A GNSS signal satellite acquisition scheduling method and system

Abstract

The present invention discloses a GNSS signal satellite capture scheduling method and system. The capture scheduling unit is used to sequentially obtain capture requests, obtain the satellite information to be captured from the capture request, add the satellite information to be captured to the capture scheduling linked list, and extract the satellite information to be captured from the capture scheduling linked list and send it to the capture kernel unit in sequence; the satellite information to be captured includes the satellite number, capture mode, trigger source, judgment threshold and capture times; the capture kernel unit is used to sequentially receive the satellite information to be captured sent by the capture scheduling unit, prioritize the satellite information to be captured, add the satellite information to be captured to the capture kernel linked list of the corresponding priority according to the prioritized priorities; and sequentially obtain the satellite information to be captured according to the priority of the capture kernel linked list to calculate and start the capture, and judge whether the capture is successful. The scheme provided by the present invention can improve the stability of the receiver operation and reduce power consumption.

Description

Technical Field

[0001] The present invention relates to the field of navigation chip technology, and in particular to a GNSS signal satellite capture scheduling method and system. Background Art

[0002] Currently, GNSS has provided all-weather and all-day space-time services for various fields. With the gradual improvement of various satellite navigation systems, the number of visible satellites has increased significantly. While providing users with better location services, the increased computing power has also brought challenges to the design of GNSS receivers. Reasonable satellite acquisition scheduling can capture the required satellites faster and reduce the computing power wasted on non-visible satellites, thereby shortening the first positioning time, improving positioning accuracy, and reducing power consumption.

[0003] The existing satellite capture scheduling has the following problems: First, the hierarchical division is unclear. Satellite capture scheduling and captured signal processing parameter calculation, register operation, memory operation, etc. are intertwined and not clearly isolated. Second, the priority division is unclear. The satellites to be captured come from various stages of the receiver, and the capture order is urgent. The above problems will reduce the stability of the receiver operation and increase power consumption. Summary of the invention

[0004] In order to solve the technical problem that the existing satellite acquisition scheduling scheme has unclear hierarchy and priority division, resulting in reduced receiver operation stability and increased power consumption, an embodiment of the present invention provides a GNSS signal satellite acquisition scheduling method and system.

[0005] The technical solution of the embodiment of the present invention is achieved as follows:

[0006] The embodiment of the present invention provides a GNSS signal satellite capture scheduling system, which includes a capture scheduling unit and a capture kernel unit; the capture scheduling unit is used to sequentially obtain capture requests, obtain satellite information to be captured from the capture requests, package the captured satellite information into nodes and insert them into the tail of a capture scheduling linked list, extract the satellite information to be captured from the capture scheduling linked list when a timer counts to a specified time, and insert the satellite information to be captured into a capture kernel linked list module according to the source of the satellite information to be captured; the satellite information to be captured includes a satellite number, a capture mode, a trigger source, a decision threshold and a capture number; the capture kernel unit is used to sequentially receive the satellite information to be captured sent by the capture scheduling unit, prioritize the satellite information to be captured, and add the satellite information to be captured to a capture kernel linked list of a corresponding priority according to the prioritized priority; and sequentially obtain the satellite information to be captured according to the priority of the capture kernel linked list to perform calculation and start capture, and determine whether the capture is successful.

[0007] In one embodiment, the capture scheduling unit includes a capture scheduling module and a capture scheduling linked list module; the capture scheduling module is used to obtain capture requests in sequence, obtain satellite information to be captured from the capture requests, and insert the satellite information to be captured into the capture scheduling linked list module in the form of nodes; and take out the node information from the capture scheduling linked list module and send it to the capture core unit; the capture scheduling linked list module is used to receive the node information transmitted by the capture scheduling module and insert the node information into the tail of the capture scheduling linked list.

[0008] In one embodiment, the acquisition scheduling module is specifically used to perform PVT prediction at a regular interval, obtain acquisition requests through a regular full-satellite scan, and obtain acquisition requests triggered by the tracking module due to loss of lock and re-capture.

