Method, system, device and medium for calibrating hardware delay difference

Abstract

The present application provides a method, system, device and medium for calibrating hardware delay difference. The method includes: calling a GNSS simulator to transmit a simulated direct signal to a GNSS direct hardware device, and transmitting a simulated reflected signal to a GNSS reflection hardware device, the GNSS simulator is connected to the GNSS direct hardware device through a first cable, the GNSS simulator is connected to the GNSS reflection hardware device through a second cable, the GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature adjustment device; obtaining a direct signal power waveform obtained by the GNSS direct hardware device processing the simulated direct signal; obtaining a reflected signal power waveform obtained by the GNSS reflection hardware device processing the simulated reflected signal; processing the direct signal power waveform and the reflected signal power waveform to obtain the hardware delay difference of the GNSS direct hardware device and the GNSS reflection hardware device at multiple temperatures.

Description

Technical Field

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

[0002] GNSS (Global Navigation Satellite System) sea surface height measurement mainly includes two methods: pseudo-code height measurement and phase height measurement. Pseudo-code height measurement uses the C / A (Coarse / Acquisition) code of the satellite signal. Its model is simple, stable, requires less data to be processed, and has a fast inversion calculation speed. Phase height measurement has higher accuracy, but it requires the phase of the reflected signal to be continuous. It is difficult to achieve height inversion when the reflecting surface is relatively rough.

[0003] At present, scientists use pseudo-code altimetry and phase altimetry to conduct research. The main error sources considered include ionospheric delay, atmospheric delay, receiving antenna error and sea surface roughness, etc. The error caused by hardware delay is not considered, especially the error caused by the temperature change of hardware delay of direct and reflected channels. This error will directly affect the inversion accuracy of sea surface height. Summary of the invention

[0004] The embodiments of the present application provide a method, system, device and medium for calibrating hardware delay difference to solve the problem that the existing height measurement method does not take into account the errors caused by hardware delay, especially the errors caused by the change of hardware delay of the two channels of direct and reflected light with temperature, which will directly affect the inversion accuracy of sea level height.

[0005] In order to solve the above technical problems, the embodiments of the present application are implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for calibrating a hardware delay difference, the method comprising:

[0007] Calling a GNSS simulator to transmit a simulated direct signal to a GNSS direct hardware device, and to transmit a simulated reflected signal to a GNSS reflection hardware device, wherein the GNSS simulator is communicatively connected to the GNSS direct hardware device via a first cable, and the GNSS simulator is communicatively connected to the GNSS reflection hardware device via a second cable, the GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter, and the GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device;

[0008] Acquire a direct signal power waveform obtained by processing the simulated direct signal by the GNSS direct signal hardware device;

[0009] Acquire a reflected signal power waveform obtained by processing the simulated reflected signal by the GNSS reflection hardware device;

[0010] The direct signal power waveform and the reflected signal power waveform are processed to obtain hardware delay differences between the GNSS direct hardware device and the GNSS reflected hardware device at multiple temperatures.

[0011] In the second aspect, an embodiment of the present application provides a calibration system for hardware delay difference, the system comprising: a GNSS simulator, a GNSS direct-beam hardware device, a GNSS reflection hardware device and a terminal, wherein the GNSS simulator is communicatively connected to the GNSS direct-beam hardware device via a first cable, the GNSS simulator is communicatively connected to the GNSS reflection hardware device via a second cable, the GNSS direct-beam hardware device and the GNSS reflection hardware device are communicatively connected to the terminal respectively, the GNSS direct-beam hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter, the GNSS direct-beam hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct-beam hardware device and the GNSS reflection hardware device.

[0012] The GNSS simulator is used to transmit a simulated direct signal to the GNSS direct hardware device, and transmit a simulated reflected signal to the GNSS reflective hardware device;

[0013] The GNSS direct radiation hardware device is used to process the simulated direct radiation signal to obtain a direct radiation signal power waveform;

[0014] The GNSS reflection hardware device is used to process the simulated reflection signal to obtain a reflection signal power waveform;

[0015] The terminal is used to process the direct signal power waveform and the reflected signal power waveform to obtain the hardware delay difference between the GNSS direct hardware device and the GNSS reflection hardware device at multiple temperatures.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0017] A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements any of the above-mentioned methods for calibrating the hardware delay difference.

[0018] In a fourth aspect, an embodiment of the present application provides a readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute any of the above-mentioned methods for calibrating the hardware delay difference.

[0019] In an embodiment of the present application, a GNSS simulator is called to transmit a simulated direct signal to a GNSS direct hardware device, and a simulated reflected signal is transmitted to a GNSS reflection hardware device. The GNSS simulator is connected to the GNSS direct hardware device through a first cable, and the GNSS simulator is connected to the GNSS reflection hardware device through a second cable. The GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter. The GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device. A direct signal power waveform is obtained by processing the simulated direct signal by the GNSS direct hardware device. A reflected signal power waveform is obtained by processing the simulated reflected signal by the GNSS reflection hardware device. The direct signal power waveform and the reflected signal power waveform are processed to obtain the hardware delay difference between the GNSS direct hardware device and the GNSS reflection hardware device at different temperatures. The embodiment of the present application achieves accurate height measurement of the system in different temperature environments by accurately calibrating the hardware delay difference between the direct channel and the reflected channel of the system at different temperatures, overcomes the defect of height measurement error introduced by changes in the hardware delay of the system at different temperatures, and improves the height measurement accuracy.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. 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 paying creative work.

[0022] Figure 1 A flowchart of a method for calibrating hardware delay difference provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a geometric relationship of altimetry based on Beidou reflection signal provided in an embodiment of the present application;

[0024] Figure 3A schematic diagram of the overall principle of a code phase delay difference provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a code phase delay difference inversion process provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the hardware principle of a Beidou altimeter provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of a hardware delay difference calibration process provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of a curve showing a change in hardware delay difference between a reflection channel and a direct channel with temperature provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of a hardware delay difference calibration system provided in an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] The geometric relationship of GNSS height measurement can be combined Figure 2 This is described in detail as follows.

