Monitoring signal capture method for Beidou positioning warehouse management assisted by pseudo-satellite

Abstract

The present invention relates to the field of Beidou application technology, and in particular to a monitoring signal capture method for Beidou positioning warehouse management assisted by pseudo-satellite. The steps are as follows: receiving a specific frequency and pseudo-random noise code sequence signal emitted by a pseudo-satellite through a pseudo-satellite receiver, the signal including the position information of the pseudo-satellite and other auxiliary positioning information; receiving a signal from a Beidou satellite through a Beidou receiver in a warehouse management monitoring system, and using the Beidou signal to determine the initial position and state of the monitoring system; fusing the pseudo-satellite signal with the Beidou satellite signal; and eliminating multipath signal interference. The monitoring signal capture method for Beidou positioning warehouse management assisted by pseudo-satellite provided by the present invention enhances the Beidou signal by the pseudo-satellite signal, thereby realizing an efficient and accurate monitoring signal capture method, and thus being able to locate and monitor complex indoor and outdoor environments, and can significantly improve the accuracy and reliability of positioning.

Description

Technical Field

[0001] The present invention relates to the field of Beidou application technology, and in particular to a monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehousing management. Background Art

[0002] The signal capture integrity of Beidou positioning warehouse management monitoring refers to the ability of the system to accurately capture and monitor signals when using the Beidou navigation system for warehouse management. In order to ensure the integrity of signal capture, it is necessary to comprehensively consider these factors and take corresponding measures to optimize and improve. This ability is affected by many factors, mainly including:

[0003] (1) Satellite signal quality: The quality of satellite signals is directly related to the accuracy of signal capture. Signal strength, stability, and interference will affect signal capture. For example, insufficient signal strength or strong interference may lead to signal capture failure.

[0004] (2) Radio wave propagation error: mainly includes ionospheric refraction error, tropospheric refraction error, satellite transponder delay and user terminal clock error, among which atmospheric refraction error accounts for the major part. In the current dual-satellite positioning system, the atmospheric refraction error is uniformly corrected by the ground central station. In the improved dual-satellite positioning system passive positioning mode, the ionospheric and tropospheric corrections are completed by the user terminal.

[0005] (3) Station environment interference: Station environment interference includes electromagnetic environment interference, multipath interference, etc. At present, there are many signal transmission towers around some monitoring stations of the Beidou system, and the electromagnetic environment of the monitoring stations is relatively complex. As a result, signal interference, reduced accuracy, increased bit error rate, etc. also occur from time to time. In addition, there is a trend of gradually increasing high-rise buildings near most monitoring stations, resulting in increasing signal shielding, multipath effects, etc., which have also had a certain impact on the positioning accuracy and stable operation of the system.

[0006] (4) User environment interference: As the demand for Beidou system users increases, the environment in which users are located is complex and changeable, such as obstruction by buildings and changing weather conditions, which will also affect signal capture. For example, obstacles such as tall buildings and mountains may block satellite signals, causing signal weakening or loss, thereby affecting signal capture.

[0007] (5) Receiver performance: Receiver performance is also a key factor in determining the integrity of signal capture. The receiver's sensitivity, processing power, and anti-interference ability will affect the signal capture effect. If the receiver performance is poor, even if the satellite signal quality is good, it may not be able to accurately capture the signal.

[0008] (6) System design: The rationality of system design will also affect the integrity of signal capture. This includes the design of signal transmission system, frequency planning and coordination, anti-interference system construction, intersatellite link and integrity monitoring. If the system design is unreasonable, it may lead to difficulties in signal capture and affect the overall performance of the system.

[0009] The application of Beidou positioning system in warehouse management monitoring, especially in signal capture and integrity monitoring, has made significant progress in recent years. Although the application prospects of Beidou positioning system in the logistics industry are broad, it still faces some challenges:

[0010] (1) Technical compatibility issues: The BeiDou system is technically different from the existing GPS system, which may lead to compatibility issues on some equipment. Logistics companies need to update or replace equipment to adapt to the BeiDou system, which may involve additional costs.

[0011] (2) Signal coverage and stability: Although the Beidou system has good coverage in the Asia-Pacific region, its coverage in other parts of the world may not be as good as the GPS system. In addition, factors such as urban canyons and indoor environments may affect the stability of the Beidou signal, thereby affecting positioning accuracy.

