Multi-path interference processing method, device and equipment for satellite navigation receiver and storage medium

Abstract

The invention discloses a satellite navigation receiver multipath interference processing method, device and equipment and a storage medium, is applied to a GNSS receiver, and relates to the technical field of satellite signal detection, and the method comprises the steps: receiving a satellite signal transmitted by a satellite through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array forming the satellite signal; determining a multipath fading coefficient of the satellite transmitting signal based on an eigenvalue decomposition result of the array covariance matrix and a preset limiting condition, and determining a first antenna gain of a multipath signal in the satellite signal by using the multipath fading coefficient; and performing gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal. In this way, the amplitude of the obtained satellite signal can be maximized through coherent superposition of all path signals, and the signal-to-noise ratio of the satellite signal is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite signal detection technology, and in particular to a satellite navigation receiver multipath interference processing method, device, equipment and storage medium. Background Art

[0002] In the signals received by the satellite navigation receiver, in addition to the direct signal from the direction of the satellite, multipath signals reflected by other objects are also received. Therefore, the signal received by the antenna is actually a synthetic signal formed after the reflected signal interferes with the direct signal. The multipath signal will have a certain degree of influence on the amplitude, code phase and carrier phase of the direct signal, which is equivalent to introducing a constant deviation to the code tracking loop, causing the code tracking loop to mislock to the secondary peak point, thereby reducing the capture and tracking performance of the satellite signal, introducing carrier phase observation cycle slips and pseudo-range observation meter-level measurement errors, which may cause tracking loss in severe cases. Anti-multipath antennas can only reduce the impact of multipath signals from certain specific angles. Therefore, how to reduce the impact of multipath signals and improve the signal-to-noise ratio of satellite signals needs to be solved. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment and storage medium for processing multipath interference in a satellite navigation receiver, which can maximize the amplitude of the obtained satellite signal. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a method for processing multipath interference of a satellite navigation receiver, which is applied to a GNSS receiver, comprising:

[0005] Receiving satellite signals transmitted by satellites through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array constituting the satellite signals;

[0006] Determine a multipath fading coefficient of the satellite transmitted signal based on an eigenvalue decomposition result of the array covariance matrix and a preset restriction condition, and determine a first antenna gain of a multipath signal in the satellite signal using the multipath fading coefficient;

[0007] The signal strength of the satellite signal is gain adjusted based on the first antenna gain to obtain a target satellite signal.

[0008] Optionally, receiving a satellite signal transmitted by a satellite through an antenna array and determining an array covariance matrix constituting a uniform linear array corresponding to the satellite signal includes:

[0009] Receiving a satellite signal transmitted by a satellite through an antenna array, and determining a uniform linear array corresponding to the satellite signal based on a signal composition of the satellite signal;

[0010] An array covariance matrix corresponding to the uniform linear array is determined based on the covariance matrix of the satellite signal.

[0011] Optionally, the determining the multipath fading coefficient of the satellite transmit signal based on the eigenvalue decomposition result of the array covariance matrix and preset constraints includes:

[0012] Determine an equation representation of a satellite signal subspace matrix using an eigenvalue decomposition result of the array covariance matrix, and determine a limiting condition based on the equation representation and a noise subspace matrix in the eigenvalue decomposition result;

[0013] The multipath fading coefficient of the satellite transmission signal is determined based on the limiting condition and a preset optimal criterion.

[0014] Optionally, the determining a first antenna gain of a multipath signal in the satellite signal by using the multipath fading coefficient includes:

[0015] A first antenna gain of the multipath signal is determined based on a signal direction corresponding to the multipath signal in the satellite signal and the multipath fading coefficient.

[0016] Optionally, the step of performing gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal includes:

[0017] Determine a second antenna gain of a direct signal in the satellite signal in a corresponding signal direction, and determine a target signal weight based on the first antenna gain and the second antenna gain;

[0018] The signal strength of the satellite signal is gain adjusted based on the target information weight to obtain a target satellite signal.