[0033] like Figure 2 As shown in the figure (taking Beidou altimeter as an example), the direct antenna is used to receive Beidou direct signals, the reflector antenna is used to receive Beidou reflected signals reflected by the sea surface (i.e. Beidou reflected signals), and the altimeter host is used to capture, track and invert the direct and reflected signals to calculate the height of the receiver. The geometric relationship based on Beidou reflected signal altimeter is shown in the figure. Figure 2 First, the Beidou satellite is far enough from the sea surface, so the elevation angle reading at the mirror reflection point and the satellite elevation angle reading at the receiving antenna can be approximately the same value, both Secondly, the sea surface where the mirror reflection point is located is approximately a plane, that is, the length of the line segment OR (point R is the location of the reflective antenna, point O is the mirror reflection point) is equal to the length of the line segment OA (point A is the mirror image point of point R), that is, OR=OA. Therefore, the path difference between the direct signal and the reflected signal can be expressed as:

[0034] (1)

[0035] (2)

[0036] In the above formula, is the path delay difference between the Beidou direct signal and the Beidou reflected signal, The path of the Beidou reflected signal to the reflecting antenna, The path of the Beidou direct signal to the direct antenna, h is the height from the altimeter to the sea surface, is the angle between the BeiDou satellite and the sea level, is the vector between the phase centers of the direct antenna and the reflector antenna, is the unit vector of the line connecting the Beidou satellite and the receiver.

[0037] From the above formula, we can know that the height between the altimeter location and the sea surface is:

[0038] (3)

[0039] When the height h of the altimeter is significantly different from d (the distance between point R and point D, where point D is the location of the direct antenna), d can be approximated to 0, so the above formula (3) can be simplified to:

[0040] (4)

[0041] From the above formula (4), we can know that in order to calculate h, we must first know and , and the angle between Beidou satellite and sea level Real-time prediction can be made through the altimeter positioning information, so the key issue of height measurement is how to accurately obtain the path delay difference between the Beidou direct signal and the Beidou reflected signal. .

[0042] If the delay difference between the Beidou reflected signal and the Beidou direct signal is , the path delay difference is ,but:

[0043] (5)

[0044] (6)

[0045] Where c is the speed of light, so the key problem of height measurement can be converted into how to accurately obtain the time delay difference between the Beidou direct signal and the Beidou reflected signal (i.e. hardware latency difference).

[0046] Next, the implementation process of calibrating the hardware delay difference between the GNSS direct-radiation hardware device and the GNSS reflective hardware device at different temperatures is described in detail in conjunction with specific embodiments.

[0047] Reference Figure 1 , shows a flowchart of the steps of a method for calibrating a hardware delay difference provided in an embodiment of the present application, such as Figure 1 As shown, the method for calibrating the hardware delay difference may include: step 101, step 102, step 103 and step 104.

[0048] Step 101: Call a GNSS simulator to transmit a simulated direct signal to a GNSS direct hardware device, and to transmit a simulated reflected signal to a GNSS reflection hardware device, the GNSS simulator being communicatively connected to the GNSS direct hardware device via a first cable, the GNSS simulator being communicatively connected to the GNSS reflection hardware device via a second cable, the GNSS direct hardware device and the GNSS reflection hardware device being hardware devices of a satellite altimeter, the GNSS direct hardware device and the GNSS reflection hardware device being located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device.

[0049] The embodiments of the present application can be applied to the scenario of calibrating the hardware delay difference between a direct antenna and a reflective antenna at different temperatures.

[0050] A satellite altimeter is a high-precision instrument that uses an artificial satellite to measure altitude. The satellite altimeter is carried on an artificial satellite and transmits a radar pulse signal to the surface of the earth and receives the reflected signal. It calculates the vertical distance from the satellite to the surface of the earth based on the time difference of signal propagation. In this example, the satellite altimeter can be, but is not limited to, a Beidou altimeter.

[0051] Both GNSS direct-beam hardware devices and GNSS reflection hardware devices are hardware devices of satellite altimeters. Among them, GNSS direct-beam hardware devices refer to hardware devices used to process GNSS direct-beam signals. In this example, GNSS direct-beam hardware devices may include: amplifiers, radio frequency filters, radio frequency integrated circuits, and baseband SOCs (System on Chips).

[0052] The GNSS reflection hardware device refers to a hardware device used to process the GNSS reflection signal. In this example, the GNSS reflection hardware device may include: an amplifier, a radio frequency filter, a radio frequency integrated circuit, and a baseband SOC (System on Chip).

[0053] When calibrating the hardware delay difference between the GNSS direct hardware device and the GNSS reflection hardware device at different temperatures, the GNSS direct hardware device and the GNSS reflection hardware device can be placed in a temperature adjustment device, and the temperature adjustment device can perform temperature adjustment to adjust the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device.

[0054] In practical applications, a temperature range (such as -20℃~50℃, etc.) can be set in advance. During the calibration of the hardware delay difference, the ambient temperature of the environment in which the GNSS direct hardware device and the GNSS reflection hardware device are located can be continuously adjusted through the temperature adjustment device.

[0055] In this example, the GNSS simulator can be connected to the GNSS direct hardware device through a first cable, and connected to the GNSS reflection hardware device through a second cable. When calibrating the hardware delay difference, the GNSS simulator can be called to transmit a simulated direct signal to the GNSS direct hardware device, and to transmit a simulated reflection signal to the GNSS reflection hardware device.

[0056] The first cable and the second cable may be cables of the same model and length, so as to reduce the influence of the time delay caused by the cable on the calibration result.

[0057] In a specific implementation of the present application, the GNSS simulator can be connected to the power splitter for communication, and the power splitter can be connected to the GNSS direct hardware device and the GNSS reflection hardware device for communication through the first cable and the second cable, respectively. When sending a simulated signal, the GNSS simulator can be called to send the GNSS simulated signal to the power splitter. Furthermore, the power splitter can be called to divide the GNSS simulated signal into a simulated direct signal and a simulated reflection signal, and the simulated direct signal is sent to the GNSS direct hardware device, and the simulated reflection signal is sent to the GNSS reflection hardware device.