[0012] (3) Data processing and analysis capabilities: Logistics companies need to process a large amount of positioning data to achieve effective transportation route planning and vehicle monitoring. This requires companies to have strong data processing and analysis capabilities, otherwise they may not be able to fully utilize the data provided by the Beidou system.

[0013] To this end, a monitoring signal capture method for Beidou positioning warehouse management using pseudo-satellite is designed to provide another technical solution to the above technical problems. Summary of the invention

[0014] Based on this, it is necessary to provide a monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management to address the above technical problems, so as to solve the technical problems raised in the above background technology.

[0015] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0016] The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management has the following steps:

[0017] receiving, by a pseudo-satellite receiver, a signal of a specific frequency and a pseudo-random noise code sequence transmitted by a pseudo-satellite, the signal including the position information of the pseudo-satellite and other auxiliary positioning information;

[0018] The BeiDou receiver in the warehouse management monitoring system receives signals from BeiDou satellites, and uses BeiDou signals to determine the initial position and status of the monitoring system;

[0019] Fusion of pseudo-satellite signals and BeiDou satellite signals;

[0020] Eliminate multipath signal interference.

[0021] As a preferred implementation of the monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention, the specific frequency and pseudo-random noise code sequence signal emitted by the pseudo-satellite is received by the pseudo-satellite receiver, and the signal includes the position information of the pseudo-satellite and other auxiliary positioning information, and the steps are as follows:

[0022] The frequency of the pseudo-satellite receiver is adjusted to be the same as the pseudo-satellite signal frequency;

[0023] The signal transmitted by the pseudo-satellite is captured by the pseudo-satellite receiver, and after the signal is amplified by radio frequency, the noise and other interference signals are removed by a filter;

[0024] The received RF signal is down-converted to baseband frequency through a local oscillator, and the converted signal is again filtered to remove noise and other interfering signals;

[0025] Performing analog-to-digital conversion on the filtered baseband signal to convert it into a digital signal;

[0026] Use DSP to process the digital signal and perform correlation detection with the pseudo-random noise code sequence of the pseudo-satellite to determine the capture and synchronization of the signal;

[0027] The phase of the code sequence is adjusted until it best matches the received signal, while the carrier phase is locked to ensure that the receiver remains synchronized with the transmitted signal.

[0028] As a preferred implementation of the monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention, the digital signal is processed using DSP and correlated with the pseudo-random noise code sequence of the pseudo-satellite to determine the capture and synchronization of the signal, and the steps are as follows:

[0029] The received digital baseband signal is aligned with the locally generated pseudo-random noise code sequence through a sliding window detection method to ensure chip-level synchronization.

[0030] As a preferred implementation of the monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention, the phase of the code sequence is adjusted until the best match is achieved with the received signal, and the carrier phase is locked to ensure that the receiver is synchronized with the transmitted signal. The steps are as follows:

[0031] The calculated correlation value is compared with the preset threshold to confirm whether the synchronization condition is met. If the correlation value exceeds the threshold, a synchronization indication is sent, indicating that the receiver has synchronized with the signal of the pseudo-satellite. If the correlation value is lower than the threshold, it is not synchronized. At the same time, the carrier phase is synchronized to ensure that the carrier of the received signal is consistent with the carrier phase generated locally.

[0032] As a preferred implementation of the monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention, the Beidou receiver in the warehouse management monitoring system receives the signal from the Beidou satellite, and uses the Beidou signal to determine the initial position and state of the monitoring system, the steps are as follows:

[0033] The Beidou signal received by the Beidou receiver is filtered through a radio frequency filter to remove unnecessary noise and interference;

[0034] down-converting the received RF signal to baseband frequency via a local oscillator;

[0035] The analog baseband signal is converted into a digital signal through an analog-to-digital converter, and noise and interference are eliminated through a digital filter;

[0036] Digital signal processing technology is used to achieve synchronization of carrier and code, making it easier to receive Beidou satellite signals.

[0037] As a preferred implementation of the monitoring signal capture method for pseudolite-assisted Beidou positioning warehouse management provided by the present invention, the pseudolite signal and Beidou satellite signal are fused in the following steps:

[0038] The received signals of the Beidou receiver and the pseudo-satellite receiver are fused through the Kalman filter to improve the positioning accuracy.