[0009] In one embodiment, the capture scheduling module is specifically used to periodically send the satellite information to be captured whose source of capture request is PVT prediction and periodic full satellite scan to the capture core unit; and immediately send the satellite information to be captured whose source of capture request is loss of lock and recapture to the capture core unit.

[0010] In one embodiment, the capture kernel unit includes a capture kernel module and a capture kernel linked list module; the capture kernel linked list module is used to receive the satellite information to be captured transmitted by the capture scheduling unit; the satellite information to be captured is prioritized, and the satellite information to be captured is added to the capture kernel linked list of the corresponding priority according to the prioritized priorities; and the node information in the capture kernel linked list is sequentially sent to the capture kernel module according to the priority of the capture kernel linked list; the node information includes search parameters and integral parameters; the capture kernel module is used to receive the node information sent by the capture kernel linked list module, calculate the node information and start capture, and determine whether the capture is successful.

[0011] In one embodiment, the capture kernel linked list module includes three capture kernel linked lists; the three capture kernel linked lists are a loss-of-lock recapture linked list, a PVT prediction linked list, and a timing full-satellite scan linked list; among them, the loss-of-lock recapture linked list has the highest priority, the PVT prediction linked list has the second priority, and the timing full-satellite scan linked list has the lowest priority.

[0012] In one embodiment, the capture kernel linked list module is also used to determine the corresponding capture request source based on the satellite information to be captured, and determine the satellite information to be captured whose capture request source is loss of lock and recapture as the highest level, determine the satellite information to be captured whose capture request source is PVT prediction as the second level, and determine the satellite information to be captured whose capture request source is scheduled full satellite scan as the lowest level.

[0013] In one embodiment, the capture kernel model includes a capture parameter list module, a parameter calculation module, a register and memory read and write module, and a capture result calculation and judgment module; the capture parameter list module is used to store the node information obtained from the capture kernel linked list module; the parameter calculation module is used to calculate the capture parameters according to the node information in the capture parameter list module, and the capture parameters include a downsampling frequency control word, a variable frequency control word, and the number of sampling points; the register and memory read and write module is used to write data into the corresponding physical space; the capture result calculation and judgment module is used to obtain the results reported by the capture engine, convert the results into phase and Doppler information, and judge whether the capture is successful.

[0014] An embodiment of the present invention also provides a GNSS signal satellite capture scheduling method, which is applied to the above-mentioned GNSS signal satellite capture scheduling system, and the method includes: obtaining capture requests in sequence, obtaining satellite information to be captured from the capture requests, packaging the captured satellite information into nodes and inserting them into the tail of a capture scheduling linked list, when a timer counts to a specified time, extracting the satellite information to be captured from the capture scheduling linked list, and inserting the satellite information to be captured into a capture kernel linked list module according to the source of the satellite information to be captured; the satellite information to be captured includes a satellite number, a capture mode, a trigger source, a decision threshold and a capture number; receiving the satellite information to be captured in sequence, prioritizing the satellite information to be captured, and adding the satellite information to be captured to a capture kernel linked list of a corresponding priority according to the prioritized ones; and obtaining the satellite information to be captured in sequence according to the priority of the capture kernel linked list to perform calculations and start capture, and judging whether the capture is successful.

[0015] In one embodiment, the capture kernel linked list includes a lost-lock and recapture linked list, a PVT prediction linked list, and a scheduled full-satellite scan linked list; the priority of the satellite information to be captured is divided, and the satellite information to be captured is added to the capture kernel linked list of the corresponding priority according to the divided priority, including: determining the corresponding capture request source according to the satellite information to be captured, determining the satellite information to be captured whose capture request source is lost-lock and recapture as the highest level, determining the satellite information to be captured whose capture request source is PVT prediction as the second level, and determining the satellite information to be captured whose capture request source is scheduled full-satellite scan as the lowest level; adding the highest level of satellite information to be captured to the lost-lock and recapture linked list, adding the second level of satellite information to be captured to the PVT prediction linked list, and adding the lowest level of satellite information to be captured to the scheduled full-satellite scan linked list.

