Multi-path error analog simulation method and device for Beidou reflected signals

Abstract

The invention relates to the technical field of satellite navigation reflection remote sensing, in particular to a multi-path error analog simulation method and device for Beidou reflection signals, and the method comprises the steps: constructing a path delay model of the Beidou reflection signals; constructing an energy attenuation factor, and performing analog simulation to obtain an analog simulation result of the energy attenuation factor; constructing a signal-to-noise ratio, phase and pseudo-range multi-path error model of the Beidou reflected signal based on the path delay model; and in combination with the analog simulation result of the energy attenuation factor and the multi-path error model, signal-to-noise ratio, phase and pseudo-range multi-path error analog simulation results of the Beidou reflected signal are obtained respectively. Therefore, the problems that in the related technology, in the aspect of Beidou reflection signal processing, a mathematical model for obtaining a multi-path signal of a Beidou standard observation value through a modeling mode to contact a direct signal with a reflection signal, achieve analog simulation of the Beidou reflection signal and the like is lacked are solved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation reflection remote sensing technology, and in particular to a method and device for simulating multipath errors of Beidou reflection signals. Background Art

[0002] The BeiDou satellite navigation system is a navigation and positioning system independently developed by my country. It has completed satellite networking and is providing services to the world. With the increasing maturity of the BeiDou system, the application of BeiDou base reflection remote sensing technology has a very broad prospect. For BeiDou ground-based reflection signal remote sensing applications, it is necessary to establish a mapping between BeiDou observable values ​​and receivers, antennas, and surface reflection environments (such as reflective surface type, humidity, and reflection height, etc.) through simulation, so as to convert the observed signal-to-noise ratio, phase and other parameters into usable surface physical parameters.

[0003] In the related technology, an effective wave height inversion model can be established by processing and analyzing the direct signals and reflected signals of the Beidou navigation satellite and GPS (Global Positioning System) navigation satellite, and the effective wave height data can be calculated, so as to construct a parameter adaptive hybrid model, complete the adaptive change adjustment of the model parameters, and determine the effective wave height inversion model; the UAV elevation measurement value can be obtained by generating the original observation value by receiving the Beidou satellite direct signal, and the signal-to-noise ratio method is used to solve the height from the UAV to the water surface, and then the UAV elevation measurement value and the height difference from the UAV to the water surface are obtained.

[0004] However, in the related technology, in the processing of Beidou reflection signals, there is a lack of a modeling method to obtain the mathematical model of the multipath signal of Beidou's standard observation value, so as to connect the direct signal and the reflected signal and realize the simulation of Beidou reflection signal, which is in urgent need of improvement. Summary of the invention

[0005] The present application provides a method and device for simulating the multipath error of Beidou reflected signals to solve the problem in the related art that, in terms of Beidou reflected signal processing, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of the Beidou standard observation value, so as to connect the direct signal and the reflected signal and realize the simulation of the Beidou reflected signal.

[0006] The first aspect of the present application provides a method for simulating and emulating a multipath error of a Beidou reflected signal, comprising the following steps: constructing a path delay model of the Beidou reflected signal; constructing an energy attenuation factor of the Beidou reflected signal, and simulating and emulating the energy attenuation factor to obtain a simulation result of the energy attenuation factor; constructing a signal-to-noise ratio multipath error model, a phase multipath error model and a pseudorange multipath error model of the Beidou reflected signal based on the path delay model; combining the simulation result of the energy attenuation factor, the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudorange multipath error model to respectively obtain the signal-to-noise ratio multipath error simulation result, the phase multipath error simulation result and the pseudorange multipath error simulation result of the Beidou reflected signal.

[0007] Optionally, in one embodiment of the present application, constructing a path delay model of the Beidou reflected signal includes: obtaining a reflecting surface of the Beidou reflected signal; generating a reflected signal energy concentration area based on the reflecting surface, and obtaining a reflected signal that meets a preset reflection condition based on the reflected signal energy concentration area; constructing the path delay model based on the reflected signal to obtain the phase delay and time delay of the Beidou reflected signal.

[0008] Optionally, in one embodiment of the present application, the energy attenuation factor of the Beidou reflected signal is constructed, and the energy attenuation factor is simulated to obtain a simulation result of the energy attenuation factor, including: calculating the energy attenuation factor based on the Beidou reflected signal and the direct signal; obtaining the Fresnel reflection coefficient and the receiver antenna gain by using a receiver; and simulating the energy attenuation factor in combination with the Fresnel reflection coefficient and the receiver antenna gain to obtain a simulation result of the energy attenuation factor.

[0009] Optionally, in one embodiment of the present application, the expression of the signal-to-noise ratio multipath error model may be, but is not limited to,:

[0010]

[0011] Among them, α energy attenuation factor, A d is the direct signal strength, is the phase delay, P n for noise;

[0012] The expression of the phase multipath error model may be, but is not limited to,:

[0013]

[0014] Where H is the vertical height of the antenna phase center relative to the reflection surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle;

[0015] The expression of the pseudorange multipath error model may be, but is not limited to,:

[0016]

[0017] Here, Δ(t) is the propagation time of the reflected signal more than the direct signal.

[0018] Optionally, in one embodiment of the present application, the expression of the energy attenuation factor may be, but is not limited to,:

[0019]

[0020] Where X is the reflection coefficient, G d is the antenna gain of the direct signal.

