Satellite navigation method and device supporting high dynamic rotation resistance

Abstract

The invention discloses a satellite navigation method and device supporting high-dynamic rotation resistance, and the method comprises the steps: symmetrically installing at least two microstrip antennas on the surface of a high-speed rotating carrier, alternately capturing each path of satellite signal in a double-diversity capturing mode, and enabling the lengths of high-frequency cables from each microstrip antenna to a satellite navigation receiver to be consistent; a carrier tracking loop is adjusted after a satellite signal captured by each microstrip antenna is pulled, and a navigation message broadcasted by a satellite is obtained; the obtained navigation message is processed, then fusion of tracking satellite data is carried out, target satellite information is determined to participate in positioning calculation, and the tracking satellite data comprises satellite ephemeris parameter demodulation data, satellite observed quantity calculation data and a satellite signal-to-noise ratio; and a calculation result obtained after positioning calculation is predicted through Kalman filtering, and the calculation result is used for positioning and speed measurement of the high-speed rotating carrier.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and more specifically, to a satellite navigation method and device supporting high dynamic anti-rotation. Background Art

[0002] When the carrier is flying fast, the carrier itself needs to constantly adjust its flight attitude, which causes a large Doppler shift between the carrier and the internal single machine relative to the satellite communication system satellite, and the carrier spins. At present, the pseudo code lengths of the newly added B1C and B2a frequencies of Beidou III are both 10230. The use of long code chips can reduce the correlation between pseudo codes of different satellites and increase the correlation of pseudo codes of the same satellite. From the perspective of satellite system design, increasing the pseudo code length is beneficial to the satellite navigation receiver's ability to identify the energy value captured by the satellite. Due to the high-speed movement between the satellite and the satellite navigation receiver, a very large Doppler shift is generated, resulting in an increase in the deviation of the signal carrier frequency reaching the satellite navigation receiver. At the same time, due to the self-rotation of the carrier, a Doppler shift attached to the rotation direction will be generated. The satellite navigation receiver needs to complete the capture of the satellite signal in a short time, so it is necessary to complete the offset calculation of the two carrier frequencies and pseudo code phases in a short time, which is very difficult. Summary of the invention

[0003] In response to at least one defect or improvement need in the prior art, the present invention provides a satellite navigation method and device that supports high dynamic anti-rotation, which solves the problem of large speed measurement errors in existing satellite navigation positioning and achieves the purpose of improving speed measurement and positioning accuracy and stability.

[0004] To achieve the above-mentioned purpose, according to the first aspect of the present invention, a satellite navigation method supporting high dynamic anti-rotation is provided, the method comprising: symmetrically installing at least two microstrip antennas on the surface of a high-speed rotating carrier, and using a dual-diversity capture method to alternately capture satellite signals of various channels, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; adjusting the carrier tracking loop after pulling the satellite signal captured by each microstrip antenna to obtain the navigation message broadcast by the satellite; processing the obtained navigation message and then fusing the tracking satellite data to determine the target satellite information for participating in positioning and solving, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation quantity calculation data and satellite signal-to-noise ratio; using Kalman filtering to predict the solution result after the positioning solution, wherein the solution result is used to locate and measure the speed of the high-speed rotating carrier.

[0005] In an exemplary embodiment, at least two microstrip antennas are symmetrically installed on the surface of a high-speed rotating carrier, and each satellite signal is alternately captured using a dual-diversity capture method, including: after the satellite signal is received by the microstrip antenna, it passes through a low-noise amplification module and a filtering module and enters a radio frequency channel chip to form a plurality of digital intermediate frequency signals; and a dual capture module is used in a field programmable gate array to alternately capture the digital intermediate frequency signals of the at least two microstrip antennas.

[0006] In an exemplary embodiment, the satellite signals captured by each microstrip antenna are pulled and the carrier tracking loop is adjusted to obtain the navigation message, which includes: after pulling and tracking the satellite signals captured by each microstrip antenna, the rotation speed of the high-speed rotating carrier is calculated; after correcting the carrier increment adjustment value in the carrier tracking loop, bit synchronization and frame synchronization processing are performed to obtain the navigation message.