[0016] The GNSS signal satellite acquisition scheduling method and system provided in the embodiment of the present invention adopts scheduling and kernel isolation, and by establishing priorities, the required satellites can be acquired more quickly, the computing power wasted on non-visible satellites can be reduced, the first positioning time can be shortened, the positioning accuracy can be improved, and the power consumption can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a GNSS signal satellite acquisition and scheduling system according to an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a flow chart of a GNSS signal satellite acquisition scheduling method according to an embodiment of the present invention;

[0019] Figure 3 1 is a diagram showing the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0021] The embodiment of the present invention provides a GNSS signal satellite acquisition scheduling system, such as Figure 1 As shown, the GNSS signal satellite acquisition scheduling system 100 includes an acquisition scheduling unit 101 and an acquisition core unit 102;

[0022] The capture scheduling unit 101 is used to sequentially obtain capture requests, obtain the satellite information to be captured from the capture requests, package the captured satellite information into nodes and insert them into the tail of the capture scheduling linked list, extract the satellite information to be captured from the capture scheduling linked list when the timer counts to a specified time, and insert the satellite information to be captured into the capture kernel linked list module according to the source of the satellite information to be captured; the satellite information to be captured includes the satellite number, capture mode, trigger source, decision threshold and capture times;

[0023] The capture kernel unit 102 is used to sequentially receive the satellite information to be captured sent by the capture scheduling unit 101, prioritize the satellite information to be captured, and add the satellite information to be captured to the capture kernel linked list of the corresponding priority according to the prioritized priorities; and sequentially obtain the satellite information to be captured according to the priority of the capture kernel linked list to calculate and start capture, and determine whether the capture is successful.

[0024] Specifically, the capture scheduling unit 101 includes a capture scheduling module and a capture scheduling linked list module; the capture scheduling module is used to obtain capture requests in sequence, obtain the satellite information to be captured from the capture requests, and insert the satellite information to be captured into the capture scheduling linked list module in the form of nodes; and take out the node information from the capture scheduling linked list module and send it to the capture kernel unit 102; the capture scheduling linked list module is used to receive the node information transmitted by the capture scheduling module and insert the node information into the tail of the capture scheduling linked list.

[0025] The capture kernel unit 102 includes a capture kernel module and a capture kernel linked list module; the capture kernel linked list module is used to receive the satellite information to be captured transmitted by the capture scheduling unit 101; the satellite information to be captured is prioritized, and the satellite information to be captured is added to the capture kernel linked list of the corresponding priority according to the prioritized priorities; and the node information in the capture kernel linked list is sequentially sent to the capture kernel module according to the priority of the capture kernel linked list; the node information includes search parameters and integral parameters; the capture kernel module is used to receive the node information sent by the capture kernel linked list module, calculate the node information and start capture, and determine whether the capture is successful.

[0026] Furthermore, the capture scheduling module is specifically used to perform PVT prediction and full satellite scanning to obtain capture requests at regular intervals, and to obtain capture requests triggered by the tracking module due to loss of lock and recapture. The capture scheduling module is specifically used to send the information of the satellites to be captured whose sources of capture requests are PVT prediction and full satellite scanning at regular intervals to the capture core unit 102; and immediately send the information of the satellites to be captured whose sources of capture requests are loss of lock and recapture to the capture core unit 102.

[0027] Correspondingly, the capture kernel linked list module includes three capture kernel linked lists; the three capture kernel linked lists are the unlocked recapture linked list, the PVT prediction linked list and the scheduled full satellite scan linked list; wherein the unlocked recapture linked list has the highest priority, the PVT prediction linked list has the second priority, and the scheduled full satellite scan linked list has the lowest priority. The capture kernel linked list module is also used to determine the corresponding capture request source according to the satellite information to be captured, and determine the satellite information to be captured whose capture request source is unlocked recapture as the highest level, the satellite information to be captured whose capture request source is PVT prediction as the second level, and the satellite information to be captured whose capture request source is scheduled full satellite scan as the lowest level.