[0021] The second aspect of the present application provides a multi-path error simulation device for a Beidou reflected signal, comprising: a first construction module, used to construct a path delay model of the Beidou reflected signal; a second construction module, used to construct an energy attenuation factor of the Beidou reflected signal, and simulate the energy attenuation factor to obtain a simulation result of the energy attenuation factor; a third construction module, used to construct a signal-to-noise ratio multi-path error model, a phase multi-path error model and a pseudo-range multi-path error model of the Beidou reflected signal based on the path delay model; a simulation module, used to combine the simulation result of the energy attenuation factor, the signal-to-noise ratio multi-path error model, the phase multi-path error model and the pseudo-range multi-path error model to respectively obtain the signal-to-noise ratio multi-path error simulation result, the phase multi-path error simulation result and the pseudo-range multi-path error simulation result of the Beidou reflected signal.

[0022] Optionally, in one embodiment of the present application, the first construction module includes: a first acquisition unit, used to acquire the reflecting surface of the Beidou reflected signal; a generation unit, used to generate a reflected signal energy concentration area based on the reflecting surface, and obtain a reflected signal that meets a preset reflection condition based on the reflected signal energy concentration area; a construction unit, used to construct the path delay model based on the reflected signal to obtain the phase delay and time delay of the Beidou reflected signal.

[0023] Optionally, in one embodiment of the present application, the second building module includes: a calculation unit, used to calculate the energy attenuation factor based on the Beidou reflected signal and the direct signal; a second acquisition unit, used to obtain the Fresnel reflection coefficient and the receiver antenna gain using a receiver; a simulation unit, used to simulate the energy attenuation factor in combination with the Fresnel reflection coefficient and the receiver antenna gain to obtain a simulation result of the energy attenuation factor.

[0024] Optionally, in one embodiment of the present application, the expression of the signal-to-noise ratio multipath error model may be, but is not limited to,:

[0025]

[0026] Among them, α energy attenuation factor, A d is the direct signal strength, is the phase delay, P n for noise;

[0027] The expression of the phase multipath error model may be, but is not limited to,:

[0028]

[0029] Where H is the vertical height of the antenna phase center relative to the reflection surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle;

[0030] The expression of the pseudorange multipath error model may be, but is not limited to,:

[0031]

[0032] Where Δ(t) is the propagation time of the reflected signal more than the direct signal.

[0033] Optionally, in one embodiment of the present application, the expression of the energy attenuation factor may be, but is not limited to,:

[0034]

[0035] Where X is the reflection coefficient, G d is the antenna gain of the direct signal.

[0036] The third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multi-path error simulation method of the Beidou reflection signal as described in the above embodiment.

[0037] The fourth aspect embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, it implements the above-mentioned Beidou reflection signal multi-path error simulation method.

[0038] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the above-mentioned Beidou reflection signal multi-path error simulation method.

[0039] The embodiment of the present application can obtain the simulation result of the energy attenuation factor by constructing the path delay model and energy attenuation factor of the Beidou reflection signal, and obtain the signal-to-noise ratio, phase and pseudo-range multipath error simulation results of the Beidou reflection signal by constructing the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudo-range multipath error model. By introducing the energy attenuation factor, the direct signal is linked to the reflection signal, and a multipath error model is established to simulate the Beidou reflection signal, and a mapping relationship between the surface physical parameters and the standard observation values ​​is constructed, so as to provide a theoretical basis for realizing the remote sensing application of the Beidou reflection signal and realize the remote sensing application of the Beidou reflection signal. Thus, the problem that in the related art, in terms of Beidou reflection signal processing, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of the Beidou standard observation value, so as to connect the direct signal with the reflection signal and realize the simulation of the Beidou reflection signal is solved.

[0040] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0042] Figure 1 A flowchart of a method for simulating a multipath error of a Beidou reflection signal provided according to an embodiment of the present application;

[0043] Figure 2 A schematic block diagram of the geometric relationship of a satellite plane reflection model provided according to an embodiment of the present application;

[0044] Figure 3 A schematic block diagram of different Fresnel reflection coefficients varying with altitude angles provided according to an embodiment of the present application;

[0045] Figure 4 A block diagram of antenna gain provided according to an embodiment of the present application;

[0046] Figure 5A schematic block diagram of the variation trend of the energy attenuation factor with the altitude angle provided according to one embodiment of the present application;

[0047] Figure 6 A block diagram of a signal-to-noise ratio multipath error sequence at different antenna heights provided according to an embodiment of the present application;

[0048] Figure 7 A block diagram of a multipath error sequence of signal-to-noise ratios of different soil moistures provided according to an embodiment of the present application;

[0049] Figure 8 A block diagram of an oscillation trend of a phase multipath error provided according to an embodiment of the present application;

[0050] Fig. 9 A block diagram of an oscillation trend of a multipath error provided according to an embodiment of the present application;

[0051] Fig.10 A block diagram of a multipath error simulation device for Beidou reflection signals provided according to an embodiment of the present application;

[0052] Fig.11 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0054] The following describes the multipath error simulation method and device of the Beidou reflected signal of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that in the processing of Beidou reflected signals, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of the standard observation value of Beidou, so as to connect the direct signal with the reflected signal and realize the simulation of the Beidou reflected signal, the present application provides a multipath error simulation method of Beidou reflected signal, in which the path delay model and energy attenuation factor of the Beidou reflected signal can be constructed to obtain the simulation result of the energy attenuation factor, and the signal-to-noise ratio multipath error model, phase multipath error model and pseudo-range multipath error model can be constructed to obtain the signal-to-noise ratio, phase and pseudo-range multipath error simulation results of the Beidou reflected signal. By introducing the energy attenuation factor, the direct signal is linked to the reflected signal, and a multipath error model is established to simulate the Beidou reflected signal, and a mapping relationship between the surface physical parameters and the standard observation value is constructed, so as to provide a theoretical basis for realizing the remote sensing application of the Beidou reflected signal and realize the remote sensing application of the Beidou reflected signal. Thereby, the problem in the related technology that in the processing of Beidou reflection signals, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of Beidou's standard observation value, so as to connect the direct signal and the reflected signal and realize the simulation of Beidou reflection signals is solved.