[0007] In an exemplary embodiment, the pulling and tracking of the satellite signal captured by each microstrip antenna includes: calculating the rotational Doppler shift by a rotation speed measurement unit provided inside the satellite navigation device, wherein the Doppler shift is used to describe the Doppler shift of the satellite signal relative to the rotation center caused by the rapid rotation of the high-speed rotating carrier; and adding the rotational Doppler shift to the carrier frequency adjustment value in the carrier tracking loop to perform stable tracking of the satellite signal.

[0008] In an exemplary embodiment, the prediction of the solution result after positioning solution using Kalman filtering includes: performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and restarting Kalman filtering when the filtering result exceeds a preset threshold value; when the filtering result does not exceed the preset threshold value, outputting the filtered positioning result as the final output positioning and speed measurement result.

[0009] In an exemplary embodiment, the use of Kalman filtering to predict the solution result after positioning solution includes: performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and obtaining a prediction result after performing Kalman prediction in the event that the satellite suddenly loses lock after the Kalman filtering is completed; if the prediction result exceeds a preset threshold value, restarting Kalman filtering; if the prediction result does not exceed the preset threshold value, outputting the filtered positioning result as the final output positioning and speed measurement result.

[0010] According to the second aspect of the present invention, there is also provided a satellite navigation device supporting high dynamic anti-rotation, which includes: a capture unit, used to symmetrically install at least two microstrip antennas on the surface of a high-speed rotating carrier, and adopt a dual-diversity capture method to alternately capture each satellite signal, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; an acquisition unit, used to adjust the carrier tracking loop after pulling the satellite signal captured by each microstrip antenna, and obtain the navigation message broadcast by the satellite; positioning solution, used to process the acquired navigation message and then fuse the tracking satellite data to determine the target satellite information to participate in positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation quantity calculation data and satellite signal-to-noise ratio; a filtering unit, used to predict the solution result after positioning solution by using Kalman filtering, wherein the solution result is used to perform positioning and speed measurement on the high-speed rotating carrier.

[0011] According to a third aspect of the present invention, there is further provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned satellite navigation method supporting high dynamic anti-rotation when running.

[0012] According to a fourth aspect of the present invention, there is also provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned satellite navigation method supporting high dynamic anti-rotation through the computer program.

[0013] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0014] (1) The present invention provides a satellite navigation method that supports high dynamic anti-rotation. Two or more microstrip antennas are symmetrically distributed on the outer surface of a high-speed flight vehicle for receiving satellite signals. The length of the high-frequency cable from each antenna to the satellite navigation receiver is consistent. Compared with a single antenna, when the carrier rotates, one of the antennas is ensured to receive the satellite signal better. At the same time, a dual-diversity capture method is used to alternately capture two satellite signals, thereby solving the problem of signal reception continuity.

[0015] (2) The Doppler shift of satellite signals relative to the rotation center caused by the rapid rotation of the carrier can be calculated through a rotation speed measurement unit inside the Beidou-3 satellite navigation device that supports high dynamics and anti-rotation. The measurement of the rotation Doppler error is added to the carrier tracking loop to stably track the satellite signal.

[0016] (3) The problem of too fast rotation speed. When using dual antennas or multiple antennas to receive satellite signals, the signal loss phenomenon still occurs. By designing a Beidou-3 satellite navigation device that supports high dynamics and anti-rotation, the Kalman filter algorithm inside the device can predict the previous solution results and can well compensate for the short-term loss of lock problem.

[0017] (4) High-speed rotation during high-dynamic flight causes large speed measurement errors in the BeiDou-3 satellite navigation device. This problem can be suppressed to a large extent by adding a Doppler fault detection method to the high-dynamic, anti-rotation BeiDou-3 satellite navigation device and eliminating some satellites with large Doppler measurement errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic flow chart of an optional satellite navigation method supporting high dynamic anti-rotation provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of an optional process of alternately capturing satellite signals using a dual-diversity capture method provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of an optional process of stably tracking satellite signals provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a flow chart of an optional Kalman filter algorithm provided in an embodiment of the present application;

[0023] Figure 5 A schematic structural diagram of an optional satellite navigation device supporting high dynamic anti-rotation provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of the structure of an optional electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0027] According to one aspect of the embodiments of the present application, a satellite navigation method supporting high dynamic anti-rotation is provided. Figure 1 The invention describes a satellite navigation method supporting high dynamic anti-rotation provided in an embodiment of the present application.