[0028] In addition, the capture kernel model includes a capture parameter list module, a parameter calculation module, a register and memory read and write module, and a capture result calculation and judgment module; the capture parameter list module is used to store the node information obtained from the capture kernel linked list module; the parameter calculation module is used to calculate the capture parameters according to the node information in the capture parameter list module, and the capture parameters include the downsampling frequency control word, the frequency conversion frequency control word and the number of sampling points; the register and memory read and write module is used to write data into the corresponding physical space; the capture result calculation and judgment module is used to obtain the results reported by the capture engine, convert the results into phase and Doppler information, and judge whether the capture is successful.

[0029] Below, the present application scheme will be described in detail with an application example.

[0030] This embodiment provides a highly reliable GNSS signal satellite acquisition and scheduling device, which includes the following modules: an acquisition kernel module, a acquisition kernel linked list module, an acquisition scheduling module, and a capture scheduling linked list module.

[0031] 1. Capture kernel module

[0032] The capture kernel module includes the capture parameter list, parameter calculation module, register and memory operation module. This module mainly realizes the calculation of parameters such as frequency control, the read and write operation of registers and memory, and the capture result judgment.

[0033] The function of this module is to obtain the satellite to be captured from the capture kernel list, calculate and set the memory and register according to the parameters in the parameter list, and then start the capture. Finally, judge whether the capture is successful according to the reported results. The composition of this module is described as follows. First, the capture parameter list module, which stores the capture parameters of each signal, including search parameters and integration parameters, determines the search range and integration time of the receiver phase-frequency, and the parameters are divided into fast capture parameters and weak signal parameters, which are used for strong signal conditions and weak signal conditions respectively. Second, the parameter calculation module, which is responsible for calculating the key information such as the downsampling frequency control word, the frequency conversion frequency control word, and the number of sampling points according to the parameter list. Third, the register and memory read and write module, which is responsible for writing the parameters of the above two steps into the corresponding physical space. Fourth, the capture result calculation and judgment module, which is responsible for obtaining the results reported by the capture engine, converting the results into phase and Doppler information, and judging whether the capture is successful.

[0034] 2. Capture kernel linked list module

[0035] The capture kernel linked list module mainly completes the initialization of the linked list, the insertion and deletion of linked list nodes, the priority allocation of the satellites to be captured, etc. It determines the timing of the hardware to start capturing a certain satellite, the selection of the mode, etc. Three linked lists are set up inside this module, representing three priorities, and the satellites to be captured are cleared in order from high to low priority.

[0036] This module is responsible for receiving the information of the satellite to be captured transmitted by the capture scheduling module. The information includes the satellite number, capture mode, trigger source, judgment threshold, etc., and adding it to the capture list; then, the nodes of the capture list are sent to the capture kernel module in sequence. In this module, there are three capture lists, corresponding to loss of lock and recapture, PVT prediction, and scheduled full satellite scan. Among them, since the signal of loss of lock is most likely caused by temporary obstruction, it is necessary to quickly restore its tracking, so the priority of loss of lock and recapture is the highest. Secondly, PVT can accurately predict the visible stars according to the ephemeris, and its priority is second. Third, the scheduled full satellite scan, whose main task is to monitor the rise and fall of the satellite, has the last priority.

[0037] 3. Capture scheduling module

[0038] The capture scheduling module interacts with the capture kernel module through a linked list, and each does not interfere with the other. This module completes the following functions: first, receiving satellite capture requests from different sources and inserting the satellites to be captured into the linked list; second, regularly reading the visible satellite prediction provided by the solution module and initiating a capture request; third, regularly initiating a full satellite scan; fourth, receiving the loss of lock recapture request from the tracking module and regularly initiating a capture request. Therefore, this module is the central system of the device of the present invention.