[0039] As a preferred implementation of the monitoring signal acquisition method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention, the steps of eliminating multipath signal interference are as follows:

[0040] Perform spectrum analysis on the signal using a spectrum analyzer to find repeated or extended signal components in the spectrum;

[0041] The inter-symbol interference of multipath signals is eliminated through an adaptive equalizer.

[0042] It can be seen without a doubt that the above-mentioned technical solution of the present application can definitely solve the technical problem to be solved by the present application.

[0043] At the same time, through the above technical solutions, the present invention has at least the following beneficial effects:

[0044] The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management provided by the present invention enhances the Beidou signal by the signal of the pseudo-satellite, thereby realizing an efficient and accurate monitoring signal capture method, thereby being able to locate and monitor complex indoor and outdoor environments, and can significantly improve the positioning accuracy and reliability. At the same time, by effectively detecting and suppressing the multipath effect, the signal transmission quality, positioning accuracy and the overall performance of the system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0046] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0051] Reference Figure 1 ,The monitoring signal capture method of pseudo-satellite assisted Beidou positioning warehouse management, the steps are as follows:

[0052] The specific frequency and pseudo-random noise code sequence signal transmitted by the pseudo-satellite is received by the pseudo-satellite receiver. The signal includes the position information of the pseudo-satellite and other auxiliary positioning information. The steps are as follows:

[0053] The frequency of the pseudo-satellite receiver is adjusted to be the same as the pseudo-satellite signal frequency;

[0054] The signal transmitted by the pseudo-satellite is captured by the pseudo-satellite receiver, and after the signal is amplified by radio frequency, the noise and other interference signals are removed by a filter;

[0055] The received RF signal is down-converted to baseband frequency through a local oscillator (LO), and the converted signal is again filtered to remove noise and other interfering signals;

[0056] Performing analog-to-digital conversion (ADC) on the filtered baseband signal to convert it into a digital signal;

[0057] Use DSP to process the digital signal and perform correlation detection with the pseudo-random noise code sequence of the pseudo-satellite to determine the capture and synchronization of the signal. The steps are as follows:

[0058] Align the received digital baseband signal with the locally generated pseudo-random noise code sequence through a sliding window detection method to ensure chip-level synchronization;

[0059] Sliding window detection method, the specific steps are:

[0060] Set a sliding window, the length of which is equal to the length of the pseudo-random noise code sequence;

[0061] Moving the sliding window chip by chip on the received signal;

[0062] At each window position, the correlation value between the received signal and the local pseudo-random noise code sequence is calculated. Specifically, the received signal in the window is multiplied by the local code sequence, and then the product is summed to obtain the correlation value of the window position;

[0063] Among the correlation values ​​of all sliding window positions, find the maximum value, and the position corresponding to the maximum value is the synchronization point of the code sequence.

[0064] Adjust the phase of the code sequence until it is optimally matched to the received signal and lock the carrier phase to ensure that the receiver remains synchronized with the transmitted signal. The steps are as follows:

[0065] The calculated correlation value is compared with the preset threshold to confirm whether the synchronization condition is met. If the correlation value exceeds the threshold, a synchronization indication is sent, indicating that the receiver has synchronized with the signal of the pseudo-satellite. If the correlation value is lower than the threshold, it is not synchronized. At the same time, the carrier phase is synchronized to ensure that the carrier of the received signal is consistent with the carrier phase generated locally.

[0066] The received signal is demodulated to extract the original data transmitted by the pseudo-satellite, and the demodulated data is decoded to extract the position information of the pseudo-satellite and other auxiliary positioning information.

[0067] The Beidou receiver in the warehouse management monitoring system receives signals from Beidou satellites, and uses Beidou signals to determine the initial position and status of the monitoring system. The steps are as follows:

[0068] The Beidou signal received by the Beidou receiver is filtered through a radio frequency filter to remove unnecessary noise and interference;

[0069] Down-converting the received RF signal to baseband frequency via a local oscillator (LO);

[0070] The analog baseband signal is converted into a digital signal through an analog-to-digital converter (ADC), and noise and interference are eliminated through a digital filter;

[0071] Digital signal processing technology is used to achieve synchronization of carrier and code, making it easier to receive Beidou satellite signals.