[0058] After the GNSS simulator is called to transmit a simulated direct signal to the GNSS direct hardware device and to transmit a simulated reflected signal to the GNSS reflected hardware device, step 102 and step 103 are executed.

[0059] Step 102: Acquire a direct signal power waveform obtained by processing the simulated direct signal by the GNSS direct signal hardware device.

[0060] The direct signal power waveform refers to the waveform diagram showing the change of signal strength over time after the GNSS direct signal hardware device receives and processes the direct signal from the satellite. This waveform diagram can intuitively reflect the power change of the direct signal and is an important indicator for evaluating signal quality and stability.

[0061] After the GNSS direct-radiation hardware device receives the simulated direct-radiation signal, the GNSS direct-radiation hardware device may process the simulated direct-radiation signal to obtain a direct-radiation signal power waveform.

[0062] The processing process of the simulated direct signal by the GNSS direct hardware device can be described in detail in combination with the following specific implementation method.

[0063] In a specific implementation of the present application, the above step 102 may include:

[0064] Sub-step S1: calling the first amplifier to perform signal amplification processing on the analog direct signal to obtain a direct amplified signal.

[0065] In this embodiment, the direct-fire hardware device may include: a first amplifier, a first radio frequency filter, a first radio frequency integrated circuit and a first baseband SOC. The structure of the direct-fire hardware device may be as follows: Figure 5 The direct hardware channel shown may include: an amplifier, a radio frequency filter, an RF_IC (Radio Frequency Integrated Circuit), and a baseband part.

[0066] After the analog direct signal is obtained, the first amplifier may be called to perform signal amplification processing on the analog direct signal to obtain a direct amplified signal.

[0067] In specific implementations, an amplifier is a device that increases signal power. In direct-beam hardware devices, amplifiers can be used to enhance the strength of analog direct-beam signals to ensure that the signal can be transmitted over long distances or obtain a sufficient signal-to-noise ratio in subsequent processing.

[0068] After the first amplifier is called to perform signal amplification processing on the analog direct signal to obtain a direct amplified signal, sub-step S2 is executed.

[0069] Sub-step S2: calling the first radio frequency filter to filter the direct amplified signal to obtain a direct filtered signal.

[0070] After calling the first amplifier to perform signal amplification processing on the analog direct signal to obtain the direct amplified signal, the first radio frequency filter can be called to perform filtering processing on the direct amplified signal to obtain the direct filtered signal.

[0071] In a specific implementation, the RF filter is responsible for filtering the signal, which only allows signals within a specific frequency range to pass through and filters out signals of other frequencies. In a direct hardware system, the RF filter is used to ensure that only the required signals are amplified and processed.

[0072] After calling the first radio frequency filter to filter the direct amplified signal to obtain the direct filtered signal, sub-step S3 is executed.

[0073] Sub-step S3: calling the first radio frequency integrated circuit to perform signal conversion processing on the direct filter signal to obtain a direct time-domain intermediate frequency signal.

[0074] After calling the first radio frequency filter to filter the direct amplified signal to obtain the direct filtered signal, the first radio frequency integrated circuit can be called to perform signal conversion processing on the direct filtered signal to obtain the direct time domain intermediate frequency signal.

[0075] In specific implementation, RF integrated circuit is a device that integrates various functional modules in RF circuit (such as modem, oscillator, mixer, amplifier, etc.) into a single chip. It realizes efficient processing of RF signals and reduces system complexity and cost.

[0076] After calling the first radio frequency integrated circuit to perform signal conversion processing on the direct filter signal to obtain a direct time-domain intermediate frequency signal, sub-step S4 is executed.

[0077] Sub-step S4: calling the first baseband SOC to process the direct time-domain intermediate frequency signal to obtain the direct signal power waveform.

[0078] After calling the first RF integrated circuit to perform signal conversion processing on the direct filter signal to obtain a direct time domain intermediate frequency signal, the first baseband SOC can be called to process the direct time domain intermediate frequency signal to obtain a direct signal power waveform. In a specific implementation, the baseband SOC is a highly integrated integrated circuit specifically used to process baseband signals in wireless communication systems. It implements baseband signal processing functions such as channel coding, decoding, modulation, and demodulation, and is one of the core components of a wireless communication system.

[0079] The process of the first baseband SOC processing the direct time domain intermediate frequency signal can be:

[0080] 1. Perform Fourier transform on the direct time domain intermediate frequency signal to obtain a direct frequency domain intermediate frequency signal. In this example, the Fourier transform can be any of discrete Fourier transform and fast Fourier transform. After Fourier transform, a frequency domain signal will be obtained, which represents the components of the original time domain signal at each frequency. In the frequency domain, the spectral characteristics of the signal can be obtained, such as frequency distribution, amplitude and phase.

[0081] 2. Integrate the direct radio frequency intermediate frequency signal and the local pseudo code generated by the numerically controlled oscillator to obtain the direct pseudo code correlation signal. Specifically, the numerically controlled oscillator (NCO) is a digital circuit that can generate a periodic signal, and the frequency and phase of its output signal can be adjusted by digital control. In satellite navigation and direct sequence spread spectrum communication systems, NCO is usually used to generate the same pseudo random code as the transmitter (i.e., local pseudo code).

[0082] In this example, the integration processing method for the direct-frequency IF signal and the local pseudo code generated by the digitally controlled oscillator can be a coherent integration processing method, that is, the IF signal and the local pseudo code are multiplied point by point (or modulo 2 addition), and then the products are accumulated. Coherent integration can retain the phase information of the signal, thereby improving the accuracy of signal processing.

[0083] 3. Perform an inverse Fourier transform on the direct pseudo-code correlation signal to generate an initial direct signal power waveform. That is, take the direct pseudo-code correlation signal as input and perform an inverse Fourier transform operation. This will generate a time domain signal, namely the initial direct signal power waveform. The initial direct signal power waveform generated by the inverse Fourier transform can reveal the time domain characteristics of the signal, such as the amplitude, phase, frequency, etc. of the signal. This waveform is of great significance for further analyzing the characteristics of the signal, performing signal processing, and designing related systems.