[0039] This module is responsible for receiving capture requests and inserting the corresponding information into the capture scheduling linked list module in the form of nodes; then, the information is taken out from the capture scheduling linked list and placed into the capture kernel linked list. Its capture request comes from the tracking module's unlocked recapture, PVT prediction, and scheduled full satellite scan. When a capture request is received, the module packages the information of the satellite to be captured into a node and inserts it into the end of the capture scheduling linked list without priority. Then, when the timer counts to the specified time, the module will capture the information of the scheduling list and insert it into the three lists in the capture kernel linked list module according to the source. The unlocked recapture request is triggered by the tracking module and is a passive behavior. The other two requests are triggered by the timer inside the module and are active behaviors. The time intervals for PVT prediction and scheduled full satellite scan are different and can be flexibly set by the developer.

[0040] 4. Capture scheduling list module

[0041] The capture scheduling linked list module mainly completes linked list initialization, linked list node insertion, linked list node deletion, etc. This module collects satellites to be captured from various sources and outputs them sequentially to the capture kernel linked list.

[0042] This module is responsible for receiving the capture node transmitted by the capture scheduling module. The node information includes satellite number, capture mode, trigger source, decision threshold, capture times, etc., and inserts the node into the end of the linked list. Then, under the trigger of the timer, the node information is sent to the capture scheduling module.

[0043] In addition, an embodiment of the present invention also provides a GNSS signal satellite acquisition scheduling method, such as Figure 2 As shown, the method includes:

[0044] Step 201: sequentially obtain capture requests, obtain information of satellites to be captured from the capture requests, pack the captured satellite information into nodes and insert them into the tail of a capture scheduling linked list, extract the satellite information to be captured from the capture scheduling linked list when a timer counts to a specified time, and insert the satellite information to be captured into a capture kernel linked list module according to the source of the satellite information to be captured; the satellite information to be captured includes a satellite number, a capture mode, a trigger source, a decision threshold and a capture number;

[0045] Step 202: receiving the satellite information to be captured in sequence, prioritizing the satellite information to be captured, and adding the satellite information to be captured to a capture kernel linked list of corresponding priority according to the prioritized values; and obtaining the satellite information to be captured in sequence according to the priority of the capture kernel linked list to perform calculations and start capturing, and determining whether the capturing is successful.

[0046] In one embodiment, the capture kernel linked list includes a lost-lock and recapture linked list, a PVT prediction linked list, and a scheduled full-satellite scan linked list; the priority of the satellite information to be captured is divided, and the satellite information to be captured is added to the capture kernel linked list of the corresponding priority according to the divided priority, including: determining the corresponding capture request source according to the satellite information to be captured, determining the satellite information to be captured whose capture request source is lost-lock and recapture as the highest level, determining the satellite information to be captured whose capture request source is PVT prediction as the second level, and determining the satellite information to be captured whose capture request source is scheduled full-satellite scan as the lowest level; adding the highest level of satellite information to be captured to the lost-lock and recapture linked list, adding the second level of satellite information to be captured to the PVT prediction linked list, and adding the lowest level of satellite information to be captured to the scheduled full-satellite scan linked list.

[0047] The key technology of this embodiment is the isolation of the scheduler and the kernel. The satellite signal acquisition scheduling device is a key functional module of the GNSS receiver. This module determines whether the satellite enters the acquisition, when to enter the acquisition, and in what mode to enter the acquisition, etc., which has an important impact on the first positioning time, positioning accuracy, power consumption, etc. of the receiver.

[0048] Specifically, the specific implementation process of the capture scheduling device in this embodiment is as follows:

[0049] Step 1: The acquisition scheduler (AE Scheduler) obtains the satellites to be acquired, which are the lost satellites of the tracking module, the predicted satellites of the positioning solution module (PVT), and the satellites of its own scheduled full satellite scanning.

