Multipath error simulation method and device for Beidou reflected signal

Abstract

The present application relates to the field of satellite navigation reflection remote sensing technology, and in particular to a method and device for simulating the multipath error of Beidou reflection signals, wherein the method comprises: constructing a path delay model of the Beidou reflection signal; constructing an energy attenuation factor and performing simulation to obtain a simulation result of the energy attenuation factor; constructing a signal-to-noise ratio, phase, and pseudo-range multipath error model of the Beidou reflection signal based on the path delay model; combining the simulation result of the energy attenuation factor with the multipath error model to obtain the signal-to-noise ratio, phase, and pseudo-range multipath error simulation results of the Beidou reflection signal. Thus, the present application solves the problem in the related art that, 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 and the reflected signal and realize the simulation of the Beidou reflection signal.

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 now completed its satellite network and is providing services globally. With the increasing maturity of the BeiDou system, the application of BeiDou ground-based reflection remote sensing technology holds a promising future. For BeiDou ground-based reflection signal remote sensing applications, simulations are required to establish a mapping between BeiDou observables and the receiver, antenna, and surface reflection environment (such as reflector type, humidity, and reflection height). This allows the observed parameters, such as signal-to-noise ratio and phase, to be converted into usable surface physical parameters.

[0003] In related technologies, 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, thereby constructing a parameter adaptive hybrid model, completing the adaptive change adjustment of the model parameters, and determining the effective wave height inversion model; the UAV elevation measurement value can be calculated by generating the original observation value by receiving the Beidou satellite direct signal, and the signal-to-noise ratio method can be 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 can be obtained.

[0004] However, in the related technology, 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 Beidou's standard observation value to connect the direct signal and the reflected signal to 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 related technologies 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] A first aspect of the present application provides a multipath error simulation method for 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 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; and 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 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, respectively.

[0007] Optionally, in one embodiment of the present application, constructing a path delay model of the Beidou reflected signal includes: obtaining the 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 preset reflection conditions 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 the simulation result of the energy attenuation factor, including: calculating the energy attenuation factor based on the Beidou reflected signal and the direct signal; using a receiver to obtain the Fresnel reflection coefficient and the receiver antenna gain; and simulating the energy attenuation factor in combination with the Fresnel reflection coefficient and the receiver antenna gain to obtain the 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 can be, but is not limited to,:

[0013]

[0014] 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;

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

[0016]

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

[0021] The second aspect of the present application provides a multi-path error simulation device for a Beidou reflected signal, including: 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 multipath error model, a phase multipath error model and a pseudo-range multipath 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 multipath error model, the phase multipath error model and the pseudo-range multipath error model to respectively obtain the signal-to-noise ratio multipath error simulation result, the phase multipath error simulation result and the pseudo-range multipath 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 construction module includes: a calculation unit for calculating the energy attenuation factor based on the Beidou reflected signal and the direct signal; a second acquisition unit for obtaining the Fresnel reflection coefficient and the receiver antenna gain using a receiver; and a simulation unit for 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.

[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 can be, but is not limited to,:

[0028]

[0029] 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;

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

[0031]

[0032] Here, Δ(t) is the propagation time of the reflected signal that is longer than that of 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 for 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 on the memory and executable on the processor, wherein the processor executes the program to implement the multipath error simulation method of the Beidou reflection signal as described in the above embodiment.

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

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

[0039] The embodiment of the present application can obtain the simulation results of the energy attenuation factor by constructing the path delay model and energy attenuation factor of the Beidou reflected signal, and obtain the simulation results of the signal-to-noise ratio, phase and pseudo-range multipath error of the Beidou reflected 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 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, providing a theoretical basis for realizing the remote sensing application of the Beidou reflected signal, and realizing the remote sensing application of the Beidou reflected signal. Thus, the problem in the related art that there is a lack of a modeling method to obtain a mathematical model of the multipath signal of the Beidou standard observation value in the processing of the Beidou reflected signal, so as to link the direct signal with the reflected signal and realize the simulation of the Beidou reflected 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 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 This is a flow chart of a method for simulating multipath errors of Beidou reflected signals according to an embodiment of the present application;

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

[0044] Figure 3 A block diagram illustrating how different Fresnel reflection coefficients vary with altitude angles according to one embodiment of the present application;

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

[0046] Figure 5A block diagram illustrating a variation trend of an energy attenuation factor with an altitude angle 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 one embodiment of the present application;