[0084] 4. Use the Sinc interpolation algorithm to interpolate the initial direct signal power waveform to obtain the direct signal power waveform.

[0085] Sinc interpolation is an interpolation method based on the sinc function, which is suitable for processing high-frequency components in sampled signals because it can achieve high-precision interpolation while maintaining the signal spectrum characteristics. In this example, the code phase delay peak can be used to calibrate the hardware delay difference between the direct channel and the reflected channel. When the hardware delay difference between the direct channel and the reflected channel changes, the code phase delay peak will also change synchronously. At this time, 12-level code phase can be used to collect data, and then the sinc interpolation algorithm can be used to fit the 12-level data into 120-level data.

[0086] This embodiment utilizes the sinc interpolation method to better preserve the original shape of the waveform, and further improve the accuracy of capturing the peak value of the system delay difference.

[0087] Step 103: Acquire a reflected signal power waveform obtained by processing the simulated reflected signal by the GNSS reflection hardware device.

[0088] The reflected signal power waveform refers to the waveform of the reflected signal power changing over time when the GNSS signal (such as GPS, Beidou, etc.) irradiates the earth's surface (such as the sea surface, the ground, etc.) and is reflected back to the receiving device. This waveform reflects the characteristic information of the reflected signal, such as the intensity, frequency, and phase.

[0089] After the simulated reflection signal is sent to the GNSS reflection hardware device, the GNSS reflection hardware device may process the simulated reflection signal to obtain a reflection signal power waveform. The implementation process may be described in detail in conjunction with the following specific implementation manner.

[0090] In a specific implementation of the present application, the above step 103 may include:

[0091] Sub-step M1: calling the second amplifier to perform signal amplification processing on the analog reflection signal to obtain a reflection amplified signal.

[0092] In this embodiment, the GNSS reflection hardware device may include: a second amplifier, a second RF filter, a second RF integrated circuit and a second baseband SOC. The structure of the reflection hardware device may be as follows: Figure 5 The reflective hardware channel shown may include: an amplifier, a radio frequency filter, an RF_IC (Radio Frequency Integrated Circuit), and a baseband part.

[0093] After the analog reflection signal is obtained, the second amplifier may be called to perform signal amplification processing on the analog reflection signal to obtain a reflection amplification signal.

[0094] In specific implementations, an amplifier is a device that increases signal power. In direct-beam hardware devices, the amplifier can be used to enhance the strength of analog reflected signals to ensure that the signal can be transmitted over long distances or obtain a sufficient signal-to-noise ratio in subsequent processing.

[0095] After the second amplifier is called to perform signal amplification processing on the analog reflection signal to obtain the reflection amplified signal, sub-step S2 is executed.

[0096] Sub-step M2: calling the second radio frequency filter to filter the reflected amplified signal to obtain a reflected filtered signal.

[0097] After the second amplifier is called to perform signal amplification processing on the analog reflection signal to obtain the reflection amplified signal, the second radio frequency filter may be called to perform filtering processing on the reflection amplified signal to obtain the reflection filtered signal.

[0098] In a specific implementation, the RF filter is responsible for filtering the signal, which only allows signals within a specific frequency range to pass through and filters out signals of other frequencies. In a reflective hardware system, the RF filter is used to ensure that only the required signals are amplified and processed.

[0099] After calling the second radio frequency filter to filter the reflected amplified signal to obtain the reflected filtered signal, sub-step M3 is executed.

[0100] Sub-step M3: calling the second radio frequency integrated circuit to perform signal conversion processing on the reflected filter signal to obtain a reflected time-domain intermediate frequency signal.

[0101] After calling the second radio frequency filter to filter the reflected amplified signal to obtain the reflected filtered signal, the second radio frequency integrated circuit can be called to perform signal conversion processing on the reflected filtered signal to obtain the reflected time-domain intermediate frequency signal.

[0102] In specific implementation, RF integrated circuit is a device that integrates various functional modules in RF circuit (such as modem, oscillator, mixer, amplifier, etc.) into a single chip. It realizes efficient processing of RF signals and reduces system complexity and cost.

[0103] After calling the second radio frequency integrated circuit to perform signal conversion processing on the reflected filter signal to obtain a reflected time-domain intermediate frequency signal, sub-step M4 is executed.

[0104] Sub-step M4: calling the second baseband SOC to process the reflected time-domain intermediate frequency signal to obtain the reflected signal power waveform.

[0105] After calling the second RF integrated circuit to perform signal conversion processing on the reflected filter signal to obtain the reflected time-domain intermediate frequency signal, the second baseband SOC can be called to process the reflected time-domain intermediate frequency signal to obtain the reflected signal power waveform. In a specific implementation, the baseband SOC is a highly integrated integrated circuit specifically used to process baseband signals in wireless communication systems. It implements baseband signal processing functions such as channel coding, decoding, modulation, and demodulation, and is one of the core components of wireless communication systems.

[0106] The process of the second baseband SOC processing the reflected time domain intermediate frequency signal can be:

[0107] 1. Perform Fourier transform on the reflected time-domain intermediate frequency signal to obtain a reflected frequency-domain intermediate frequency signal. In this example, the Fourier transform can be any of discrete Fourier transform and fast Fourier transform. After Fourier transform, a frequency-domain signal will be obtained, which represents the components of the original time-domain signal at each frequency. In the frequency domain, the spectrum characteristics of the signal, such as frequency distribution, amplitude, and phase, can be obtained.

[0108] 2. Integrate the reflected frequency domain intermediate frequency signal and the local pseudo code generated by the numerically controlled oscillator to obtain the reflected pseudo code correlation signal. Specifically, the frequency and phase of the output signal of the numerically controlled oscillator can be adjusted by digital control. In satellite navigation and direct sequence spread spectrum communication systems, NCO is usually used to generate the same pseudo random code (i.e., local pseudo code) as the transmitter.

[0109] In this example, the integration processing method for the direct-frequency IF signal and the local pseudo code generated by the digitally controlled oscillator can be a coherent integration processing method, that is, the IF signal and the local pseudo code are multiplied point by point (or modulo 2 addition), and then the products are accumulated. Coherent integration can retain the phase information of the signal, thereby improving the accuracy of signal processing.