[0055] Specifically, Figure 1 The present invention is a flowchart of a method for simulating a multipath error of a Beidou reflection signal provided according to an embodiment of the present application.

[0056] like Figure 1 As shown, the multipath error simulation method of the Beidou reflection signal includes the following steps:

[0057] In step S101, a path delay model of the Beidou reflection signal is constructed.

[0058] In some embodiments, the present application embodiment can construct a path delay model of the Beidou reflected signal. Among them, the construction of the path delay model of the present application embodiment may involve the reception mode description of the Beidou reflected signal, the reflected signal energy concentration area, etc., which is not specifically limited in the present application.

[0059] Optionally, in one embodiment of the present application, a path delay model of a Beidou reflected signal is constructed, including: obtaining a reflecting surface of the Beidou reflected signal; generating a reflected signal energy concentration area based on the reflecting surface, and obtaining a reflected signal that meets a preset reflection condition based on the reflected signal energy concentration area; and constructing a path delay model based on the reflected signal to obtain a phase delay and time delay of the Beidou reflected signal.

[0060] It can be understood that the receiving mode description of the Beidou reflected signal in the embodiment of the present application can be understood as: when the reflecting surface of the Beidou reflected signal is a flat snow surface, ice surface, ground or calm water surface, the reflecting surface can be regarded as a plane to construct a path delay model, and then obtain the phase delay and time delay of the reflected signal.

[0061] Furthermore, in the embodiment of the present application, the reflected signal energy concentration area can be understood as: the signal received by the antenna is actually the superposition of a direct signal and multiple reflected signals from the reflecting surface. Since most of the reflected signal energy is concentrated in the first Fresnel zone, and the reflected signal of the mirror reflection point in the first Fresnel zone carries the largest energy and the shortest path delay, usually only the reflected signal from the mirror reflection point is considered, and then the reflected signal that meets certain reflection conditions is obtained, wherein the certain reflection conditions can be set by technicians in this field according to actual conditions, and the present application does not impose specific restrictions.

[0062] As a possible implementation method, the embodiment of the present application can generate a reflection signal energy concentration area based on the reflection surface of the Beidou reflection signal, thereby obtaining a reflection signal that meets certain reflection conditions, and constructing a path delay model, thereby obtaining the phase delay and time delay of the Beidou reflection signal.

[0063] Exemplarily, for a receiver placed on the ground in the embodiment of the present application, the signal received by the antenna is an interference signal after the direct signal and the reflected signal are superimposed. Compared with the distance of the direct signal being relayed to the receiver antenna, the reflected signal is propagated more by Δ(t) than the direct signal, which can be expressed as, but not limited to:

[0064] Δ(t)=2Hsinθ(t)

[0065] Among them, t is the time parameter, θ is the satellite altitude angle, and H is the receiver antenna height.

[0066] Furthermore, the embodiment of the present application can obtain the time delay and phase delay of the reflected signal relative to the direct signal according to the geometric relationship between the direct signal and the reflected signal in the path delay model, and the mathematical representation thereof can be but is not limited to:

[0067]

[0068] Where c is the speed of light, λ is the wavelength, is the phase delay of the reflected signal, and δ(t) is the time delay of the reflected signal. In addition, in the embodiment of the present application, the phase delay and the time delay are one of the variables of the signal-to-noise ratio, phase, pseudo-range multipath multipath error model.

[0069] For example, Figure 2 As shown, Figure 2is a geometric relationship diagram of the satellite plane reflection model, H is the vertical height from the phase center of the receiver antenna to the reflection surface, and θ is the altitude angle of the satellite. The Beidou signal received by the geodetic receiver is an interference signal generated by the superposition of the satellite direct signal and the signal of the reflection surface. When the reflection surface of the Beidou reflection signal is a flat snow surface, ground, water surface or ice surface, the reflection surface can be regarded as a plane. Since most of the reflected signal energy is concentrated in the first Fresnel reflection zone, and the reflected signal at the mirror reflection point in the first Fresnel reflection zone carries the largest energy and the shortest path delay, when the Beidou reflection signal is used for remote sensing, only the reflected signal from the mirror reflection point is considered. Furthermore, the embodiments of the present application can be based on Figure 2 From the geometric relationship of , we can get the distance Δ(t) that the reflected signal travels longer than the direct signal:

[0070] Δ(t)=2Hsinθ(t)

[0071] Among them, t is the time parameter, θ is the satellite altitude angle, and H is the receiver antenna height.

[0072] Furthermore, the phase delay of the Beidou reflected signal can be calculated and a time delay δ(t), which can be, but is not limited to:

[0073]

[0074] Where c is the speed of light and λ is the wavelength.

[0075] In step S102, an energy attenuation factor of the Beidou reflection signal is constructed, and the energy attenuation factor is simulated to obtain a simulation result of the energy attenuation factor.

[0076] As a possible implementation method, the embodiment of the present application can construct an energy attenuation factor of the Beidou reflection signal, simulate the energy attenuation factor, and then obtain a simulation result of the energy attenuation factor.

[0077] Optionally, in one embodiment of the present application, an energy attenuation factor of a Beidou reflected signal is constructed, and the energy attenuation factor is simulated to obtain a simulation result of the energy attenuation factor, including: calculating the energy attenuation factor based on the Beidou reflected signal and the direct signal; obtaining the Fresnel reflection coefficient and the receiver antenna gain by using a receiver; combining the Fresnel reflection coefficient and the receiver antenna gain, simulating the energy attenuation factor to obtain a simulation result of the energy attenuation factor. The expression of the energy attenuation factor can be, but is not limited to,:

[0078]

[0079] Where X is the reflection coefficient, Gd is the antenna gain of the direct signal.