[0072] The steps to fuse pseudo-satellite signals with Beidou satellite signals are as follows:

[0073] The received signals of Beidou receiver and pseudo-satellite receiver are fused through Kalman filter to improve the positioning accuracy.

[0074] For satellite observations, the error components include satellite ephemeris, satellite clock error, propagation ionosphere-troposphere error, multipath and receiver noise, etc. For pseudo-satellite observations, considering that pseudo-satellites are generally fixed on the ground, there is no satellite ephemeris error and ionosphere delay error, and it is assumed that all pseudo-satellite transmitters use a common clock to eliminate relative clock errors. Therefore, it is generally believed that the equivalent ranging error of pseudo-satellite observations is smaller than that of navigation satellites in high altitude areas.

[0075] Perform spectrum analysis on the signal using a spectrum analyzer or fast Fourier transform (FFT) to find repeated or extended signal components in the spectrum;

[0076] An adaptive equalizer such as the minimum mean square error (MMSE) equalizer is used to eliminate the inter-symbol interference (ISI) of multipath signals, thereby reducing the multipath effect error and improving the accuracy and reliability of positioning.

[0077] Example 2: Pseudolite-assisted Beidou positioning technology is a positioning technology that combines the Beidou satellite navigation system and ground pseudo-satellites. It can provide high-precision positioning services in areas where Beidou satellite signals are difficult to cover. The main application areas include:

[0078] 1. Urban canyon and underground space positioning: In urban canyon areas, due to the dense arrangement of high-rise buildings, ordinary satellite navigation signals are often severely blocked, resulting in reduced positioning accuracy or positioning failure. Pseudo-satellite technology can effectively solve this problem, improve positioning accuracy and reliability in urban canyon areas, and provide continuous positioning services.

[0079] 2. Traffic management system: In the traffic management system, pseudo-satellite-assisted Beidou positioning technology can provide real-time and accurate traffic flow data, optimize traffic light control strategies, reduce traffic congestion, and quickly locate accident sites in emergency situations to improve rescue efficiency.

[0080] 3. Precision agricultural planting: In the agricultural field, this technology can help farmers to accurately sow, fertilize and spray pesticides, increase crop yield and quality, while reducing the use of chemicals and protecting the environment.

[0081] 4. UAV flight control: In the field of UAV flight control, pseudo-satellite-assisted Beidou positioning technology provides stable and reliable positioning services, enabling UAVs to achieve autonomous flight, obstacle avoidance and navigation, and is applied to aerial photography, agricultural plant protection, environmental monitoring and other fields.

[0082] 5. Smart city construction: In the construction of smart cities, this technology can provide more accurate and reliable positioning services for various applications, such as intelligent traffic management, urban planning, public safety, etc., and promote the intelligent upgrade of urban management and services.

[0083] Example 3: Using pseudo-satellite-assisted BeiDou positioning technology in the agricultural field to improve crop yield and quality:

[0084] 1. Pseudolite-assisted BeiDou positioning technology is a technology that uses ground-based pseudo-satellites to provide additional observation signals. It can help users autonomously complete fault detection and identification, and ensure basic navigation services even when the satellite constellation geometry is poor. In the agricultural field, this technology can improve the accuracy and reliability of positioning, especially in shielded areas such as tunnels, where traditional satellite navigation systems may not be able to provide effective positioning services.

[0085] 2. The impact of pseudo-satellite-assisted BeiDou positioning technology on improving crop yield and quality. The application of pseudo-satellite-assisted BeiDou positioning technology in the agricultural field can help agricultural producers achieve precision agricultural management. Through positioning technology, farmers can accurately measure the area and shape of cultivated land, understand the growth status of crops, and reasonably arrange fertilization, spraying and irrigation. Farmers can divide their farmland into small plots for management, and apply different fertilizers according to different soil quality and demand, thereby maximizing the yield and quality of crops.

[0086] 3. In agricultural machinery operations, Beidou technology can provide precise positioning and navigation services to help agricultural machinery drive and operate accurately. Agricultural machinery can automatically perform operations such as sowing, fertilizing, and weeding according to the specified path and coordinates, greatly improving the efficiency and accuracy of agricultural machinery operations. At the same time, Beidou technology can also realize remote monitoring and management of agricultural machinery. Farmers can understand the location, operation status and sensor data of agricultural machinery anytime and anywhere, adjust operation plans and decisions in time, and improve the utilization rate and benefits of agricultural machinery.