[0028] Figure 1 is a flow chart of an optional satellite navigation method supporting high dynamic anti-rotation provided in an embodiment of the present application, such as Figure 1 As shown, the process of the method may include the following steps:

[0029] S102, symmetrically installing at least two microstrip antennas on the surface of the high-speed rotating carrier, and alternately capturing satellite signals of various channels using a dual-diversity capture method, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent;

[0030] S104, adjusting the carrier tracking loop after pulling the satellite signal captured by each microstrip antenna to obtain the navigation message broadcast by the satellite;

[0031] S106, after processing the acquired navigation message, integrating the tracking satellite data, determining the target satellite information to participate in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio;

[0032] S108, using Kalman filtering to predict the result of the positioning solution, wherein the solution result is used to position and measure the speed of the high-speed rotating carrier.

[0033] A satellite navigation method supporting high dynamic anti-rotation provided in an embodiment of the present application can be applicable to satellite navigation under high-speed rotation of the carrier. The satellites here can be of multiple types. The Beidou-3 satellite is used as an example for illustration in the present application.

[0034] Exemplarily, a high-dynamic full-frequency multi-channel fast capture Beidou III full-frequency satellite navigation device can be used for satellite navigation. By installing two or more microstrip antennas on the surface of the carrier, the high-frequency cable length from the antenna to the satellite navigation receiver is consistent, and the dual-diversity capture method is used to alternately capture two satellite signals; after towing and tracking the satellite captured by each antenna, the carrier rotation speed is calculated at the same time, and the carrier increment adjustment value in the carrier tracking loop is corrected, and then bit synchronization and frame synchronization are processed to obtain the navigation message and perform navigation message processing; the basic parameter data such as the demodulation of the ephemeris parameters of each tracked satellite, the calculation of the satellite observation quantity and the satellite signal-to-noise ratio are comprehensively analyzed, the fusion of tracking satellite data is performed, and the appropriate satellite information is selected to participate in the positioning solution; the position and speed after the positioning solution are Kalman filtered. If the filtering result exceeds the threshold, it means that there is a large dynamic and the filtering needs to be restarted. Otherwise, the filtered result is output as the final output positioning and speed measurement result. If the satellite suddenly loses lock after the Kalman filter is completed, Kalman prediction is performed.

[0035] Through the above steps S102 to S108, at least two microstrip antennas are symmetrically installed on the surface of the high-speed rotating carrier, and the dual-diversity capture method is used to alternately capture the satellite signals of each channel, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; after the satellite signal captured by each microstrip antenna is pulled, the carrier tracking loop is adjusted to obtain the navigation message broadcast by the satellite; after the obtained navigation message is processed, the tracking satellite data is integrated to determine the target satellite information to participate in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation quantity calculation data and satellite signal-to-noise ratio; the solution result after the positioning solution is predicted by Kalman filtering, wherein the solution result is used to perform positioning measurement on the high-speed rotating carrier, thereby solving the problem of large speed measurement error existing in the existing satellite navigation positioning and achieving the purpose of improving the speed measurement positioning accuracy and stability.

[0036] In an exemplary embodiment, at least two microstrip antennas are symmetrically mounted on the surface of a high-speed rotating carrier, and dual-diversity capture is used to alternately capture satellite signals of various channels, including:

[0037] S11, after the satellite signal is received by the microstrip antenna, it passes through the low-noise amplifier module and the filter module and enters the RF channel chip to form multiple digital intermediate frequency signals;

[0038] S12, using a dual capture module in a field programmable gate array to alternately capture digital intermediate frequency signals of at least two microstrip antennas.

[0039] In the embodiment of the present application, in order to solve the signal reception continuity problem in the high-speed rotating Beidou III satellite navigation device during high-dynamic flight, such as Figure 2 As shown, dual antennas or multiple antennas can be used to perform dual diversity capture.

[0040] Specifically, the dual microstrip antenna or multi-microstrip antenna is evenly distributed on the surface of the rotating carrier to ensure conformity with the carrier surface. Here, the length of the RF cable connecting the dual microstrip antenna or multi-microstrip antenna and the satellite navigation receiver is consistent, and the error range is within ±2mm.