[0080] In some embodiments, the electromagnetic wave signal received by the receiver in the embodiment of the present application is a direct signal S d (t) and the reflected signal S m (t) The interference signal S(t) after superposition, the direct signal, reflected signal and interference signal are expressed as:

[0081]

[0082] Where Ψ(t) is the phase of the direct signal, A d and A m are the amplitudes of the direct signal and the reflected signal, respectively. In addition to the path delay and phase delay of the reflected signal relative to the direct signal, the energy intensity of the reflected signal in the embodiment of the present application is also weakened. Therefore, the energy attenuation factor α can be set to measure the energy attenuation of the reflected signal relative to the direct signal, and then the multipath error model of the standard output observation quantity is established. The energy attenuation factor α can be expressed as:

[0083] A m =αA d

[0084] The power P of the direct signal and the reflected signal after adding the energy attenuation factor d and P r It can be expressed as, but not limited to:

[0085]

[0086] Where P is the strength of the signal received by the receiver G d is the direct signal antenna gain, W d , W r are the Woodward ambiguity functions of the direct signal and the reflected signal, respectively. Since the reflected signal and the direct signal arrive at the receiver almost at the same time, W d , W r They can be approximated to be equal, X is the reflection coefficient affected by the antenna gain, E is the energy attenuation of the reflected signal, assuming that the reflecting surface is relatively smooth, the energy attenuation of the reflected signal is very small, and E is approximately 1. Thus, the energy attenuation factor α can be obtained:

[0087]

[0088] Furthermore, the energy attenuation factor α of the embodiment of the present application can be further expressed as:

[0089]

[0090] Where X is the reflection coefficient of the reflected signal after taking into account the antenna gain. The reflection coefficient X can be expressed as:

[0091]

[0092] Among them, R RR and R RL are the Fresnel reflection coefficients for left-hand polarization and right-hand polarization, respectively. and They are the right-hand polarization gain and left-hand polarization gain of the antenna respectively.

[0093] It can be obtained from the above formula that the energy attenuation factor of the embodiment of the present application mainly depends on the Fresnel coefficient of the reflecting surface and the receiver antenna gain, wherein the influences of the Fresnel coefficient and the receiver antenna gain are as follows:

[0094] In the embodiment of the present application, the Fresnel reflection coefficient is related to the electromagnetic physical properties (complex dielectric constant) and the incident angle (satellite altitude angle) of the reflecting surface, and is an important factor affecting the energy attenuation factor. Therefore, it is necessary to model the change of the Fresnel reflection coefficient of different reflecting surfaces (such as water surface, dry snow, wet snow, grass, concrete, etc.) with the satellite altitude angle to obtain the Fresnel reflection coefficients of different reflecting surfaces at different satellite altitude angles.

[0095] Specifically, in the embodiment of the present application, for horizontally polarized and vertically polarized electromagnetic waves, the reflection coefficient of the electromagnetic wave can be expressed as, but not limited to:

[0096]

[0097] Among them, R HH , R VV are the reflection coefficients of horizontally polarized and vertically polarized electromagnetic waves, respectively, and ε is the complex dielectric constant of the reflecting medium. For the case where electromagnetic waves are incident from air to other media (reflecting media), the complex dielectric constant of the reflecting medium can be expressed as, but not limited to:

[0098]

[0099] Among them, ε b is the relative dielectric constant of the reflecting medium, σ b is the conductivity of the reflecting medium, μ is the magnetic permeability of the vacuum, and in simulation, the complex dielectric constant is usually set according to the type of reflecting surface of interest.

[0100] Further, in the embodiment of the present application, for the incident right-hand circularly polarized electromagnetic wave, the reflected electromagnetic wave components are divided into R RR and R RL Among them, R RR The Fresnel reflection coefficient indicates that the incident electromagnetic wave is right-hand polarized and the reflected electromagnetic wave is still right-hand polarized. RLThe Fresnel reflection coefficient, R, indicates that the incident electromagnetic wave is right-hand polarized and the reflected electromagnetic wave is left-hand polarized. RR and R RL Respectively expressed as:

[0101]

[0102] It can be seen from the above formula that the Fresnel reflection coefficient of electromagnetic waves is related to the electromagnetic physical properties of the reflecting surface (related to the complex dielectric constant) and the incident angle (satellite altitude angle). The type of reflecting surface (such as dry snow, grass, and concrete) can be set in advance to simulate the Fresnel reflection coefficient at different altitude angles.

[0103] In addition, in order to minimize multipath errors and achieve high-precision navigation positioning, the geodetic receiver in the embodiment of the present application has a suppressive effect on the reflected left-handed polarized signal, and the gain of the right-handed polarized component increases with the increase of the altitude angle. After obtaining the simulation results of the Fresnel reflection coefficient, the energy attenuation factor is simulated in combination with the receiver antenna gain to obtain the corresponding simulation results.