[0087] 4. Practical application cases. There are more than 200,000 sets of agricultural machinery automatic driving terminals based on the Beidou system, covering all aspects of agricultural production, such as deep plowing, transplanting, sowing, plant protection, harvesting, straw processing and drying. In 2022 and 2023, domestic agricultural machinery equipped with Beidou terminals played an important role in annual grain production. Beidou agricultural machinery is providing services to farmers and improving agricultural production efficiency.

[0088] Example 4: Application of pseudo-satellite-assisted BeiDou positioning technology in JD Logistics BeiDou New Warehouse

[0089] JD Logistics Beidou New Warehouse is Asia's first full-process intelligent flexible production logistics park. It adopts a flow picking mode, optimizes picking tasks with commodities as the core, and realizes the best application of human-machine CP. The warehouse organically combines six steps: intelligent sensing, high-precision positioning, dynamic allocation, commodity scanning, order aggregation, and commodity review, completing the most tedious operations in the logistics process, realizing a huge release of employee physical energy and the best application of machine intelligence. The core features of the application of pseudo-satellite-assisted Beidou positioning technology in JD Logistics Beidou New Warehouse are disruptive innovations in operation and management modes, intelligent perception of all links, and autonomous dynamic adjustments.

[0090] Example 5: PL-RTK: A real-time dynamic positioning system based on pseudo-satellite

[0091] PL-RTK is a real-time dynamic positioning system based on pseudo-satellite. It consists of a group of commercial GNSS L1 signal transmitters. The base station and the mobile station both use commercial GNSS receivers. The data link uses a wireless local area network (WLAN). The time and frequency between pseudo-satellite constellations are uniformly controlled by the control center. PL-RTK requires static initialization at known points. The experimental results show that the positioning accuracy of PL-RTK in the plane direction is better than 1.0 cm, and the positioning accuracy in the elevation direction is better than 1.1 cm. This shows that pseudo-satellite technology has a high application potential in complex environments such as urban canyons.

[0092] Example 6: Potential application scenarios of pseudo-satellite-assisted Beidou positioning

[0093] In addition to warehouse management, pseudo-satellite-assisted BeiDou positioning system has some potential application areas:

[0094] 1. Surveying and mapping applications: Pseudo-satellite technology can be combined with the Beidou satellite navigation system to improve positioning accuracy, especially in complex terrain or indoor environments such as tunnels and underground facilities, to achieve high-precision positioning and navigation.

[0095] 2. Vehicle navigation: In the field of vehicle navigation, pseudo-satellite-assisted Beidou positioning system can provide more accurate positioning services, especially in signal-shielded areas such as urban canyons and tunnels, which helps to improve navigation accuracy and user experience.

[0096] 3. Emergency rescue: After a natural disaster such as an earthquake or flood, the pseudo-satellite-assisted BeiDou positioning system can be quickly deployed to provide accurate geographic location information to rescue teams, thereby improving rescue efficiency and success rate.

[0097] 4. Intelligent transportation system: Pseudo-satellite-assisted Beidou positioning system can be used for intelligent transportation management, such as vehicle tracking, traffic flow monitoring, road condition warning, etc., which helps to improve the intelligence level and safety of the transportation system.

[0098] 5. Environmental monitoring: In the field of environmental protection, pseudo-satellite-assisted BeiDou positioning system can be used to monitor environmental changes, such as forest fire monitoring, wildlife protection, pollution source tracking, etc., which helps to timely discover and deal with environmental problems.

[0099] 6. Agricultural applications: In the agricultural field, pseudo-satellite-assisted Beidou positioning system can be used in precision agriculture, such as farmland irrigation, fertilization, harvesting, etc., to improve the efficiency and output of agricultural production.