[0110] 3. Perform an inverse Fourier transform on the reflected pseudo code related signal to generate the initial reflected signal power waveform. That is, take the reflected pseudo code related signal as input and perform an inverse Fourier transform operation. This will generate a time domain signal, namely the initial reflected signal power waveform. The initial reflected signal power waveform generated by the inverse Fourier transform can reveal the time domain characteristics of the signal, such as the amplitude, phase, frequency, etc. of the signal. This waveform is of great significance for further analyzing the characteristics of the signal, performing signal processing, and designing related systems.

[0111] 4. Use the Sinc interpolation algorithm to interpolate the initial reflected signal power waveform to obtain the reflected signal power waveform. Sinc interpolation is an interpolation method based on the sinc function, which is particularly suitable for processing high-frequency components in the sampled signal because it can achieve high-precision interpolation while maintaining the signal spectrum characteristics. In this example, the code phase delay peak can be used to calibrate the hardware delay difference between the direct channel and the reflected channel. When the hardware delay difference between the direct channel and the reflected channel changes, the code phase delay peak will also change synchronously. At this time, a 12-level code phase is used to collect data, and then the sinc interpolation algorithm is used to fit the 12-level data into 120-level data.

[0112] Step 104: Process the direct signal power waveform and the reflected signal power waveform to obtain hardware delay differences between the GNSS direct hardware device and the GNSS reflected hardware device at multiple temperatures.

[0113] After obtaining the direct signal power waveform and the reflected signal power waveform, the direct signal power waveform and the reflected signal power waveform can be processed to obtain the hardware delay difference of the GNSS direct hardware device and the GNSS reflection hardware device at multiple temperatures. For example, the pre-set test temperature is: -20°, 0°, 20°, 40°, then the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device is continuously adjusted by the temperature adjustment device, and the hardware delay difference of the GNSS direct hardware device and the GNSS reflection hardware device at -20°, the hardware delay difference at 0°, the hardware delay difference at 20°, and the hardware delay difference at 40° can be tested through the above test method.

[0114] It can be understood that the above examples are merely examples listed for a better understanding of the technical solutions of the embodiments of the present application, and are not intended to be the sole limitation to the embodiments.

[0115] In this embodiment, the first delay value of the peak point of the direct signal power waveform and the second delay value of the peak point of the reflected signal power waveform can be obtained. The delay difference between the first delay value and the second delay value at different temperatures is calculated, and the absolute value of the delay difference is used as the hardware delay difference. Figure 5 As shown, the signal power waveforms output by the direct hardware channel and the reactive hardware channel can be output to a terminal outside the incubator through an interface, so that the terminal can process the waveforms to obtain the hardware delay difference.

[0116] The calculation process of hardware delay difference can be as follows: Figure 3 As shown in the figure, the same local code is used to correlate the direct signal and the reflected signal, and then two one-dimensional delay-related power waveforms are obtained. The delay between the peaks of the two can be called the code phase delay, and the corresponding distance is the path delay between the direct signal and the reflected signal. Then, through the known geometric relationship between the antenna phase center, the mirror reflection point and the Beidou satellite, the height of the reflector antenna to the sea surface can be calculated.

[0117] Then, the relevant peak power waveform of the reflected signal and the relevant peak power waveform of the direct signal can be subtracted to obtain the code phase delay difference between the direct channel and the reflected channel. The code phase delay difference is the hardware delay difference between the GNSS direct hardware device and the GNSS reflection hardware device at different temperatures.

[0118] The hardware delay difference calibration process can be as follows Figure 6As shown, the simulator is used to provide Beidou navigation signals, which are then divided into two paths through a power divider. One path is connected to the direct channel of the Beidou altimeter through coaxial cable 1, and the other path is connected to the reflection channel of the Beidou altimeter through coaxial cable 2. Ensure that coaxial cable 1 and coaxial cable 2 use the same two RF cables to eliminate the error caused by the RF cable. Put the Beidou altimeter in a high and low temperature box, use a regulated power supply to provide +5V power to the Beidou altimeter, and input the scientific data of the Beidou altimeter to the PC (Personal Computer) through the ground inspection. Install the ground inspection software on the PC, use the PC to display, unpack and store the scientific data of the Beidou altimeter, and use the preset software to further analyze the data.

[0119] The processing flow for direct and reflected signals can be as follows: Figure 4 As shown, the digitally controlled oscillator generates a local pseudo code in advance, which is used for pseudo code correlation between the intermediate frequency signals in the frequency domain of the direct and reflected signal channels.

[0120] In the reflected signal channel, the reflected time-domain RF signal is down-converted into a time-domain intermediate frequency signal, the time-domain intermediate frequency signal is transformed into a frequency-domain intermediate frequency signal through Fourier transform, the frequency-domain intermediate frequency signal is correlated with the local pseudo-code (i.e., the frequency-domain intermediate frequency signal and the local pseudo-code are integrated) and then subjected to inverse Fourier transform to generate the correlated peak power waveform of the reflected signal.

[0121] In the direct signal channel, the direct time-domain RF signal is down-converted into a time-domain intermediate frequency signal, the time-domain intermediate frequency signal is transformed into a frequency-domain intermediate frequency signal through Fourier transform, the frequency-domain intermediate frequency signal is correlated with the local pseudo-code (i.e., the frequency-domain intermediate frequency signal and the local pseudo-code are integrated) and then subjected to inverse Fourier transform to generate the relevant peak power waveform of the direct signal.

[0122] In order to verify the above calibration process, the embodiment of the present application is tested at the temperature measurement points: -20℃, 0℃, 20℃, 40℃, and 50℃. The temperature maintenance time at each temperature measurement point can be customized (such as 1.5 hours, etc.). When testing, you can build a test platform, set the temperature change curve of the high and low temperature box, turn on the simulator and set it to the Beidou navigation signal scene. The Beidou altimeter host is powered on, and the ground inspection normally displays the peak value of the direct channel and the reflected channel code phase delay.