[0050] Step 2: Pack the information of the satellite to be captured into a node and insert it into the end of the capture scheduling list (schenode).

[0051] Step 3: The internal timer of AE Scheduler is triggered, and a node is taken from the head of the capture scheduling list.

[0052] Step 4: Insert the acquired nodes into the capture kernel linked lists (aenode) of different priorities according to the node sources. The nodes from TE are inserted into the Prio1 linked list, the nodes from PVT are inserted into the Prio2 linked list, and the nodes from full satellite scan are inserted into the Prio3 linked list.

[0053] Step 5: The capture kernel module (AE Core) obtains nodes from the capture kernel table header in the order of Prio1 linked list, Prio2 linked list, and Prio3 linked list.

[0054] Step 6: AE Core calculates the integral parameters, search parameters, and satellite parameters based on the acquired node information, writes the parameters to the physical address, and starts capturing.

[0055] Step 7: The capture engine reports an interrupt, and the AE Core receives the capture result and converts it into phase and Doppler frequency format, and determines whether the capture is successful based on the threshold.

[0056] Below, the present application scheme will be described in detail with an application example.

[0057] The detailed steps of this embodiment can be as follows:

[0058] 1) Ae scheduler (capture scheduler) starts the timer and starts each task at a certain time interval, namely: task a reads the visible stars predicted by PVT and inserts the satellite information node into the scheduling list, task b initiates a full satellite search and inserts the satellite information node into the scheduling list, task c receives the satellite information from the tracking module and inserts the satellite information node into the scheduling list, and task d sends the satellite node information to the kernel list.

[0059] 2) A satellite node in a scheduler linked list contains the following information: signal code sig_id, satellite mask sat_mask, capture mode acq_mode, capture times run_cnt, capture interval itvl, priority list_id; sig_id indicates which signal, such as GPS L1CA, sat_mask is a 64-bit variable indicating which satellites need to be captured, acq_mode represents the capture mode (i.e., the integration parameters retrieved, etc.), which is divided into fast mode and high sensitivity mode, run_cnt indicates the maximum number of repetitions of the capture initiated this time, itvl represents the interval between two repetitions of a capture initiated once, and list_id represents the number of this information node that will be subsequently inserted into the kernel linked list.

[0060] 3) When the timer counts to the time interval PVT_ITVL, that is, timer % PVT_ITVL==0 (% represents the remainder operation), AE Scheduler executes task a.

[0061] 4) The timer counts to the time interval TIMER_ITVL, that is, timer % TIMER_ITVL==0, and AE Scheduler executes task b.

[0062] 5) Ae scheduler receives the satellite capture requirements from the tracking module and executes task c. For this task, Ae Scheduler receives it passively and does not need to be triggered by a timer.

[0063] 6) The timer counts to the time interval REPEAT_ITVL, that is, timer % REPEAT_ITVL, and executes task d.

[0064] 7) After task d obtains the total number of nodes node_num in the scheduling list, it needs to complete the following work. Work 1: Calculate the threshold value (thd) of itvl. The threshold value is calculated as follows: the thresholds of tasks a and b are set to 1. The threshold of task c is related to the current capture repetition count (run_cnt). If run_cnt is less than run_num_max / 10, the threshold is set to 3. If run_cnt is greater than run_num_max / 10 and less than run_num_max / 3, the threshold is set to 1. If run_cnt is greater than run_num_max / 3, the threshold is set to 10. run_num_max is the maximum capture repetition count. The above settings are only one configuration. The specific values ​​are adjusted according to the actual usage scenario.

[0065] 8) For Work 2, itvl++. If itvl == thd, then run_cnt--, set itvl to 0, insert this node into the capture kernel linked list, and insert this node into the capture scheduling linked list. At this time, the value of run_cnt has decreased by 1 compared to the original node. If itvl < thd, insert the node into the capture scheduling linked list. At this time, itvl has increased by 1 compared to the original node.

[0066] 9) For Work 3, switch to the next node in the linked list and poll node_num times.