[0104] By combining the above formulas, the embodiment of the present application can obtain the Fresnel reflection coefficients of different reflection surfaces at different altitude angles: Figure 3 The figure shows the change of the Fresnel reflection coefficient with the altitude angle on different reflecting surfaces when the incident electromagnetic wave is a right-hand polarized electromagnetic wave in the B1 band, where the complex dielectric constants of dry snow, grass and concrete are replaced by corresponding constants. The left-hand polarized reflection component increases with the increase of the satellite altitude angle, and the right-hand polarized reflection component decreases with the increase of the satellite altitude angle. When the left-hand reflection component and the right-hand reflection component intersect, the left-hand polarized reflection component begins to be greater than the right-hand polarized reflection component. The satellite altitude angle where the left-hand reflection component and the right-hand reflection component intersect is called the Brewster angle. Most geodetic receiver antennas use right-hand circularly polarized antennas, which have a suppressive effect on left-hand circularly polarized signals and an increasing effect on right-hand circularly polarized signals. In addition, the right-hand polarized component changes less with the dielectric constant of the reflecting surface, while the left-hand polarized component changes more with the dielectric constant of the reflecting surface, so the reflected signal can be received by the geodetic receiver and can be used to invert the changes in the electromagnetic characteristics of the reflecting surface.

[0105] Furthermore, in the embodiments of the present application, Figure 4 The solid line is the right-hand polarization antenna gain, and the dotted line is the left-hand polarization antenna gain. Figure 4It can be seen that for left-hand circularly polarized electromagnetic waves, the GNSS antenna has a large negative gain. This is because the geodetic receiver must suppress multipath errors to the maximum extent in order to achieve high-precision navigation and positioning. The left-hand circularly polarized electromagnetic wave component can only be formed after reflection, which is one of the causes of multipath errors. For right-hand circularly polarized electromagnetic waves, the antenna has a smaller gain at low satellite elevation angles and a higher gain at large satellite elevation angles. This design is also to achieve the purpose of suppressing multipath errors, because when the satellite elevation angle is low, the right-hand circularly polarized electromagnetic wave component accounts for the majority of the reflected signal.

[0106] Furthermore, the embodiment of the present application combines the influence of the Fresnel reflection coefficient and the receiver antenna gain to obtain an energy attenuation factor that measures the strength of the reflected signal. Figure 5 is the energy attenuation factor of the reflected signal received by the Tianbao 29659.00 antenna and the 55971.00 antenna when the reflecting surface is a dry snow surface. Figure 5 It can be seen that the energy attenuation factor decreases sharply with the increase of the altitude angle; when the satellite altitude angle is small, the energy attenuation factor of the reflected signal is large, and the intensity of the reflected signal received by the receiver is also large. Therefore, only the observation values ​​at low satellite altitude angles contain reflected signal information of sufficient intensity. In order to use standard output observation values ​​to obtain the physical characteristics of the reflecting surface, it is necessary to use observation data at low satellite altitude angles; on the other hand, if the satellite altitude angle is too low, the reflected signal will have too serious an impact on the direct signal, which can easily cause satellite lock and cycle slip. Therefore, when using a geodetic receiver for Beidou reflected signal remote sensing detection, it is necessary to ensure that the observed data is within the appropriate satellite altitude angle range. Experimental results show that the embodiment of the present application is more suitable for Beidou reflected signal remote sensing applications using observation values ​​with satellite altitude angles in the range of 5° to 30°.

[0107] In step S103, a signal-to-noise ratio multipath error model, a phase multipath error model and a pseudo-range multipath error model of the Beidou reflected signal are constructed based on the path delay model. The expression of the signal-to-noise ratio multipath error model can be, but is not limited to,:

[0108]

[0109] Among them, α energy attenuation factor, A d is the direct signal strength, is the phase delay, P n For noise.

[0110] The expression of the phase multipath error model can be, but is not limited to,:

[0111]

[0112] Where H is the vertical height of the antenna phase center relative to the reflecting surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle.

[0113] The expression of the pseudorange multipath error model can be, but is not limited to,:

[0114]

[0115] Where Δ(t) is the propagation time of the reflected signal more than the direct signal.

[0116] In some embodiments, the embodiments of the present application may construct a signal-to-noise ratio multipath error model, the main contents of which are:

[0117] The signal-to-noise ratio observation value measured by the receiver in the embodiment of the present application includes a direct signal component and a reflected signal component. The direct component is obtained by fitting a second-order polynomial, and then the fitting value is subtracted from the original signal-to-noise observation value to obtain a signal-to-noise ratio multipath error result, wherein the expression of the signal-to-noise ratio multipath error model can be but is not limited to:

[0118]

[0119] Among them, P n is the noise, α is the energy attenuation factor, A d is the direct signal strength, is the phase delay, which can be expressed as:

[0120]

[0121] Where H is the vertical height of the antenna phase center relative to the reflecting surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle.

[0122] Exemplarily, in the embodiment of the present application, according to the energy attenuation factor, a simulation result of the signal-to-noise ratio multipath error can be obtained by a signal-to-noise ratio multipath error model, and the signal-to-noise ratio multipath error model is as follows:

[0123] The receiver antenna receives the interference signal of the reflected signal and the direct signal, and there is a certain relationship between the amplitude of the direct signal, the reflected signal and the signal-to-noise ratio:

[0124]

[0125] Among them, P n is noise. The direct signal can be removed by using a second-order polynomial, and the signal-to-noise ratio multipath error model can be expressed as but not limited to:

[0126]

[0127] Where H is the antenna height and λ is the wavelength.

[0128] In some embodiments, the embodiments of the present application may construct a phase multipath error model, the main contents of which are:

[0129] After the carrier phase mathematical model of the embodiment of the present application is transformed by trigonometric identity, a phase multipath error model of the phase multipath error β can be obtained, and its expression can be but not limited to:

[0130]

[0131] Exemplarily, the embodiment of the present application combines the energy attenuation factor, and the simulation result of the phase multipath error can be obtained by the phase multipath error model. The phase multipath error model is as follows:

[0132] The interference signal S(t) received by the receiver is expressed as:

[0133] S(t)=A·sin[Ψ(t)+β(t)]

[0134] In the formula,

[0135]

[0136] Where A is the amplitude of the interference between the direct signal and the reflected signal of the receiver, β(t) is the phase multipath error of the reflected signal, and the phase multipath error β is a sine function related to the antenna height H and the sine value of the satellite elevation angle sinθ(t).