[0123] After testing the above temperature measurement points, the data showing the hardware delay difference changing with temperature is obtained as shown in Table 1 below.

[0124] Table 1: Hardware latency variation with temperature

[0125]

[0126] Based on the data shown in Table 1 above, we can draw the following Figure 7 The curve of the hardware delay difference between the reflection channel and the direct channel changing with temperature is shown. The horizontal axis represents the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device, and the vertical axis represents the hardware delay difference between the reflection channel and the direct channel (in meters). As the temperature rises, the hardware delay difference between the reflection channel and the direct channel gradually increases, from 4.6504 meters at -20 degrees to 5.8927 meters at 50 degrees, and the direction is negative.

[0127] It can be seen from the test results that the system hardware delay error has a great influence on the system height measurement. By calibrating the hardware delay of the hardware system, the height measurement accuracy can be improved.

[0128] The calibration method of the hardware delay difference provided in the embodiment of the present application is to call a GNSS simulator to transmit a simulated direct signal to a GNSS direct hardware device, and to transmit a simulated reflected signal to a GNSS reflection hardware device. The GNSS simulator is connected to the GNSS direct hardware device through a first cable, and the GNSS simulator is connected to the GNSS reflection hardware device through a second cable. The GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter. The GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device. The direct signal power waveform obtained by the GNSS direct hardware device processing the simulated direct signal is obtained. The reflected signal power waveform obtained by the GNSS reflection hardware device processing the simulated reflected signal is obtained. The direct signal power waveform and the reflected signal power waveform are processed to obtain the hardware delay difference of the GNSS direct hardware device and the GNSS reflection hardware device at different temperatures. The embodiment of the present application achieves accurate height measurement of the system in different temperature environments by accurately calibrating the hardware delay difference between the direct channel and the reflected channel of the system at different temperatures, overcomes the defect of height measurement error introduced by changes in the hardware delay of the system at different temperatures, and improves the height measurement accuracy.

[0129] Reference Figure 8 , shows a schematic diagram of the structure of a hardware delay difference calibration system provided in an embodiment of the present application. Figure 8As shown, the hardware delay difference calibration system 800 may include: a GNSS simulator 810, a GNSS direct hardware device 820, a GNSS reflection hardware device 830 and a terminal 840, wherein the GNSS simulator 810 is communicatively connected to the GNSS direct hardware device 820 via a first cable, the GNSS simulator 810 is communicatively connected to the GNSS reflection hardware device 830 via a second cable, the GNSS direct hardware device 820 and the GNSS reflection hardware device 830 are communicatively connected to the terminal 840 respectively, the GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter, the GNSS direct hardware device 820 and the GNSS reflection hardware device 830 are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device 820 and the GNSS reflection hardware device 830,

[0130] The GNSS simulator 810 is used to transmit a simulated direct signal to the GNSS direct hardware device 820, and transmit a simulated reflected signal to the GNSS reflection hardware device 830;

[0131] The GNSS direct radiation hardware device 820 is used to process the simulated direct radiation signal to obtain a direct radiation signal power waveform;

[0132] The GNSS reflection hardware device 830 is used to process the simulated reflection signal to obtain a reflection signal power waveform;

[0133] The terminal 840 is used to process the direct signal power waveform and the reflected signal power waveform to obtain the hardware delay difference between the GNSS direct hardware device 820 and the GNSS reflection hardware device 830 at multiple temperatures.

[0134] Optionally, the system further comprises: a power splitter, the GNSS simulator is communicatively connected to the power splitter, and the power splitter is communicatively connected to the GNSS direct-emission hardware device and the GNSS reflective hardware device via the first cable and the second cable, respectively.

[0135] The GNSS simulator is specifically used to send a GNSS simulation signal to the power splitter;

[0136] The power divider is used to equally divide the GNSS analog signal into the analog direct signal and the analog reflected signal, and send the analog direct signal to the GNSS direct hardware device, and send the analog reflected signal to the GNSS reflection hardware device.

[0137] Optionally, the GNSS direct-beam hardware device includes: a first amplifier, a first radio frequency filter, a first radio frequency integrated circuit and a first baseband SOC.

[0138] The first amplifier is used to amplify the analog direct signal to obtain a direct amplified signal;

[0139] The first radio frequency filter is used to filter the direct amplified signal to obtain a direct filtered signal;

[0140] The first radio frequency integrated circuit is used to perform signal conversion processing on the direct filter signal to obtain a direct time domain intermediate frequency signal;

[0141] The first baseband SOC is used to process the direct time-domain intermediate frequency signal to obtain the direct signal power waveform.

[0142] Optionally, the first baseband SOC is specifically used to perform Fourier transform on the direct time-domain intermediate frequency signal to obtain a direct radio-domain intermediate frequency signal; integrate the direct radio-domain intermediate frequency signal and the local pseudo-code generated by a numerically controlled oscillator to obtain a direct pseudo-code related signal; perform inverse Fourier transform on the direct pseudo-code related signal to generate an initial direct signal power waveform; and use a Sinc interpolation algorithm to interpolate the initial direct signal power waveform to obtain the direct signal power waveform.

[0143] Optionally, the GNSS reflection hardware device includes: a second amplifier, a second radio frequency filter, a second radio frequency integrated circuit and a second baseband SOC,

[0144] The second amplifier is used to perform signal amplification processing on the analog reflection signal to obtain a reflection amplified signal;

[0145] The second radio frequency filter is used to filter the reflected amplified signal to obtain a reflected filtered signal;

[0146] The second radio frequency integrated circuit is used to perform signal conversion processing on the reflected filter signal to obtain a reflected time domain intermediate frequency signal;

[0147] The second baseband SOC is used to process the reflected time-domain intermediate frequency signal to obtain the reflected signal power waveform.

[0148] Optionally, the second baseband SOC is specifically used to perform Fourier transform on the reflected time-domain intermediate frequency signal to obtain a reflected frequency-domain intermediate frequency signal; integrate the reflected frequency-domain intermediate frequency signal and the local pseudo-code generated by a numerically controlled oscillator to obtain a reflected pseudo-code related signal; perform inverse Fourier transform on the reflected pseudo-code related signal to generate an initial reflected signal power waveform; and use a Sinc interpolation algorithm to interpolate the initial reflected signal power waveform to obtain the reflected signal power waveform.

