n times the pseudo code rate with a reduced speed and removed carrier.

[0054] Optionally, the dynamic multi-channel full-frequency satellite acquisition method provided in an embodiment of the present application reads the third baseband signal of Nms in the resource pool, aligns it with the local pseudo code sequence, and performs correlation accumulation to obtain a correlation accumulation value, specifically including:

[0055] Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, and perform correlation accumulation. Accumulate every Y points to obtain the correlation accumulation value of Y points.

[0056] Optionally, in the dynamic multi-channel full-frequency satellite acquisition method provided in an embodiment of the present application, a pseudo code search is performed on X channels in parallel within one pseudo code period, wherein one pseudo code period is t0, and the pseudo code search is performed based on the X channels. The time required to complete the search of the pseudo code sequence within one pseudo code period is t1=t0 / X.

[0057] Optionally, in the dynamic multi-channel full-frequency satellite acquisition method provided in the embodiment of the present application, the clock enable signal fc_nco is twice the pseudo code rate of each frequency point.

[0058] Optionally, the dynamic multi-channel full-frequency satellite capture method provided in the embodiment of the present application generates a capture completion flag after the capture is completed. After the query on the ARM side is valid, the capture result is read and judged and processed.

[0059] Optionally, the dynamic multi-channel full-frequency satellite capture method provided in the embodiment of the present application is based on the BOC modulation method of the newly added frequency point B1C. After judging and processing the capture results, a multi-code phase search is performed before and after the maximum value to obtain the final captured pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy and the average energy.

[0060] The dynamic multi-channel full-frequency satellite acquisition method provided in the embodiment of the present application adds a multi-peak search with multiple code chips adjacent to the peak in the traditional PMF-FFT algorithm for the BOC signal of B1C, which can solve the multi-peak problem of the B1C signal caused by BOC modulation.

[0061] The present application also provides a dynamic multi-channel full-frequency satellite capture device, which is characterized by comprising:

[0062] The carrier NCO module written in FPGA is used to relocate the baseband digital intermediate frequency to near zero frequency under the 62MHz master clock after the capture module is triggered on the ARM side;

[0063] The low-pass filter module is used to move the baseband data to near zero frequency and remove the high-frequency part and noise caused by the non-orthogonal part after multiplication with the carrier;

[0064] The sampling module is used to sample the input 62MHz zero-IF baseband signal and pseudo-code signal based on the fc_nco signal of the carrier NCO module, and store the real-time sampled baseband signal in the resource pool;

[0065] The accumulation module is used to read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain the correlation accumulation value, perform FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into the register;

[0066] The capture module is configured to delay the third baseband signal and the local pseudo-code sequence by one data value and repeat the above calculation until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the capture.

[0067] The present application provides a dynamic multi-channel full-frequency satellite capture device, which is not only suitable for capturing the newly added B1C, B3I, and B2a frequencies of the BeiDou-3 satellite, but is also compatible with the capture of the BeiDou-2 B1I frequency and the L1C / A frequency of GPS. At the same time, it can ensure that even in high-dynamic scenes with a large Doppler variation range, the device can still capture normally, and the captured Doppler range is plus or minus 8KHz. Using this device can reduce the traditional capture time to 1 / X of the original, thereby reducing the satellite capture time.

[0068] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above method. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0069] It should be noted that for the aforementioned 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 this application is not limited by the order of the actions described, because according to this 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 and modules involved are not necessarily required by this application.

[0070] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0072] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0073] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0075] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0076] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure herein, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not recorded in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0077] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic multi-channel full-frequency satellite acquisition method, characterized in that: The steps include: Obtain the ranging code pilot main code or the ranging code main code and store it in the ROM of the FPGA; Under the main clock of 62 MHz, the ranging code pilot main code or the ranging code main code in the ROM of the FPGA is read according to the address, and each bit of the ranging code is shifted left after being read to form a register containing X bits, which is used as the local pseudo code sequence; relocating the digital intermediate frequency of the local pseudo-code sequence baseband to near zero frequency as a first baseband signal, multiplying the first baseband signal by a carrier, removing the high-frequency part and noise caused by the non-orthogonal part, and obtaining the second baseband signal; Sampling the second baseband signal and the pseudo code sequence based on a clock enable signal to generate a third baseband signal, and storing the third baseband signal in a resource pool in real time; Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain a correlation accumulation value, perform an FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into a register; The third baseband signal and the local pseudo-code sequence are delayed by one data point, and the above calculation is repeated until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the acquisition.