[0137] In some embodiments, the embodiments of the present application may construct a pseudorange multipath error model, the main contents of which are:

[0138] The embodiment of the present application combines the phase discrimination equation and the autocorrelation function of the ranging code to obtain a pseudorange multipath error model of the pseudorange multipath error l(t), and its expression can be but is not limited to:

[0139]

[0140] Exemplarily, in the embodiment of the present application, in combination with the energy attenuation factor, a simulation result of the pseudorange multipath error can be obtained from the pseudorange multipath error model, and the pseudorange multipath error model is as follows:

[0141] The delayed multipath signal generated by the multipath effect is superimposed on the direct signal and enters the receiver together, causing the shape of the phase-locked curve to change, which in turn leads to tracking deviation, which includes pseudo-range multipath error. The phase-locked equation is:

[0142]

[0143] Where τ(t) is the pseudorange multipath error, D is the code phase detector spacing, and Γ(x) is the code autocorrelation function:

[0144]

[0145] Where T is the length of the chip. The time delay δ(t) of the reflected signal is:

[0146] δ(t) <D

[0147] Combining the above formulas, a pseudo-range multipath error model of the pseudo-range multipath error l(t) in units of distance can be obtained, and its expression can be but is not limited to:

[0148]

[0149] In step S104, the simulation results of the energy attenuation factor, the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudorange multipath error model are combined to obtain the signal-to-noise ratio multipath error simulation results, the phase multipath error simulation results and the pseudorange multipath error simulation results of the Beidou reflection signal respectively.

[0150] As a possible implementation method, the embodiment of the present application can obtain the multipath error simulation results of the signal-to-noise ratio, carrier phase, and pseudorange respectively according to the preset antenna height, reflection surface type, and the simulation results of the energy attenuation factor, and the corresponding multipath error model.

[0151] In some embodiments, after obtaining the time delay, phase delay and energy attenuation factor of the reflected signal relative to the direct signal, the embodiments of the present application can simulate the multipath error signal in the signal-to-noise ratio observation value, and then establish a connection with the physical parameters of the surface.

[0152] For example, Figure 6 is the signal-to-noise ratio multipath error sequence at different antenna heights. Within the satellite elevation angle of 0° to 30°, the frequency of the signal-to-noise ratio increases with the increase of the receiver antenna height, and the phase also changes accordingly. Therefore, the frequency change of the signal-to-noise ratio multipath error signal can be used to monitor the change of the receiver antenna height, and then the signal-to-noise ratio data can be used to invert the water level, snow thickness and vegetation height.

[0153] Figure 7 The results of the signal-to-noise ratio multipath error sequence for different soil moisture. Within the satellite elevation angle of 0° to 30°, when the receiver antenna height remains unchanged, the phase changes with different soil moisture, but the change is small. Its amplitude decreases with the increase of soil moisture. Therefore, the amplitude of the signal-to-noise ratio can be used to invert soil moisture changes. In addition, it can be seen that the initial phase of the signal-to-noise ratio for different soil moisture is also different, and there is a certain relationship.

[0154] In some embodiments, after obtaining the time delay, phase delay and energy attenuation factor of the reflected signal relative to the direct signal, the embodiments of the present application can simulate the multipath error signal in the phase observation value, and then establish a connection with the physical parameters of the surface.

[0155] For example, Figure 8 The oscillation trend of the phase multipath error with increasing satellite elevation angle under different amplitude attenuation factors is simulated. It can be seen that regardless of the value of the energy attenuation factor α, the oscillation frequency of the phase multipath error remains unchanged at the same receiver antenna height. When the antenna height increases, the oscillation frequency will also increase. This shows that there is a certain relationship between the phase multipath error and the antenna height. The change in the receiver antenna height can be obtained by the frequency change of the phase multipath error, thereby obtaining the snow thickness. At the same time, as the amplitude attenuation factor decreases, the oscillation amplitude of the phase multipath error also decreases, and the amplitude attenuation factor will decrease with the increase of the satellite elevation angle. Therefore, when using the phase multipath error for Beidou reflection signal remote sensing applications, observation data in the low altitude angle range should be selected.

[0156] In some embodiments, after obtaining the time delay, phase delay and energy attenuation factor of the reflected signal relative to the direct signal, the embodiments of the present application can simulate the multipath error signal in the pseudorange observation value, and then establish a connection with the physical parameters of the surface.

[0157] For example, Fig. 9 The following is a schematic diagram of the change of pseudo-range multipath error with the sine of the elevation angle, where the antenna heights are 2.5m (upper figure) and 3.5m (lower figure), and the values ​​of the amplitude attenuation factor are 0.1, 0.3 and 0.5 respectively. It can be seen that, similar to the carrier phase multipath error, the pseudo-range multipath error also oscillates periodically with the change of the sine value of the satellite elevation angle. When the antenna height is the same, the pseudo-range multipath error sequences with different amplitude attenuation factors have the same oscillation frequency; when the antenna height is different, the oscillation frequency of the pseudo-range multipath error sequence is significantly different. This feature can be used to construct the relationship between the antenna height and the oscillation frequency of the pseudo-range multipath error sequence through the modeling algorithm, thereby realizing the measurement of water level, snow thickness and vegetation height. It should also be noted that the amplitude of the pseudo-range multipath error is proportional to the antenna height; appropriately increasing the antenna height can increase the strength of the pseudo-range multipath error signal, so that more accurate measurement results can be obtained when using the pseudo-range multipath error for Beidou reflection signal remote sensing applications.