[0149] Optionally, the terminal is specifically used to obtain a first delay value at the peak point of the direct signal power waveform and a second delay value at the peak point of the reflected signal power waveform; calculate the delay difference between the first delay value and the second delay value at different temperatures, and use the absolute value of the delay difference as the hardware delay difference.

[0150] Optionally, the system further comprises: a power supply,

[0151] The power supply is used to provide electrical energy to the GNSS direct-radiation hardware device and the GNSS reflection hardware device.

[0152] The hardware delay difference calibration system provided in the embodiment of the present application is configured to transmit a simulated direct signal to a GNSS direct hardware device by calling a GNSS simulator, and transmit a simulated reflected signal to a GNSS reflection hardware device. The GNSS simulator is connected to the GNSS direct hardware device through a first cable, and the GNSS simulator is connected to the GNSS reflection hardware device through a second cable. The GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter. The GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device. The direct signal power waveform obtained by the GNSS direct hardware device processing the simulated direct signal is obtained. The reflected signal power waveform obtained by the GNSS reflection hardware device processing the simulated reflected signal is obtained. The direct signal power waveform and the reflected signal power waveform are processed to obtain the hardware delay difference of the GNSS direct hardware device and the GNSS reflection hardware device at multiple temperatures. The embodiment of the present application achieves accurate height measurement of the system in different temperature environments by accurately calibrating the hardware delay difference between the direct channel and the reflected channel of the system at different temperatures, overcomes the defect of height measurement error introduced by changes in the hardware delay of the system at different temperatures, and improves the height measurement accuracy.

[0153] In addition, an embodiment of the present application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned method for calibrating the hardware delay difference when executed by the processor.

[0154] Fig. 9 FIG. 1 is a schematic diagram showing the structure of an electronic device 900 according to an embodiment of the present invention. Fig. 9 As shown, the electronic device 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 902 or computer program instructions loaded from a storage unit 908 to a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the electronic device 900 can also be stored. The CPU 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0155] Multiple components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, a microphone, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0156] The various processes and processing described above may be performed by the processing unit 901. For example, the method of any of the above embodiments may be implemented as a computer software program, which is tangibly contained in a computer-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the CPU 901, one or more actions in the method described above may be performed.

[0157] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned hardware delay difference calibration method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0158] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0159] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0160] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0161] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0162] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0163] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0166] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0167] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for calibrating hardware delay difference, characterized in that: The method comprises: Calling a GNSS simulator to transmit a simulated direct signal to a GNSS direct hardware device, and to transmit a simulated reflected signal to a GNSS reflection hardware device, wherein the GNSS simulator is communicatively connected to the GNSS direct hardware device via a first cable, and the GNSS simulator is communicatively connected to the GNSS reflection hardware device via a second cable, the GNSS direct hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter, and the GNSS direct hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct hardware device and the GNSS reflection hardware device; Acquire a direct signal power waveform obtained by processing the simulated direct signal by the GNSS direct signal hardware device; Acquire a reflected signal power waveform obtained by processing the simulated reflected signal by the GNSS reflection hardware device; Processing the direct signal power waveform and the reflected signal power waveform to obtain hardware delay differences between the GNSS direct hardware device and the GNSS reflected hardware device at multiple temperatures; The GNSS direct-beam hardware device includes: a first amplifier, a first radio frequency filter, a first radio frequency integrated circuit and a first baseband SOC. The obtaining of the direct-beam power waveform obtained by the GNSS direct-beam hardware device processing the analog direct-beam signal includes: calling the first amplifier to amplify the analog direct-beam signal to obtain a direct-beam amplified signal; calling the first radio frequency filter to filter the direct-beam amplified signal to obtain a direct-beam filtered signal; calling the first radio frequency integrated circuit to convert the direct-beam filtered signal to obtain a direct-beam time-domain intermediate frequency signal; calling the first baseband SOC to process the direct-beam time-domain intermediate frequency signal to obtain the direct-beam power waveform; The GNSS reflection hardware device includes: a second amplifier, a second RF filter, a second RF integrated circuit and a second baseband SOC. The obtaining of the reflected signal power waveform obtained by the GNSS reflection hardware device processing the analog reflected signal includes: calling the second amplifier to amplify the analog reflected signal to obtain a reflected amplified signal; calling the second RF filter to filter the reflected amplified signal to obtain a reflected filtered signal; calling the second RF integrated circuit to perform signal conversion on the reflected filtered signal to obtain a reflected time domain intermediate frequency signal; calling the second baseband SOC to process the reflected time domain intermediate frequency signal to obtain the reflected signal power waveform.

2. The method according to claim 1, characterized in that The calling of the GNSS simulator to transmit a simulated direct signal to the GNSS direct hardware device and to transmit a simulated reflected signal to the GNSS reflected hardware device includes: Calling the GNSS simulator to send a GNSS simulation signal to the power splitter, wherein the GNSS simulator is in communication connection with the power splitter; The power splitter is called to equally split the GNSS analog signal into the analog direct signal and the analog reflected signal, and the analog direct signal is sent to the GNSS direct hardware device, and the analog reflected signal is sent to the GNSS reflection hardware device. The power splitter is communicatively connected to the GNSS direct hardware device via the first cable, and the power splitter is communicatively connected to the GNSS reflection hardware device via the second cable.

3. The method according to claim 1, characterized in that The calling the first baseband SOC to process the direct time-domain intermediate frequency signal to obtain the direct signal power waveform includes: Calling the first baseband SOC to perform Fourier transform on the direct time-domain intermediate frequency signal to obtain a direct radio-domain intermediate frequency signal; Integrate the direct radio frequency intermediate frequency signal and the local pseudo code generated by the digitally controlled oscillator to obtain a direct pseudo code correlation signal; Performing an inverse Fourier transform on the direct pseudo code correlation signal to generate an initial direct signal power waveform; The initial direct signal power waveform is interpolated using a Sinc interpolation algorithm to obtain the direct signal power waveform.