[0041] After the RF signal is received by the antenna, it passes through the low-noise amplifier module and the filter module and then enters the RF channel chip RF1 to form BD3 digital intermediate frequency 1 and GPS digital intermediate frequency 1; after the RF signal is received by the antenna, it passes through the low-noise amplifier module and the filter module and then enters the RF channel chip RF2 to form BD3 digital intermediate frequency 2 and GPS digital intermediate frequency 2; BD3 digital intermediate frequency 1 signal, GPS digital intermediate frequency 1 signal, BD3 digital intermediate frequency 2 signal, and GPS digital intermediate frequency 2 signal are all 4-bit digital signals, which are directly connected to the IO of FPGA through printed lines. It should be noted that BD3 digital intermediate frequency refers to the digital intermediate frequency technology used in the Beidou-3 satellite navigation system. Digital intermediate frequency technology is a signal form that transitions between baseband and radio frequency, and realizes the sending and receiving of intermediate frequency signals in a digital way. In the Beidou-3 system, digital intermediate frequency technology is applied to the development of receivers to improve the efficiency of signal processing and reduce the difficulty of debugging.

[0042] In the field programmable gate array FPGA, dual capture modules are used to capture digital intermediate frequency signals, wherein the BD3 capture module alternately captures the BD3 digital intermediate frequency signals received by antenna 1 and antenna 2, and the GPS capture module alternately captures the GPS digital intermediate frequency signals received by antenna 1 and antenna 2. It should be noted that the GPS digital intermediate frequency signal refers to a signal in which the received high-frequency radio frequency signal (RF) is converted into an intermediate frequency signal (IF) after down-conversion processing in a global positioning system (GPS) receiver, and then further digitized.

[0043] In GPS signal processing, the receiver first converts the received RF signal into an intermediate frequency signal through the antenna front end down-conversion. Then, the analog intermediate frequency signal is converted into a digital signal using an analog-to-digital converter (ADC) for subsequent digital signal processing.

[0044] In an exemplary embodiment, the satellite signal captured by each microstrip antenna is pulled and the carrier tracking loop is adjusted to obtain the navigation message, including:

[0045] S21, after pulling and tracking the satellite signal captured by each microstrip antenna, the rotation speed of the high-speed rotating carrier is calculated;

[0046] S22, after correcting the carrier increment adjustment value in the carrier tracking loop, perform bit synchronization and frame synchronization processing to obtain the navigation message.

[0047] In the present application embodiment, Figure 2 As shown, the satellite carrier Doppler and code phase captured by antenna 1 are sent to GPS tracking channels 1 to 16 and BD3 tracking channels 1 to 16 to track GPS satellite signals and BD3 satellite signals, respectively. The satellite carrier Doppler and code phase captured by antenna 2 are sent to GPS tracking channels 17 to 16 and BD3 tracking channels 17 to 32 to track GPS satellite signals and BD3 satellite signals, respectively.

[0048] GPS tracking channels 1 to 32 complete the stable tracking of GPS satellite signals, and output the channel advance correlation accumulated value, channel instantaneous correlation accumulated value, and channel lag correlation accumulated value to the ARM side (here, ARM is Advanced RISC Machine, a processor architecture) with a timed interruption of 1ms, and then complete the bit synchronization and frame synchronization of the navigation message; tracking channels 1 to 32 complete the stable tracking of BD3 satellite signals, and output the channel advance correlation accumulated value, channel instantaneous correlation accumulated value, and channel lag correlation accumulated value to the ARM side with a timed interruption of 1ms, and then complete the bit synchronization and frame synchronization of the navigation message.

[0049] According to the satellite signals captured by each channel, the GPS satellite ephemeris and almanac parameters, BD3 satellite ephemeris and almanac parameters are demodulated respectively, and the satellite observation quantities are calculated. Before positioning and solving, a comprehensive analysis is conducted based on the demodulation of the satellite ephemeris parameters tracked by the two antenna units, the calculation of the satellite observation quantities, and the basic parameter data such as the satellite signal-to-noise ratio, to complete the fusion of the dual-antenna tracking satellite data, and select the appropriate satellite information from all the satellites tracked by the dual-antenna units to participate in the positioning and solving.

[0050] Through this embodiment, the satellite signals received by the two antenna arrays are fully utilized, so that the satellite navigation receiver can capture more satellites. At the same time, 16 tracking channels are allocated to each frequency point to complete satellite signal demodulation and positioning solution, increase the number of satellites received, and then improve the positioning accuracy of the receiver.