[0019] Optionally, determining a target signal weight based on the first antenna gain and the second antenna gain includes:

[0020] A constraint condition is defined based on the first antenna gain and the second antenna gain, and the constraint condition is solved based on a Lagrange multiplier method solution to obtain a target signal weight.

[0021] In a second aspect, the present application discloses a satellite navigation receiver multipath interference processing device, which is applied to a GNSS receiver, comprising:

[0022] A matrix determination module, used for receiving satellite signals transmitted by satellites through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array constituting the satellite signals;

[0023] A gain determination module, configured to determine a multipath fading coefficient of the satellite transmitted signal based on an eigenvalue decomposition result of the array covariance matrix and a preset constraint condition, and determine a first antenna gain of a multipath signal in the satellite signal using the multipath fading coefficient;

[0024] The satellite signal adjustment module is used to perform gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal.

[0025] Optionally, the matrix determination module includes:

[0026] A linear array determination unit, configured to receive a satellite signal transmitted by a satellite through an antenna array, and determine a uniform linear array corresponding to the satellite signal based on a signal composition of the satellite signal;

[0027] A covariance matrix determination unit is used to determine an array covariance matrix corresponding to the uniform linear array based on the covariance matrix of the satellite signal.

[0028] In a third aspect, the present application discloses an electronic device, comprising:

[0029] Memory, used to store computer programs;

[0030] A processor is used to execute the computer program to implement the aforementioned satellite navigation receiver multipath interference processing method.

[0031] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned satellite navigation receiver multipath interference processing method.

[0032] It can be seen that in the present application, the satellite signal transmitted by the satellite is received through the antenna array, and the array covariance matrix corresponding to the uniform linear array constituting the satellite signal is determined; the multipath fading coefficient of the satellite transmitted signal is determined based on the eigenvalue decomposition result of the array covariance matrix and the preset restriction conditions, and the first antenna gain of the multipath signal in the satellite signal is determined using the multipath fading coefficient; the signal strength of the satellite signal is gain-adjusted based on the first antenna gain to obtain the target satellite signal. That is, by determining the attenuation coefficient of the multipath signal during the propagation process and compensating the signal based on the attenuation coefficient, the received signal is made to be the coherent superposition of the signals of each path, the signal amplitude is maximized, and the signal-to-noise ratio of the signal is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A schematic diagram of a receiver multipath geometry model disclosed in this application;

[0035] Figure 2 A flowchart of a method for processing multipath interference of a satellite navigation receiver disclosed in the present application;

[0036] Figure 3 This is a schematic structural diagram of a multipath interference processing device for a satellite navigation receiver disclosed in the present application;

[0037] Figure 4 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0038] 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 only 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.

[0039] The spatial geometric model of satellite direct signal and multipath signal is as follows: Figure 1 As shown. When the navigation receiver receives satellite signals, the satellite transmission signals can reach the navigation receiving antenna through multiple paths. This makes the received signal contain both direct signals that are directly reflected back and multipath signals that are reflected back from the surrounding ground or buildings. Both of them come from the satellite transmission signals and have strong coherence. They are difficult to distinguish in the time domain and frequency domain. Therefore, this application specifically introduces a satellite signal processing method. It can improve the satellite signal.

[0040] See also Figure 2 As shown, the embodiment of the present application discloses a method for processing multipath interference of a satellite navigation receiver, comprising:

[0041] Step S11: receiving satellite signals transmitted by satellites through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array constituting the satellite signals.