[0067] 10) In step 8), when inserting a node into the capture kernel linked list, it needs to be inserted into the tail of different linked lists according to the node information source. The tracking module is inserted into Prio1, PVT is inserted into Prio2, and the full satellite scan is inserted into Prio3.

[0068] 11) The AE Core periodically scans 3 kernel linked lists (i.e., Prio1, Prio2, Prio3) in the order of Prio1, Prio2, Prio3, and reads the information of only one node at a time. The node information is sig_id, sat_mask, acq_mode.

[0069] 12) The AE Core retrieves different parameter tables according to the sig_id and acq_mode of a node, calculates the integration parameters, search parameters, and satellite parameters, and writes them into the physical space of the capture engine to start the capture engine.

[0070] 13) After waiting for the capture interrupt, extract the capture result from the physical space and convert the result into phase and frequency.

[0071] 14) Determine whether the capture is successful.

[0072] 15) Switch to the next satellite until all satellites of this node have been polled.

[0073] 16) Switch to the next node until all nodes in the 3 kernel linked lists have been polled.

[0074] The solution of this embodiment adopts scheduling and kernel isolation, and by establishing priorities, it can capture the required satellites faster, reduce the computing power wasted on non-visible stars, shorten the first positioning time, improve the positioning accuracy, and reduce the power consumption.

[0075] To implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a computer program product. The computer program product includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computer device to execute the steps of the above method.

[0076] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, the method of any one of the above embodiments is implemented. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0077] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0078] The device provided by the embodiment of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method of any one of the above embodiments is implemented.

[0079] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0080] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0081] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0085] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0086] It can be understood that the memory of the embodiment of the present invention can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A GNSS signal satellite acquisition scheduling system, characterized in that: The GNSS signal satellite acquisition scheduling system includes an acquisition scheduling unit and a capture kernel unit; The capture scheduling unit is used to sequentially obtain capture requests, obtain the satellite information to be captured from the capture requests, package the captured satellite information into nodes and insert them into the tail of the capture scheduling linked list, extract the satellite information to be captured from the capture scheduling linked list when the timer counts to a specified time, and insert the satellite information to be captured into the capture kernel linked list module according to the source of the satellite information to be captured; the satellite information to be captured includes a satellite number, a capture mode, a trigger source, a decision threshold and a capture number; The capture kernel unit is used to sequentially receive the satellite information to be captured sent by the capture scheduling unit, prioritize the satellite information to be captured, and add the satellite information to be captured to a capture kernel linked list of corresponding priority according to the prioritized priorities; sequentially obtain the satellite information to be captured according to the priority of the capture kernel linked list to perform calculations and start capture, and determine whether the capture is successful.

2. The GNSS signal satellite acquisition scheduling system according to claim 1, characterized in that: The capture scheduling unit includes a capture scheduling module and a capture scheduling linked list module; The capture scheduling module is used to obtain capture requests in sequence, obtain the satellite information to be captured from the capture requests, and insert the satellite information to be captured into the capture scheduling linked list module in the form of nodes; and taking out the node information from the capture scheduling linked list module and sending it to the capture kernel unit; The capture scheduling linked list module is used to receive the node information transmitted by the capture scheduling module and insert the node information into the tail of the capture scheduling linked list.

3. The GNSS signal satellite acquisition scheduling system according to claim 2, characterized in that: The capture scheduling module is specifically used to perform PVT prediction at regular intervals, obtain capture requests through regular full-satellite scanning, and obtain capture requests triggered by the tracking module due to loss of lock and re-capture.

4. The GNSS signal satellite acquisition scheduling system according to claim 3, characterized in that: The capture scheduling module is specifically used to regularly send the information of satellites to be captured whose sources are PVT prediction and regular full satellite scanning to the capture core unit; and immediately send the information of satellites to be captured whose sources are loss of lock and recapture to the capture core unit.