[0051] In an exemplary embodiment, pulling and tracking the satellite signal captured by each microstrip antenna includes:

[0052] S31, calculating a rotation Doppler shift through a rotation speed measurement unit provided in the satellite navigation device, wherein the Doppler shift is used to describe the Doppler shift of the satellite signal relative to the rotation center caused by the rapid rotation of the high-speed rotating carrier;

[0053] S32, adding the rotational Doppler offset to the carrier frequency adjustment value in the carrier tracking loop to perform stable tracking of the satellite signal.

[0054] In an embodiment of the present application, in order to solve the problem of Doppler shift of satellite signals relative to the rotation center caused by the rapid rotation of the carrier in the high-speed rotating Beidou-3 satellite navigation device during high-dynamic flight, optionally, a rotation speed measurement unit inside the high-dynamic anti-rotation Beidou-3 satellite navigation device can be used to calculate the additional Doppler shift, and the measured rotation Doppler error can be added to the carrier tracking loop to perform stable tracking of the satellite signal.

[0055] Specifically, Figure 3 As shown, it is queried whether the current GPS or BD3 satellite signal is in the tracking state. If a certain GPS or BD3 satellite signal enters the stable tracking state, the timely correlation accumulation value of the 1ms channel is continuously obtained, and the absolute value of the obtained correlation accumulation value is obtained and then a 64-point Fast Fourier Transform (Fast Fourier Transform, FFT) operation is performed; according to the FFT operation result, the index corresponding to the maximum value after the FFT operation and the resolution of the 64-point FFT are obtained, and the maximum value index is multiplied by the FFT resolution to calculate the rotation speed of the carrier, and the Doppler offset calculation formula Δf is converted from the carrier rotation speed. gps =2πnr·(f gps / c), Δf bd3 =2πnr·(f bd3 / c), calculate the Doppler shift caused by the carrier rotation. The above formula ignores its projection on the angle between the satellite and the rotation phase center, where n represents the rotation speed, r represents the radius of the rotating carrier, and f gps 、f bd3 represents the carrier frequency of each frequency point, and c represents the speed of light; after the calculated GPS rotational Doppler offset and BD3 rotational Doppler offset are added to the carrier frequency adjustment value in the carrier tracking loop, the closed-loop tracking of the satellite is continued.

[0056] In an exemplary embodiment, using Kalman filtering to predict the result of the positioning solution includes:

[0057] S41, performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and restarting Kalman filtering when the filtering result exceeds a preset threshold value;

[0058] S42: When the filtering result does not exceed the preset threshold value, the filtered positioning result is output as the final output positioning and speed measurement result.

[0059] In an embodiment of the present application, in order to solve the problem of excessive rotation speed in the high-speed rotating Beidou-3 satellite navigation device during high-dynamic flight, signal loss may still occur when dual antennas or multiple antennas are used to receive satellite signals. Optionally, a Kalman filter algorithm can be used inside the high-dynamic, anti-rotation Beidou-3 satellite navigation device to predict the previous solution results, which can well compensate for the short-term loss of lock problem.

[0060] The specific steps are described as follows Figure 4 As shown in the figure, after the Beidou III satellite navigation device is positioned, Kalman filtering is performed, and the filtered result is compared with the preset threshold value. If the difference between the filtered result and the solution result exceeds the threshold, it means that there is a large dynamic, and the filtering is restarted. Otherwise, the filtered result is output as the final output positioning and speed measurement result. If the satellite suddenly loses lock after the Kalman filter is completed, Kalman prediction is performed.

[0061] According to the initial positioning value X0, the system state quantity X is established, which includes the position x, y, z of the receiver in three directions, the speed x v ,y v 、z v , acceleration x a ,y a 、z a , relative to GPS clock error τ1, clock drift τ′1, relative to BD3 clock error τ2, clock drift τ′2. For the navigation receiver system state variable X=[X S ,X T ] T X in S and X T The models are established respectively, where X S =[x,x v ,x a ,y,y v ,y a ,z,z v ,z a ] T ,X T =[τ1,τ′1,τ2,τ′2] T , assuming the sampling period is T = 0.001s, then the system X S The state equation is X S (k+1,k)=Φ S (k+1,k)X S (k)+W S(k), where Φ1(k+1,k) is called the state transfer matrix, Φ S (k+1,k)=diag(Φ sx ,Φ sy ,Φ sz ), where Φ x , Φ y , Φ z , W S (k) is as follows;

[0062]

[0063] W S (k)=[0 0 w x 0 0 w y 0 0 w z ]

[0064] w x 、w y 、w z Respectively Gaussian white noise.