[0042] In this embodiment, the satellite signal transmitted by the satellite is received through the antenna array, and the array covariance matrix of the uniform linear array corresponding to the satellite signal is determined, including: receiving the satellite signal transmitted by the satellite through the antenna array, and determining the uniform linear array corresponding to the satellite signal based on the signal composition of the satellite signal; determining the array covariance matrix corresponding to the uniform linear array based on the covariance matrix of the satellite signal. After receiving the satellite signal transmitted by the satellite through the antenna array, it is assumed that the receiving array is a uniform linear array with the number of array elements being , array element spacing It is half a wavelength, and the signal source is a combination of the direct signal and multipath signal transmitted by the satellite. is the multipath signal angle, is the direct signal angle, is the multipath signal reflection coefficient, and the satellite transmits the baseband signal: , the carrier frequency is , and then the antenna array output signal , which can be expressed as follows:

[0043] ;

[0044] Among them, it is necessary to explain: is the signal received by the nth array element of the navigation receiver, is the multipath fading coefficient, , is Gaussian white noise. is the space array flow matrix, is the receiving array steering vector of the navigation receiver for the direct signal, is the nth component. It is the receiving array steering vector of the navigation receiver for multipath reflected signals. is the nth component. Receives a noise vector for the array. Input signal for the array. is the array output noise. Then, the array covariance matrix corresponding to the uniform linear array is calculated , and perform eigenvalue decomposition on it as follows:

[0045] ;

[0046] in, is the covariance matrix of the signal, , for dimensional identity matrix, is the noise variance, , They are The diagonal matrix of large and small eigenvalues, is the signal subspace, They are The eigenvectors corresponding to the large eigenvalues ​​of is the noise subspace, They are The eigenvectors corresponding to the small eigenvalues ​​of .

[0047] Step S12: determining the multipath fading coefficient of the satellite transmitted signal based on the eigenvalue decomposition result of the array covariance matrix and preset constraints, and determining the first antenna gain of the multipath signal in the satellite signal using the multipath fading coefficient.

[0048] In this embodiment, the method of determining the multipath fading coefficient of the satellite transmitted signal based on the eigenvalue decomposition result of the array covariance matrix and the preset restriction condition includes: determining the equation representation of the satellite signal subspace matrix based on the eigenvalue decomposition result of the array covariance matrix, and determining the restriction condition based on the equation representation and the noise subspace matrix in the eigenvalue decomposition result; and determining the multipath fading coefficient of the satellite transmitted signal based on the restriction condition and the preset optimal criterion. Specifically, the equation can be obtained based on the result of the eigenvalue decomposition of the covariance matrix:

[0049] ;

[0050] According to the orthogonality criterion of signal subspace and noise subspace, we can get:

[0051] ;

[0052] Then we can find a multipath reflection coefficient to minimize the above formula, thus obtaining a limiting condition:

[0053] ;

[0054] make The optimal criteria were established:

[0055] ;

[0056] Then, we can solve it by Lagrange multiplier method. , and thus the multipath fading coefficient can be obtained :

[0057] .

[0058] In this embodiment, the determining the first antenna gain of the multipath signal in the satellite signal by using the multipath fading coefficient includes: determining the first antenna gain of the multipath signal based on the signal direction corresponding to the multipath signal in the satellite signal and the multipath fading coefficient. That is, determining the antenna gain in the direction of the multipath signal as , .

[0059] Step S13: performing gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal.

[0060] In this embodiment, the gain adjustment of the signal strength of the satellite signal based on the first antenna gain to obtain the target satellite signal includes: determining the second antenna gain of the direct signal in the satellite signal in the corresponding signal direction, and determining the target signal weight based on the first antenna gain and the second antenna gain; gain adjustment of the signal strength of the satellite signal based on the target information weight to obtain the target satellite signal. Specifically, determining the target signal weight based on the first antenna gain and the second antenna gain includes: defining constraints based on the first antenna gain and the second antenna gain, and solving the constraints based on the Lagrange multiplier method to obtain the target signal weight. Specifically, the adaptive beamforming estimation of the antenna weighting coefficient using multipath attenuation coefficients includes two conditions; Condition 1: The antenna gain in the direction of the direct signal is 1, , Condition 2: The antenna gain in the multipath signal direction is , To minimize the antenna direction variance, a constrained quadratic minimization problem is defined with the following constraints:

[0061] ;

[0062] Solve the optimal weights by Lagrange multiplier method as follows:

[0063] ;

[0064] Finally, according to the above optimal weight The signal strength of the satellite signal is adjusted to obtain the target signal output. :

[0065] .