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

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

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

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

[0052] Figure 11 A schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following describes in detail embodiments of the present application, examples of which 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 a method and apparatus for simulating the multipath error of Beidou reflected signals according to an embodiment of the present application with reference to the accompanying drawings. In response to the problem mentioned in the background art above that there is a lack of a modeling method for obtaining a mathematical model of the multipath signal of Beidou's standard observation value in Beidou reflected signal processing, so as to link the direct signal with the reflected signal and realize the simulation of Beidou reflected signals, the present application provides a method for simulating the multipath error of Beidou reflected signals. In this method, a path delay model and an energy attenuation factor of the Beidou reflected signal can be constructed to obtain a simulation result of the energy attenuation factor, and a signal-to-noise ratio multipath error model, a phase multipath error model, and a pseudorange multipath error model can be constructed to obtain the signal-to-noise ratio, phase, and pseudorange multipath error simulation results of the Beidou reflected signal. By introducing the energy attenuation factor, the direct signal and the reflected signal are linked, and a multipath error model is established to simulate the Beidou reflected signal and construct a mapping relationship between the surface physical parameters and the standard observation value, thereby providing a theoretical basis for realizing the remote sensing application of Beidou reflected signals and realizing the remote sensing application of Beidou reflected signals. This solves the problem in related technologies of Beidou reflected signal processing, that is, the 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 reflected signal.

[0055] Specifically, Figure 1 This is a flowchart of a multipath error simulation method for Beidou reflection signals provided according to an embodiment of the present application.

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

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

[0058] In some embodiments, embodiments of the present application may construct a path delay model for Beidou reflected signals. The construction of the path delay model in embodiments of the present application may involve descriptions of Beidou reflected signal reception modes, reflected signal energy concentration areas, and the like, which are not specifically limited in this 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 preset reflection conditions based on the reflected signal energy concentration area; constructing a path delay model based on the reflected signal to obtain the 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 the 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. Among them, the certain reflection conditions can be set by technicians in this field according to actual conditions, and this 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] For example, in an embodiment of the present application, for a receiver placed on the ground, the signal received by the antenna is an interference signal obtained by superimposing a direct signal and a reflected signal. Compared to the distance the direct signal travels to the receiver antenna, the reflected signal travels a greater distance 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 elevation angle, and H is the receiver antenna height.

[0066] Furthermore, in the embodiment of the present application, the time delay and phase delay of the reflected signal relative to the direct signal can be obtained based on the geometric relationship between the direct signal and the reflected signal in the path delay model. The mathematical expression 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 variables of the signal-to-noise ratio, phase, and pseudo-range multipath error model.

[0069] For example, if 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 reflecting 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 reflecting surface. When the reflecting surface of the Beidou reflected signal is a flat snow surface, ground, water surface or ice surface, the reflecting 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 reflected signal is used for remote sensing, only the reflected signal from the mirror reflection point is considered. Furthermore, the embodiment 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 further than the direct signal:

[0070] Δ(t)=2Hsinθ(t)

[0071] Among them, t is the time parameter, θ is the satellite elevation 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 reflected 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 the energy attenuation factor of the Beidou reflection signal, simulate the energy attenuation factor, and then obtain the simulation result of the energy attenuation factor.

[0077] Optionally, in one embodiment of the present application, an 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 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. 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 for the direct signal.

[0080] In some embodiments, the electromagnetic wave signal received by the receiver of 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 this embodiment of the application, the reflected signal has not only path delay and phase delay relative to the direct signal, but also reduced energy intensity. Therefore, an energy attenuation factor α can be set to measure the energy attenuation of the reflected signal relative to the direct signal, thereby establishing a multipath error model for the standard output observation. 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, and 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. The energy attenuation factor α can be obtained from this:

[0087]

[0088] Furthermore, the energy attenuation factor α in 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, and are the right-hand polarization gain and left-hand polarization gain of the antenna respectively.

[0093] As can be seen from the above formula, 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 influence 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 vacuum, and in simulation, the complex dielectric constant is usually set according to the type of reflecting surface of interest.

[0100] Furthermore, 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] As can be seen from the above formula, 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 pre-set to simulate the Fresnel reflection coefficient at different altitude angles.

[0103] Furthermore, to minimize multipath error and achieve high-precision navigation and positioning, the geodetic receiver in this embodiment of the present application employs an antenna that suppresses reflected left-handed polarized signals, while increasing the gain of right-handed polarized components with increasing altitude angle. After obtaining simulation results for the Fresnel reflection coefficient, the energy attenuation factor is simulated in conjunction with the receiver antenna gain to obtain corresponding simulation results.