[0158] The embodiment of the present application constructs the energy attenuation factor of the Beidou reflection signal and simulates it to obtain the simulation results of the energy attenuation factor. The results show that the energy attenuation factor of the Beidou reflection signal is sensitive to the complex dielectric constant of the reflecting surface, providing a theoretical basis for using the Beidou reflection signal to invert soil moisture. At the same time, the change of the energy attenuation factor with the altitude angle is analyzed, and it can be seen that in practical applications, a more ideal inversion result can be obtained by selecting an observation value with an altitude angle of 5° to 30°. Finally, the example simulates the signal-to-noise ratio, phase, and pseudo-range multipath signals, and the simulation results all show that the multipath signal using the standard observation value can be used to invert the water level, snow thickness and vegetation height by measuring the antenna height, and the soil moisture can be inverted by the influence of the energy attenuation factor on the multipath signal.

[0159] According to the multipath error simulation method of Beidou reflected signal proposed in the embodiment of the present application, the simulation result of energy attenuation factor can be obtained by constructing the path delay model and energy attenuation factor of Beidou reflected signal, and the signal-to-noise ratio multipath error model, phase multipath error model and pseudo-range multipath error model can be constructed to obtain the signal-to-noise ratio, phase and pseudo-range multipath error simulation results of Beidou reflected signal. By introducing the energy attenuation factor, the direct signal is linked with the reflected signal, and a multipath error model is established to simulate the Beidou reflected signal, and a mapping relationship between the surface physical parameters and the standard observation values ​​is constructed to provide a theoretical basis for realizing the remote sensing application of Beidou reflected signal, and realize the remote sensing application of Beidou reflected signal. Thus, the problem that in the related art, in terms of Beidou reflected signal processing, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of Beidou's standard observation value, so as to connect the direct signal with the reflected signal and realize the simulation of Beidou reflected signal is solved.

[0160] Next, a multipath error simulation device for Beidou reflection signals proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0161] Fig.10 It is a block diagram of a multipath error simulation device for Beidou reflection signals provided according to an embodiment of the present application.

[0162] like Fig.10 As shown, the multipath error simulation device 10 of the Beidou reflection signal includes: a first building module 100, a second building module 200, a third building module 300 and a simulation module 400.

[0163] Among them, the first construction module 100 is used to construct a path delay model of the Beidou reflection signal.

[0164] The second construction module 200 is used to construct the energy attenuation factor of the Beidou reflection signal and simulate the energy attenuation factor to obtain a simulation result of the energy attenuation factor.

[0165] The third construction module 300 is used to construct a signal-to-noise ratio multipath error model, a phase multipath error model and a pseudorange multipath error model of the Beidou reflection signal based on the path delay model.

[0166] The simulation module 400 is used to combine the simulation results of the energy attenuation factor, the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudorange multipath error model to obtain the signal-to-noise ratio multipath error simulation results, the phase multipath error simulation results and the pseudorange multipath error simulation results of the Beidou reflection signal.

[0167] Optionally, in one embodiment of the present application, the first construction module 100 includes: a first acquisition unit, a generation unit and a construction unit.

[0168] Among them, the first acquisition unit is used to obtain the reflection surface of the Beidou reflection signal.

[0169] The generating unit is used to generate a reflection signal energy concentration area based on the reflection surface, and obtain a reflection signal that meets a preset reflection condition based on the reflection signal energy concentration area.

[0170] The construction unit is used to construct a path delay model based on the reflected signal to obtain the phase delay and time delay of the Beidou reflected signal.

[0171] Optionally, in one embodiment of the present application, the second building module 200 includes: a calculation unit, a second acquisition unit and a simulation unit.

[0172] Among them, the calculation unit is used to calculate the energy attenuation factor based on the Beidou reflected signal and the direct signal.

[0173] The second acquisition unit is used to acquire the Fresnel reflection coefficient and the receiver antenna gain by using the receiver.

[0174] The simulation unit is used to simulate the energy attenuation factor by combining the Fresnel reflection coefficient and the receiver antenna gain to obtain the simulation result of the energy attenuation factor.

[0175] Optionally, in one embodiment of the present application, the expression of the signal-to-noise ratio multipath error model may be, but is not limited to,:

[0176]

[0177] Among them, α energy attenuation factor, A d is the direct signal strength, is the phase delay, P n For noise.

[0178] The expression of the phase multipath error model can be, but is not limited to,:

[0179]

[0180] Where H is the vertical height of the antenna phase center relative to the reflecting surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle.

[0181] The expression of the pseudorange multipath error model can be, but is not limited to,:

[0182]

[0183] Where Δ(t) is the propagation time of the reflected signal more than the direct signal.

[0184] Optionally, in one embodiment of the present application, the expression of the energy attenuation factor may be, but is not limited to,:

[0185]

[0186] Where X is the reflection coefficient, G d is the antenna gain of the direct signal.

[0187] It should be noted that the above explanation of the embodiment of the Beidou reflection signal multi-path error simulation method is also applicable to the Beidou reflection signal multi-path error simulation device of this embodiment, which will not be repeated here.