[0066] It can be seen that in the present application, the satellite signal transmitted by the satellite is received through the antenna array, and the array covariance matrix corresponding to the uniform linear array constituting the satellite signal is determined; the multipath fading coefficient of the satellite transmitted signal is determined based on the eigenvalue decomposition result of the array covariance matrix and the preset restriction conditions, and the first antenna gain of the multipath signal in the satellite signal is determined using the multipath fading coefficient; the signal strength of the satellite signal is gain-adjusted based on the first antenna gain to obtain the target satellite signal. That is, by determining the attenuation coefficient of the multipath signal during the propagation process and compensating the signal based on the attenuation coefficient, the received signal is made to be the coherent superposition of the signals of each path, the signal amplitude is maximized, and the signal-to-noise ratio of the signal is greatly improved.

[0067] refer to Figure 3 The embodiment of the present application also discloses a satellite navigation receiver multipath interference processing device, which is applied to a GNSS receiver, including:

[0068] The matrix determination module 11 is used to receive satellite signals transmitted by satellites through an antenna array and determine an array covariance matrix corresponding to a uniform linear array constituting the satellite signals;

[0069] A gain determination module 12 is used to determine the multipath fading coefficient of the satellite transmission signal based on the eigenvalue decomposition result of the array covariance matrix and preset constraints, and determine the first antenna gain of the multipath signal in the satellite signal using the multipath fading coefficient;

[0070] The satellite signal adjustment module 13 is configured to perform gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal.

[0071] It can be seen that in this embodiment, by determining the attenuation coefficient of the multipath signal during the propagation process and compensating the signal based on the attenuation coefficient, the received signal is made to be the coherent superposition of the signals of each path, the signal amplitude is maximized, and the signal-to-noise ratio of the signal is greatly improved.

[0072] In some specific embodiments, the matrix determination module 11 includes:

[0073] A linear array determination unit, configured to receive a satellite signal transmitted by a satellite through an antenna array, and determine a uniform linear array corresponding to the satellite signal based on a signal composition of the satellite signal;

[0074] A covariance matrix determination unit is used to determine an array covariance matrix corresponding to the uniform linear array based on the covariance matrix of the satellite signal.

[0075] In some specific embodiments, the gain determination module 12 includes:

[0076] A limiting condition determination unit, configured to determine an equation representation of a satellite signal subspace matrix based on an eigenvalue decomposition result of the array covariance matrix, and determine limiting conditions based on the equation representation and a noise subspace matrix in the eigenvalue decomposition result;

[0077] The coefficient determination unit is used to determine the multipath fading coefficient of the satellite transmission signal based on the limited conditions and a preset optimal criterion.

[0078] In some specific embodiments, the gain determination module 12 includes:

[0079] The first antenna gain determination unit is used to determine the first antenna gain of the multipath signal based on the signal direction corresponding to the multipath signal in the satellite signal and the multipath fading coefficient.

[0080] In some specific embodiments, the satellite signal adjustment module 13 includes:

[0081] a weight determination submodule, configured to determine a second antenna gain of a direct signal in the satellite signal in a corresponding signal direction, and determine a target signal weight based on the first antenna gain and the second antenna gain;

[0082] A signal adjustment unit is used to perform gain adjustment on the signal strength of the satellite signal based on the target information weight to obtain a target satellite signal.

[0083] In some specific embodiments, the weight determination submodule includes:

[0084] A weight solving unit is used to define a constraint condition based on the first antenna gain and the second antenna gain, and solve the constraint condition based on a Lagrange multiplier method to obtain a target signal weight.

[0085] Furthermore, the present application also discloses an electronic device. Figure 4 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0086] Figure 4 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the multipath interference processing method for a satellite navigation receiver disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0087] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0088] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0089] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the satellite navigation receiver multipath interference processing method executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0090] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned satellite navigation receiver multipath interference processing method is implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, and no further description will be given here.