[0100] Example 7: Application of Pseudo-satellite-assisted Beidou Positioning Technology in Tianjin Smart Warehouse

[0101] In the case of Tianjin Smart Warehouse, pseudo-satellite-assisted BeiDou positioning technology was used in the construction of smart warehouses. The warehouse integrated BeiDou, big data, mobile Internet and other technologies, integrated information such as transportation capacity, road exploration, and transportation monitoring, and realized functions such as timely delivery reservations, intelligent vehicle scheduling, intelligent material loading, optimal path recommendation, and real-time positioning monitoring, achieving "full situation awareness and unmanned operation". The smart warehouse using BeiDou's "full situation awareness and unmanned operation" shortened the operation time of in-and-out storage by more than 20% and improved the efficiency of loading and unloading by more than 30%. After being put into operation, it will effectively improve the efficiency of material storage and distribution in the energy and power fields of Tianjin.

[0102] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management, characterized in that: Here are the steps: receiving, by a pseudo-satellite receiver, a signal of a specific frequency and a pseudo-random noise code sequence transmitted by a pseudo-satellite, the signal including the position information of the pseudo-satellite and other auxiliary positioning information; The BeiDou receiver in the warehouse management monitoring system receives signals from BeiDou satellites, and uses BeiDou signals to determine the initial position and status of the monitoring system; Fusion of pseudo-satellite signals and BeiDou satellite signals; Eliminate multipath signal interference; The steps of receiving a specific frequency and a pseudo-random noise code sequence signal transmitted by a pseudo-satellite through a pseudo-satellite receiver, wherein the signal includes the position information of the pseudo-satellite and other auxiliary positioning information, are as follows: The frequency of the pseudo-satellite receiver is adjusted to be the same as the pseudo-satellite signal frequency; The signal transmitted by the pseudo-satellite is captured by the pseudo-satellite receiver, and after the signal is amplified by radio frequency, the noise and other interference signals are removed by a filter; The received RF signal is down-converted to baseband frequency through a local oscillator, and the converted signal is again filtered to remove noise and other interfering signals; Performing analog-to-digital conversion on the filtered baseband signal to convert it into a digital signal; Use DSP to process the digital signal and perform correlation detection with the pseudo-random noise code sequence of the pseudo-satellite to determine the capture and synchronization of the signal; Adjust the phase of the code sequence until it best matches the received signal, while locking the carrier phase to ensure that the receiver remains synchronized with the transmitted signal; The digital signal is processed by DSP and correlated with the pseudo-random noise code sequence of the pseudo-satellite to determine the capture and synchronization of the signal. The steps are as follows: The received digital baseband signal is aligned with the locally generated pseudo-random noise code sequence through a sliding window detection method to ensure chip-level synchronization.

2. The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management according to claim 1 is characterized in that: The phase of the code sequence is adjusted until it is optimally matched with the received signal, and the carrier phase is locked to ensure that the receiver is synchronized with the transmitted signal. The steps are as follows: The calculated correlation value is compared with the preset threshold to confirm whether the synchronization condition is met. If the correlation value exceeds the threshold, a synchronization indication is sent, indicating that the receiver has synchronized with the signal of the pseudo-satellite. If the correlation value is lower than the threshold, it is not synchronized. At the same time, the carrier phase is synchronized to ensure that the carrier of the received signal is consistent with the carrier phase generated locally.

3. The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management according to claim 1 is characterized in that: The steps of receiving the signal from the Beidou satellite by the Beidou receiver in the warehouse management monitoring system and using the Beidou signal to determine the initial position and state of the monitoring system are as follows: The Beidou signal received by the Beidou receiver is filtered through a radio frequency filter to remove unnecessary noise and interference; down-converting the received RF signal to baseband frequency via a local oscillator; The analog baseband signal is converted into a digital signal through an analog-to-digital converter, and noise and interference are eliminated through a digital filter; Digital signal processing technology is used to achieve synchronization of carrier and code, making it easier to receive Beidou satellite signals.

4. The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management according to claim 1 is characterized in that: The steps of fusing the pseudo-satellite signal and the Beidou satellite signal are as follows: The received signals of the Beidou receiver and the pseudo-satellite receiver are fused through the Kalman filter to improve the positioning accuracy.

5. The monitoring signal capture method for pseudo-satellite-assisted Beidou positioning warehouse management according to claim 1 is characterized in that: The steps of eliminating multipath signal interference are as follows: Perform spectrum analysis on the signal using a spectrum analyzer to find repeated or extended signal components in the spectrum; The inter-symbol interference of multipath signals is eliminated through an adaptive equalizer.

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