[0188] According to the multipath error simulation device of the Beidou reflected signal proposed in the embodiment of the present application, the simulation result of the energy attenuation factor can be obtained by constructing the path delay model and energy attenuation factor of the Beidou reflected signal, and the signal-to-noise ratio, phase and pseudo-range multipath error simulation results of the Beidou reflected signal can be obtained by constructing the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudo-range multipath error model. By introducing the energy attenuation factor, the direct signal is linked to the reflected signal, and a multipath error model is established to simulate the Beidou reflected signal, and a mapping relationship between the surface physical parameters and the standard observation values ​​is constructed, so as to provide a theoretical basis for realizing the remote sensing application of the Beidou reflected signal and realize the remote sensing application of the Beidou reflected signal. Thus, the problem that in the related art, in terms of Beidou reflected signal processing, there is a lack of a modeling method to obtain a mathematical model of the multipath signal of the Beidou standard observation value, so as to connect the direct signal with the reflected signal and realize the simulation of the Beidou reflected signal is solved.

[0189] Fig.11This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0190] A memory 1101 , a processor 1102 , and a computer program stored in the memory 1101 and executable on the processor 1102 .

[0191] When the processor 1102 executes the program, the multipath error simulation method of the Beidou reflection signal provided in the above embodiment is implemented.

[0192] Furthermore, the electronic device further comprises:

[0193] The communication interface 1103 is used for communication between the memory 1101 and the processor 1102 .

[0194] The memory 1101 is used to store computer programs that can be executed on the processor 1102 .

[0195] The memory 1101 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0196] If the memory 1101, the processor 1102 and the communication interface 1103 are implemented independently, the communication interface 1103, the memory 1101 and the processor 1102 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0197] Optionally, in a specific implementation, if the memory 1101, the processor 1102 and the communication interface 1103 are integrated on a chip, the memory 1101, the processor 1102 and the communication interface 1103 can communicate with each other through an internal interface.

[0198] The processor 1102 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0199] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for simulating the multipath error of the Beidou reflection signal.

[0200] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the above-mentioned Beidou reflection signal multi-path error simulation method.

[0201] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0202] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0203] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0204] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0205] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0206] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0207] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0208] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for simulating the multipath error of Beidou reflected signals, characterized in that: The following steps are involved: Construct the path delay model of Beidou reflection signal; Constructing an energy attenuation factor of the Beidou reflected signal, and simulating the energy attenuation factor to obtain a simulation result of the energy attenuation factor; Based on the path delay model, a signal-to-noise ratio multipath error model, a phase multipath error model and a pseudorange multipath error model of the Beidou reflected signal are constructed; Combined with the simulation results of the energy attenuation factor, the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudorange multipath error model, the signal-to-noise ratio multipath error simulation results, the phase multipath error simulation results and the pseudorange multipath error simulation results of the Beidou reflected signal are obtained respectively.

2. The method according to claim 1, characterized in that The constructing of the path delay model of the Beidou reflected signal includes: Obtaining a reflection surface of the Beidou reflection signal; Generate a reflection signal energy concentration area based on the reflection surface, and obtain a reflection signal that meets a preset reflection condition based on the reflection signal energy concentration area; The path delay model is constructed based on the reflected signal to obtain the phase delay and time delay of the Beidou reflected signal.

3. The method according to claim 1, characterized in that The step of constructing the energy attenuation factor of the Beidou reflected signal and simulating the energy attenuation factor to obtain a simulation result of the energy attenuation factor includes: Calculate the energy attenuation factor based on the Beidou reflected signal and the direct signal; Obtaining Fresnel reflection coefficient and receiver antenna gain using a receiver; The energy attenuation factor is simulated in combination with the Fresnel reflection coefficient and the receiver antenna gain to obtain a simulation result of the energy attenuation factor.

4. The method according to claim 1, characterized in that: in, The expression of the signal-to-noise ratio multipath error model is: Among them, α energy attenuation factor, A d is the direct signal strength, is the phase delay, P n for noise; The expression of the phase multipath error model is: Where H is the vertical height of the antenna phase center relative to the reflection surface, λ is the wavelength of the direct signal, and sinθ(t) is the sine value of the altitude angle; The expression of the pseudorange multipath error model is: Here, Δ(t) is the propagation time of the reflected signal more than the direct signal.

5. The method according to claim 1, characterized in that The expression of the energy attenuation factor is: Where X is the reflection coefficient, G d is the antenna gain of the direct signal.

6. A multipath error simulation device for Beidou reflection signal, characterized in that: include: The first building module is used to build a path delay model of Beidou reflection signal; The second construction module is used to construct an energy attenuation factor of the Beidou reflection signal, and simulate the energy attenuation factor to obtain a simulation result of the energy attenuation factor; A third construction module is used to construct a signal-to-noise ratio multipath error model, a phase multipath error model and a pseudorange multipath error model of the Beidou reflection signal based on the path delay model; The simulation module is used to combine the simulation results of the energy attenuation factor, the signal-to-noise ratio multipath error model, the phase multipath error model and the pseudorange multipath error model to obtain the signal-to-noise ratio multipath error simulation results, the phase multipath error simulation results and the pseudorange multipath error simulation results of the Beidou reflection signal respectively.

7. The device according to claim 6, characterized in that The first building block comprises: A first acquisition unit, used to acquire a reflection surface of the Beidou reflection signal; A generating unit, configured to generate a reflection signal energy concentration area based on the reflection surface, and obtain a reflection signal satisfying a preset reflection condition based on the reflection signal energy concentration area; A construction unit is used to construct the path delay model based on the reflected signal to obtain the phase delay and time delay of the Beidou reflected signal.

8. 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 processor executes the program to implement the multipath error simulation method for Beidou reflection signals as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the multipath error simulation method of the Beidou reflection signal as described in any one of claims 1-5.

10. A computer program product, characterized in that It includes a computer program, which, when executed, is used to implement the multi-path error simulation method of the Beidou reflection signal as described in any one of claims 1-5.

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