[0091] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0092] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0093] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0094] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0095] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for processing multipath interference of a satellite navigation receiver, characterized in that: Applications in GNSS receivers, including: Receiving satellite signals transmitted by satellites through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array constituting the satellite signals; Determine a multipath fading coefficient of the satellite transmitted signal based on an eigenvalue decomposition result of the array covariance matrix and a preset restriction condition, and determine a first antenna gain of a multipath signal in the satellite signal using the multipath fading coefficient; The signal strength of the satellite signal is gain adjusted based on the first antenna gain to obtain a target satellite signal.

2. The method for processing multipath interference of a satellite navigation receiver according to claim 1, characterized in that: The receiving of satellite signals transmitted by satellites through antenna arrays and determining array covariance matrices constituting uniform linear arrays corresponding to the satellite signals include: Receiving a satellite signal transmitted by a satellite through an antenna array, and determining a uniform linear array corresponding to the satellite signal based on a signal composition of the satellite signal; An array covariance matrix corresponding to the uniform linear array is determined based on the covariance matrix of the satellite signal.

3. The method for processing multipath interference of a satellite navigation receiver according to claim 1, characterized in that: The determining the multipath fading coefficient of the satellite transmit signal based on the eigenvalue decomposition result of the array covariance matrix and preset restriction conditions includes: Determine an equation representation of a satellite signal subspace matrix using an eigenvalue decomposition result of the array covariance matrix, and determine a limiting condition based on the equation representation and a noise subspace matrix in the eigenvalue decomposition result; The multipath fading coefficient of the satellite transmission signal is determined based on the limiting condition and a preset optimal criterion.

4. The method for processing multipath interference of a satellite navigation receiver according to claim 1, characterized in that: The determining a first antenna gain of a multipath signal in the satellite signal by using the multipath fading coefficient comprises: A first antenna gain of the multipath signal is determined based on a signal direction corresponding to the multipath signal in the satellite signal and the multipath fading coefficient.

5. The method for processing multipath interference of a satellite navigation receiver according to any one of claims 1 to 4, characterized in that: The step of performing gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal includes: Determine a second antenna gain of a direct signal in the satellite signal in a corresponding signal direction, and determine a target signal weight based on the first antenna gain and the second antenna gain; The signal strength of the satellite signal is gain adjusted based on the target information weight to obtain a target satellite signal.

6. The method for processing multipath interference of a satellite navigation receiver according to claim 5, characterized in that: The determining a target signal weight based on the first antenna gain and the second antenna gain includes: A constraint condition is defined based on the first antenna gain and the second antenna gain, and the constraint condition is solved based on a Lagrange multiplier method solution to obtain a target signal weight.

7. A satellite navigation receiver multipath interference processing device, characterized in that: Applications in GNSS receivers, including: A matrix determination module, used for receiving satellite signals transmitted by satellites through an antenna array, and determining an array covariance matrix corresponding to a uniform linear array constituting the satellite signals; A gain determination module, configured to determine a multipath fading coefficient of the satellite transmitted signal based on an eigenvalue decomposition result of the array covariance matrix and a preset constraint condition, and determine a first antenna gain of a multipath signal in the satellite signal using the multipath fading coefficient; The satellite signal adjustment module is used to perform gain adjustment on the signal strength of the satellite signal based on the first antenna gain to obtain a target satellite signal.

8. The satellite navigation receiver multipath interference processing device according to claim 7, characterized in that: The matrix determination module comprises: A linear array determination unit, configured to receive a satellite signal transmitted by a satellite through an antenna array, and determine a uniform linear array corresponding to the satellite signal based on a signal composition of the satellite signal; A covariance matrix determination unit is used to determine an array covariance matrix corresponding to the uniform linear array based on the covariance matrix of the satellite signal.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the method for processing multipath interference of a satellite navigation receiver as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the satellite navigation receiver multipath interference processing method as described in any one of claims 1 to 6.

Images