2. The dynamic multi-channel full-frequency satellite acquisition method according to claim 1, characterized in that: The sampling of the second baseband signal and the pseudo code sequence based on the clock enable signal to generate a third baseband signal specifically includes: A clock enable signal fc_nco at n times the pseudo code rate of each frequency point is obtained, and the second baseband signal and the pseudo code sequence are sampled based on the clock enable signal fc_nco to generate a third baseband signal at n times the pseudo code rate with a reduced speed and removed carrier.

3. The dynamic multi-channel full-frequency satellite acquisition method according to claim 1, characterized in that: The step of reading the N ms third baseband signal from the resource pool, aligning the signal with the local pseudo code sequence, and performing correlation accumulation to obtain a correlation accumulation value specifically includes: Read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, and perform correlation accumulation. Accumulate every Y points to obtain the correlation accumulation value of Y points.

4. The dynamic multi-channel full-frequency satellite acquisition method according to claim 1, wherein: In one pseudo code cycle, the X channels perform pseudo code search in parallel, wherein one pseudo code cycle is t0. The pseudo code search is performed based on the X channels, and the time required to complete the search of the pseudo code sequence in one pseudo code cycle is t1=t0 / X.

5. The dynamic multi-channel full-frequency satellite acquisition method according to claim 1, wherein: The clock enable signal fc_nco is twice the pseudo code rate of each frequency point.

6. The dynamic multi-channel full-frequency satellite acquisition method according to claim 1, wherein: After the capture is completed, a capture completion flag is generated. After the query is valid on the ARM side, the capture result is read and judged and processed.

7. The dynamic multi-channel full-frequency satellite acquisition method according to claim 6, characterized in that: Based on the BOC modulation method of the newly added frequency point B1C, after judging and processing the capture results, multiple code phases are searched before and after the maximum value to obtain the final captured pseudo code initial phase, the frequency point with the maximum FFT peak energy, the peak energy and the average energy.

8. A dynamic multi-channel full-frequency satellite acquisition device, characterized in that: include: The carrier NCO module written in FPGA is used to relocate the baseband digital intermediate frequency to near zero frequency under the 62MHz master clock after the capture module is triggered on the ARM side; The low-pass filter module is used to move the baseband data to near zero frequency and remove the high-frequency part and noise caused by the non-orthogonal part after multiplication with the carrier; The sampling module is used to sample the input 62MHz zero-IF baseband signal and pseudo-code signal based on the fc_nco signal of the carrier NCO module, and store the real-time sampled baseband signal in the resource pool; An accumulation module is configured to read the N ms third baseband signal from the resource pool, align it with the local pseudo code sequence, perform correlation accumulation, obtain a correlation accumulation value, perform an FFT operation on the correlation accumulation value, calculate the FFT peak and average energy in real time, and buffer them into a register; The capture module is configured to delay the third baseband signal and the local pseudo-code sequence by one data value and repeat the above calculation until the pseudo-code phase point calculation within one pseudo-code cycle is completed. Within one pseudo-code cycle, the X channels perform pseudo-code search in parallel to obtain the pseudo-code initial phase, the frequency point with the maximum FFT peak energy, the peak energy, and the average energy, thus completing the capture.

9. A dynamic multi-channel full-frequency satellite acquisition device, characterized in that: The method comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes the steps of the method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: It stores a computer program that can be executed by a dynamic multi-channel full-frequency satellite acquisition device. When the computer program runs on the dynamic multi-channel full-frequency satellite acquisition device, the dynamic multi-channel full-frequency satellite acquisition device executes the steps of the method described in any one of claims 1 to 7.

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