[0104] By combining the above formulas, the embodiment of the present application can obtain the Fresnel reflection coefficients of different reflective surfaces at different altitude angles: Figure 3 This figure illustrates the variation of the Fresnel reflection coefficient with elevation angle for different reflecting surfaces, for a right-handed, B1-band electromagnetic wave. The complex dielectric constants of dry snow, grass, and concrete are replaced by corresponding constants. The left-hand polarized reflection component increases with increasing satellite elevation angle, while the right-hand polarized reflection component decreases. When the left-hand and right-hand reflection components intersect, the left-hand polarized reflection component begins to be greater than the right-hand polarized reflection component. The satellite elevation angle at which the left-hand and right-hand reflection components intersect is called the Brewster angle. Most geodetic receiver antennas use right-hand circularly polarized antennas, which suppress left-hand circularly polarized signals and enhance right-hand circularly polarized signals. Furthermore, the right-hand polarized component varies less with the dielectric constant of the reflecting surface, while the left-hand polarized component varies more with the dielectric constant of the reflecting surface. Therefore, the reflected signal can be received by geodetic receivers and used to infer changes in the electromagnetic properties of the reflecting surface.

[0105] Furthermore, in the embodiments of the present application, Figure 4 The solid line is the gain of the right-hand polarized antenna, and the dotted line is the gain of the left-hand polarized antenna. Figure 4As can be seen, GNSS antennas have a significant negative gain for left-hand circularly polarized electromagnetic waves. This is because geodetic receivers, in order to achieve high-precision navigation and positioning, must minimize multipath error. Left-hand circularly polarized electromagnetic wave components are only formed after reflection and are a contributing factor to multipath error. For right-hand circularly polarized electromagnetic waves, the antenna has a lower gain at low satellite elevation angles and a higher gain at higher satellite elevation angles. This design also aims to suppress multipath error, as right-hand circularly polarized electromagnetic wave components dominate the reflected signal at low satellite elevation angles.

[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 When the reflecting surface is dry snow, the energy attenuation factor of the reflected signal received by Tianbao 29659.00 antenna and 55971.00 antenna. 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 failure and cycle slips. Therefore, when using a geodetic receiver for Beidou reflected signal remote sensing detection, it is necessary to ensure that the observation 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 pseudorange 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 of the altitude angle.

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

[0114]

[0115] Here, Δ(t) is the propagation time of the reflected signal that is longer than that of 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. A second-order polynomial fitting is used to obtain the direct component, and then the fitted value is subtracted from the original signal-to-noise observation value to obtain a signal-to-noise ratio multipath error result. 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 of the altitude angle.

[0122] For example, in the embodiment of the present application, based on the energy attenuation factor, a simulation result of the signal-to-noise ratio multipath error can be obtained from a signal-to-noise ratio multipath error model. 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. 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 the noise. The direct signal can be removed by using a second-order polynomial. 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 is not limited to:

[0130]

[0131] For example, in the embodiment of the present application, the energy attenuation factor is combined to obtain the simulation result of the phase multipath error from 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] Where,

[0135]

[0136] Where A is the amplitude of the interference between the direct signal and the reflected signal at the receiver, β(t) is the phase multipath error of the reflected signal, and the phase multipath error β is a sinusoidal 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), which can be expressed as but not limited to:

[0139]

[0140] For example, in the embodiment of the present application, the energy attenuation factor is combined to obtain a simulation result of the pseudorange multipath error from the pseudorange multipath error model. 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 detection curve to change, which in turn leads to tracking deviation, which includes pseudorange multipath error. The phase detection 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, we can obtain the pseudo-range multipath error model of the pseudo-range multipath error l(t) in units of distance, which can be expressed as but 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 reflected 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 based on the preset antenna height, reflecting surface type, and the simulation results of the energy attenuation factor by 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 surface physical parameters.

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

[0153] Figure 7 Figure 1 shows the signal-to-noise ratio multipath error sequence for different soil moisture levels. Within a satellite elevation range of 0° to 30°, with the receiver antenna height remaining constant, the phase varies with soil moisture, but the magnitude of the variation is small. However, the amplitude decreases with increasing soil moisture. Therefore, the amplitude of the signal-to-noise ratio can be used to infer soil moisture variations. Furthermore, it can be seen that the initial phase of the signal-to-noise ratio varies with soil moisture levels, indicating 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 surface physical parameters.

[0155] For example, Figure 8 The oscillation trend of the phase multipath error with increasing satellite elevation angle was simulated for different amplitude attenuation factors. It can be seen that regardless of the value of the energy attenuation factor α, the oscillation frequency of the phase multipath error remains constant at the same receiver antenna height. As the antenna height increases, the oscillation frequency also increases. This indicates a relationship between the phase multipath error and antenna height. The frequency variation of the phase multipath error can be used to derive changes in the receiver antenna height, and thus the snow depth. Furthermore, as the amplitude attenuation factor decreases, the oscillation amplitude of the phase multipath error decreases. Since the amplitude attenuation factor decreases with increasing satellite elevation angle, when using the phase multipath error for Beidou reflection signal remote sensing applications, observations at low elevation angles 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, thereby establishing a connection with the surface physical parameters.