4. The method according to claim 1, characterized in that: The calling the second baseband SOC to process the reflected time-domain intermediate frequency signal to obtain the reflected signal power waveform includes: Calling the second baseband SOC to perform Fourier transform on the reflected time-domain intermediate frequency signal to obtain a reflected frequency-domain intermediate frequency signal; Integrate the reflected frequency domain intermediate frequency signal and the local pseudo code generated by the digitally controlled oscillator to obtain a reflected pseudo code correlation signal; Performing an inverse Fourier transform on the reflected pseudo code correlation signal to generate an initial reflected signal power waveform; The initial reflected signal power waveform is interpolated using a Sinc interpolation algorithm to obtain the reflected signal power waveform.

5. The method according to claim 1, characterized in that The processing of the direct signal power waveform and the reflected signal power waveform to obtain the hardware delay difference between the GNSS direct hardware device and the GNSS reflected hardware device at multiple temperatures includes: Obtaining a first time delay value of a peak point of the direct signal power waveform and a second time delay value of a peak point of the reflected signal power waveform; A delay difference between the first delay value and the second delay value at different temperatures is calculated, and an absolute value of the delay difference is used as the hardware delay difference.

6. A hardware delay difference calibration system, characterized in that: The system includes: a GNSS simulator, a GNSS direct-projection hardware device, a GNSS reflection hardware device and a terminal, wherein the GNSS simulator is communicatively connected to the GNSS direct-projection hardware device via a first cable, the GNSS simulator is communicatively connected to the GNSS reflection hardware device via a second cable, the GNSS direct-projection hardware device and the GNSS reflection hardware device are communicatively connected to the terminal respectively, the GNSS direct-projection hardware device and the GNSS reflection hardware device are hardware devices of a satellite altimeter, and the GNSS direct-projection hardware device and the GNSS reflection hardware device are located in a temperature regulating device to regulate the ambient temperature of the GNSS direct-projection hardware device and the GNSS reflection hardware device. The GNSS simulator is used to transmit a simulated direct signal to the GNSS direct hardware device, and to transmit a simulated reflected signal to the GNSS reflective hardware device; The GNSS direct radiation hardware device is used to process the simulated direct radiation signal to obtain a direct radiation signal power waveform; The GNSS reflection hardware device is used to process the simulated reflection signal to obtain a reflection signal power waveform; The terminal is used to process the direct signal power waveform and the reflected signal power waveform to obtain the hardware delay difference between the GNSS direct hardware device and the GNSS reflection hardware device at multiple temperatures; The GNSS direct-beam hardware device includes: a first amplifier, a first radio frequency filter, a first radio frequency integrated circuit and a first baseband SOC, wherein the first amplifier is used to amplify the analog direct-beam signal to obtain a direct-beam amplified signal; the first radio frequency filter is used to filter the direct-beam amplified signal to obtain a direct-beam filtered signal; the first radio frequency integrated circuit is used to convert the direct-beam filtered signal to obtain a direct-beam time-domain intermediate frequency signal; the first baseband SOC is used to process the direct-beam time-domain intermediate frequency signal to obtain a direct-beam signal power waveform; The GNSS reflection hardware device includes: a second amplifier, a second RF filter, a second RF integrated circuit and a second baseband SOC, wherein the second amplifier is used to amplify the analog reflection signal to obtain a reflection amplified signal; the second RF filter is used to filter the reflection amplified signal to obtain a reflection filtered signal; the second RF integrated circuit is used to perform signal conversion processing on the reflection filtered signal to obtain a reflection time domain intermediate frequency signal; the second baseband SOC is used to process the reflection time domain intermediate frequency signal to obtain the reflection signal power waveform.

7. The system according to claim 6, characterized in that The system further includes: a power splitter, the GNSS simulator is communicatively connected to the power splitter, and the power splitter is communicatively connected to the GNSS direct-emission hardware device and the GNSS reflective hardware device via the first cable and the second cable, respectively. The GNSS simulator is specifically used to send a GNSS simulation signal to the power splitter; The power divider is used to equally divide the GNSS analog signal into the analog direct signal and the analog reflected signal, and send the analog direct signal to the GNSS direct hardware device, and send the analog reflected signal to the GNSS reflection hardware device.

8. The system according to claim 6, characterized in that The first baseband SOC is specifically used to perform Fourier transform on the direct time-domain intermediate frequency signal to obtain a direct radio-domain intermediate frequency signal; integrate the direct radio-domain intermediate frequency signal and the local pseudo-code generated by the numerically controlled oscillator to obtain a direct pseudo-code related signal; perform inverse Fourier transform on the direct pseudo-code related signal to generate an initial direct signal power waveform; and use a Sinc interpolation algorithm to interpolate the initial direct signal power waveform to obtain the direct signal power waveform.

9. The system according to claim 6, characterized in that The second baseband SOC is specifically used to perform Fourier transform on the reflected time-domain intermediate frequency signal to obtain a reflected frequency-domain intermediate frequency signal; integrate the reflected frequency-domain intermediate frequency signal and the local pseudo-code generated by the numerically controlled oscillator to obtain a reflected pseudo-code related signal; perform inverse Fourier transform on the reflected pseudo-code related signal to generate an initial reflected signal power waveform; and use a Sinc interpolation algorithm to interpolate the initial reflected signal power waveform to obtain the reflected signal power waveform.

10. The system according to claim 6, characterized in that The terminal is specifically used to obtain a first time delay value of a peak point of the direct signal power waveform and a second time delay value of a peak point of the reflected signal power waveform; A delay difference between the first delay value and the second delay value at different temperatures is calculated, and an absolute value of the delay difference is used as the hardware delay difference.

11. The system according to claim 6, characterized in that The system further comprises: a power supply, The power supply is used to provide electrical energy to the GNSS direct-radiation hardware device and the GNSS reflection hardware device.

12. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for calibrating the hardware delay difference as described in any one of claims 1 to 5.

13. A readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method for calibrating the hardware delay difference as described in any one of claims 1 to 5.

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