[0065] System X T The state equation is X T (k+1,k)=Φ T (k+1,k)X T (k)+W T (k), where Φ T (k+1,k)=diag(Φ1,Φ1), where Φ1 is as follows:

[0066]

[0067] The observation equation Y of the filtering of BeiDou-3 satellite navigation device k =H k X k For ease of description, assume that at this moment, 3 GPS satellites are received, with clock error τ1, clock drift τ′1, pseudoranges ρ1, ρ2, ρ3, and pseudorange change rates ρ′1, ρ'2, ρ′3; 3 BD2 satellites are received, with clock error τ2, clock drift τ'2, pseudoranges ρ4, ρ5, ρ6, and pseudorange change rates ρ'4, ρ'5, ρ'6; c represents the speed of light, then the observed quantity Y(k)=[ρ1,ρ′1,ρ2,ρ'2,ρ3,ρ'3,ρ4,ρ'4,ρ5,ρ'5,ρ6,ρ'6] T , and there exists the following equation:

[0068] ρ′1=((x-x1)(x v -x v1 )+(y-y1)(y v -y v1)+(z-z1)(z v -z v1 )) / ρ1+cτ′1

[0069] ρ′2=((x-x2)(x v -x v2 )+(y-y2)(y v -y v2 )+(z-z2)(z v -z v2 )) / ρ2+cτ′1

[0070] ρ′3=((x-x3)(x v -x v3 )+(y-y3)(y v -y v3 )+(z-z3)(z v -z v3 )) / ρ3+cτ′1

[0071] ρ′4=((x-x4)(x v -x v4 )+(y-y4)(y v -y v4 )+(z-z4)(z v -z v4 )) / ρ4+cτ′2

[0072] ρ′5=((x-x5)(x v -x v5 )+(y-y5)(y v -y v5 )+(z-z5)(z v -z v5 )) / ρ5+cτ′2

[0073] ρ′6=((x-x6)(x v -x v6 )+(y-y6)(y v -y v6 )+(z-z6)(z v -z v6 )) / ρ6+cτ′2

[0074] x i 、y i 、z i ,(i=1、2,...,6)See Figure 6 in the box,x vi 、y vi 、z vi ,(i=1、2,...,6)See Figure 6 below.

[0075] Observation matrix H(k) = [H1, H2, H3, H4, H5, H6] T , specific H i (i=1,2,...,6) is as follows:

[0076]

[0077] element where (i=1,2,...,6), and It is called one-step forecast.

[0078] The error covariance matrix P1 is initially set to a diagonal matrix. The element values ​​p on the diagonal matrix are known from the experiment. ii There is the following relationship between p and filtering effect: ii The larger the value, the better the filtering effect, and the closer it is to the true value. ii Too large a value will increase the convergence time. The specific values ​​of the error covariance matrix P1, the process noise variance matrix Q, and the measurement noise matrix R need to be experimentally set according to the relevant parameters of the navigation receiver.

[0079] The Kalman equation is used for filtering. The specific equation is as follows:

[0080] X(k+1,k)=Φ(k+1,k)X(k)+AU(k)

[0081] P(k+1,k)=Φ(k+1,k)P(k)Φ T (k+1,k)+Q(k)

[0082] K(k)=P(k+1,k)H T (k)(H(k)P(k+1,k)H T (k)+R) -1

[0083] X(k+1)=X(k+1,k)+K(k)(Y(k)-H(k)X(k+1,k))

[0084] P(k+1)=(IK(k)H(k))P(k+1,k))

[0085] In an exemplary embodiment, using Kalman filtering to predict the result of the positioning solution includes:

[0086] S51, performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and performing Kalman prediction to obtain a prediction result in the event that the satellite suddenly loses lock after the Kalman filtering is completed;

[0087] S52, when the prediction result exceeds the preset threshold value, restarting the Kalman filter;

[0088] S53: When the prediction result does not exceed the preset threshold value, the filtered positioning result is output as the final output positioning and speed measurement result.