5. The GNSS signal satellite acquisition scheduling system according to claim 1, characterized in that: The capture kernel unit includes a capture kernel module and a capture kernel linked list module; The capture kernel linked list module is used to receive the satellite information to be captured transmitted by the capture scheduling unit; classify the satellite information to be captured, and add the satellite information to the capture kernel linked list of the corresponding priority according to the classified priority; and send the node information in the capture kernel linked list to the capture kernel module in sequence according to the priority of the capture kernel linked list; the node information includes search parameters and integral parameters; The capture kernel module is used to receive the node information sent by the capture kernel linked list module, calculate the node information and start capture, and determine whether the capture is successful.

6. The GNSS signal satellite acquisition scheduling system according to claim 5, characterized in that: The capture kernel linked list module includes three capture kernel linked lists; the three capture kernel linked lists are a loss-of-lock recapture linked list, a PVT prediction linked list and a timing full-satellite scan linked list; among them, the loss-of-lock recapture linked list has the highest priority, the PVT prediction linked list has the second priority, and the timing full-satellite scan linked list has the lowest priority.

7. The GNSS signal satellite acquisition scheduling system according to claim 6, characterized in that: The capture kernel linked list module is also used to determine the corresponding capture request source according to the satellite information to be captured, and determine the satellite information to be captured whose capture request source is loss of lock and recapture as the highest level, the satellite information to be captured whose capture request source is PVT prediction as the second level, and the satellite information to be captured whose capture request source is scheduled full satellite scan as the lowest level.

8. The GNSS signal satellite acquisition scheduling system according to claim 5, characterized in that: The capture kernel model includes a capture parameter list module, a parameter calculation module, a register and memory read and write module, and a capture result calculation and judgment module; The capture parameter list module is used to store the node information obtained from the capture kernel linked list module; The parameter calculation module is used to calculate the capture parameters according to the node information in the capture parameter list module, and the capture parameters include the downsampling frequency control word, the frequency conversion frequency control word and the number of sampling points; The register and memory read / write module are used to write data into the corresponding physical space; The capture result calculation and judgment module is used to obtain the result reported by the capture engine, convert the result into phase and Doppler information, and judge whether the capture is successful.

9. A GNSS signal satellite acquisition scheduling method, characterized in that: Applied to the GNSS signal satellite acquisition scheduling system according to any one of claims 1 to 8, the method comprising: Acquire capture requests in sequence, acquire information of satellites to be captured from the capture requests, pack the captured satellite information into nodes and insert them into the tail of a capture scheduling linked list, extract the information of satellites to be captured from the capture scheduling linked list when a timer counts to a specified time, and insert the information of satellites to be captured into capture kernel linked list modules respectively according to the sources of the information of satellites to be captured; the information of satellites to be captured includes satellite number, capture mode, trigger source, decision threshold and capture times; The satellite information to be captured is received in sequence, the satellite information to be captured is prioritized, and the satellite information to be captured is added to a capture kernel linked list of a corresponding priority according to the prioritized priorities; and the satellite information to be captured is acquired in sequence according to the priority of the capture kernel linked list to perform calculations and start capture, and it is determined whether the capture is successful.

10. The GNSS signal satellite acquisition scheduling method according to claim 9, characterized in that: The capture kernel linked list includes a lock-loss recapture linked list, a PVT prediction linked list, and a timing full satellite scan linked list; the priority of the satellite information to be captured is divided, and the satellite information to be captured is added to the capture kernel linked list of the corresponding priority according to the divided priority, including: Determine the corresponding capture request source according to the to-be-captured satellite information, determine the to-be-captured satellite information whose capture request source is loss-of-lock recapture as the highest level, determine the to-be-captured satellite information whose capture request source is PVT prediction as the second level, and determine the to-be-captured satellite information whose capture request source is scheduled full-satellite scan as the lowest level; The highest level of satellite information to be captured is added to the unlock-recapture linked list, the second level of satellite information to be captured is added to the PVT prediction linked list, and the lowest level of satellite information to be captured is added to the timing full satellite scan linked list.

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