[0157] For example, Figure 9 Schematic diagram of pseudorange multipath error as it varies with the sine of the elevation angle, for antenna heights of 2.5m (top) and 3.5m (bottom), with amplitude attenuation factors of 0.1, 0.3, and 0.5, respectively. It can be seen that, similar to carrier phase multipath error, pseudorange multipath error also oscillates periodically with the sine of the satellite elevation angle. When the antenna height is the same, the pseudorange multipath error sequences with different amplitude attenuation factors have the same oscillation frequency; when the antenna heights are different, the oscillation frequencies of the pseudorange multipath error sequences differ significantly. This characteristic can be exploited through a modeling algorithm to establish a relationship between antenna height and the oscillation frequency of the pseudorange multipath error sequence, thereby enabling measurements of water level, snow thickness, and vegetation height. It is also important to note that the amplitude of the pseudorange multipath error is proportional to the antenna height; appropriately increasing the antenna height can increase the strength of the pseudorange multipath error signal, thereby achieving more accurate measurement results when using pseudorange 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 standard observation values ​​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 multi-path error simulation method 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 multi-path error model, phase multi-path error model and pseudo-range multi-path error model can be constructed to obtain the signal-to-noise ratio, phase and pseudo-range multi-path 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 multi-path 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, providing a theoretical basis for realizing the remote sensing application of the Beidou reflected signal, and realizing the remote sensing application of the Beidou reflected signal. Thus, the problem in the related art that there is a lack of a modeling method to obtain a mathematical model of the multi-path signal of the Beidou standard observation value in the processing of the Beidou reflected signal, so as to connect the direct signal with the reflected signal and realize the simulation of the Beidou reflected signal is solved.

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

[0161] Figure 10 This is a block diagram of a device for simulating and emulating the multipath error of Beidou reflected signals provided according to an embodiment of the present application.

[0162] like Figure 10 As shown, the multipath error simulation device 10 of the Beidou reflection signal includes: a first construction module 100, a second construction module 200, a third construction 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 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.

[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 reflected 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 reflected signal respectively.

[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 acquiring unit is configured to acquire the Fresnel reflection coefficient and the receiver antenna gain by using a 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 a 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 of the altitude angle.

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

[0182]

[0183] Here, Δ(t) is the propagation time of the reflected signal that is longer than that of 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 for the direct signal.

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

[0188] According to the multi-path 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 multi-path error simulation results of the Beidou reflected signal can be obtained by constructing the signal-to-noise ratio multi-path error model, the phase multi-path error model and the pseudo-range multi-path error model. By introducing the energy attenuation factor, the direct signal is linked to the reflected signal, and a multi-path 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, providing a theoretical basis for realizing the remote sensing application of the Beidou reflected signal, and realizing the remote sensing application of the Beidou reflected signal. Thus, the problem in the related art that there is a lack of a modeling method to obtain a mathematical model of the multi-path signal of the Beidou standard observation value in the processing of the Beidou reflected signal, so as to connect the direct signal and the reflected signal and realize the simulation of the Beidou reflected signal is solved.

[0189] Figure 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 includes:

[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 run 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, processor 1102, and communication interface 1103 are implemented independently, the communication interface 1103, memory 1101, and processor 1102 can be interconnected via 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, Figure 11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or 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), 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 multipath error simulation method of the Beidou reflection signal as described above.

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

[0201] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0202] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise 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 a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0204] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc 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 can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

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

[0206] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0207] In addition, the functional units in the various embodiments 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 a 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 is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A multipath error simulation method for Beidou reflection signals, characterized in that: The following steps are involved: Construct a path delay model for BeiDou reflected signals; 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; 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 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, respectively 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 reflected signal; 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 reflecting 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: Where Δ(t) is the propagation time of the reflected signal over the direct signal; The expression of the energy attenuation factor is: Where X is the reflection coefficient, G d is the antenna gain of the direct signal.

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; generating a reflection signal energy concentration area based on the reflection surface, and obtaining 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: Calculating the energy attenuation factor based on the Beidou reflected signal and the direct signal; Obtain 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. A multipath error simulation device for Beidou reflected signals, characterized in that: The multipath error simulation method of the Beidou reflected signal according to any one of claims 1 to 3 is adopted, wherein the device comprises: The first building module is used to build a path delay model of the Beidou reflection signal; A second construction module is 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 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 reflected 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 reflected signal respectively.

5. The device according to claim 4, characterized in that The first building block includes: A first acquisition unit is 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 that meets 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.

6. 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 3.

7. 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 to 3.

8. A computer program product, characterized in that It includes a computer program, which, when executed, is used to implement the multipath error simulation method of the Beidou reflection signal as described in any one of claims 1 to 3.

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