[0089] Furthermore, in order to solve the problem of large speed measurement error of Beidou-3 satellite navigation device caused by high-speed rotation during high-dynamic flight, by adding Doppler RAIM method to the high-dynamic anti-rotation Beidou-3 satellite navigation device, some satellites with large Doppler measurement errors are eliminated, which can suppress this phenomenon to a great extent. The specific steps are described as follows:

[0090] Assuming that there are n satellites participating in positioning within a certain period of time, if the number of satellites participating in positioning is n<5, the Doppler fault detection algorithm is not started. If the number of satellites participating in positioning is n>5, the Doppler fault detection algorithm is started, and the Doppler residual of each satellite participating in positioning convergence is constructed as the observation matrix H, and the Doppler RAIM threshold dop_th is preset according to the empirical value. Perform QR decomposition on the observation matrix H to obtain the Q matrix and R matrix, and take the transposed matrix Q of Q T The 5-n row space matrix Q p .

[0091] Construct a matrix B such that At the same time, construct the matrix A so that A = H\B; according to the matrix Q p Calculate the check statistic F SSE =P T P.

[0092] Perform troubleshooting if imax =max(|P T Q p (:,i)| / (norm(Q p (:,i))))>dop_th, it means that the i-th satellite is faulty. Otherwise, there is no faulty satellite among the satellites participating in positioning.

[0093] Through this embodiment, a Doppler fault detection method is added to the high-dynamic anti-rotation Beidou-3 satellite navigation device, and some satellites with large Doppler measurement errors are eliminated, thereby reducing the speed measurement error.

[0094] According to another aspect of an embodiment of the present application, a satellite navigation device for implementing the above-mentioned satellite navigation method supporting high dynamic anti-rotation is also provided. Figure 5 is a schematic structural diagram of an optional satellite navigation device supporting high dynamic anti-rotation according to an embodiment of the present application, such as Figure 5As shown, the device may include:

[0095] The capture unit 502 is used to symmetrically install at least two microstrip antennas on the surface of the high-speed rotating carrier, and alternately capture satellite signals of various channels using a dual-diversity capture method, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent;

[0096] The acquisition unit 504 is used to adjust the carrier tracking loop after pulling the satellite signal captured by each microstrip antenna to obtain the navigation message broadcast by the satellite;

[0097] The positioning solution unit 506 is used to process the acquired navigation message and then fuse the tracking satellite data to determine the target satellite information to participate in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio;

[0098] The filtering unit 508 is used to use Kalman filtering to predict the solution result after the positioning solution, wherein the solution result is used to locate and measure the speed of the high-speed rotating carrier.

[0099] It should be noted that the capture unit 302 in this embodiment can be used to execute the above step S102, the acquisition unit 304 in this embodiment can be used to execute the above step S104, the positioning settlement unit 306 in this embodiment can be used to execute the above step S106, and the filtering unit 308 in this embodiment can be used to execute the above step S108.

[0100] Through the above-mentioned module, at least two microstrip antennas are symmetrically installed on the surface of the high-speed rotating carrier, and the dual-diversity capture method is used to alternately capture the satellite signals of each channel, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; after the satellite signal captured by each microstrip antenna is pulled, the carrier tracking loop is adjusted to obtain the navigation message broadcast by the satellite; after the obtained navigation message is processed, the tracking satellite data is integrated to determine the target satellite information to participate in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation quantity calculation data and satellite signal-to-noise ratio; the solution result after the positioning solution is predicted by Kalman filtering, wherein the solution result is used to perform positioning measurement on the high-speed rotating carrier, thereby solving the problem of large speed measurement error existing in the existing satellite navigation positioning and achieving the purpose of improving the speed measurement positioning accuracy and stability.

[0101] In an exemplary embodiment, the capture unit comprises:

[0102] A receiving module, which is used for the satellite signal to be received by the microstrip antenna, and then enter the radio frequency channel chip after passing through the low-noise amplification module and the filtering module to form multiple digital intermediate frequency signals;

[0103] The capture module is used to use dual capture modules in a field programmable gate array to alternately capture digital intermediate frequency signals from the at least two microstrip antennas.

[0104] In an exemplary embodiment, the acquiring unit includes:

[0105] A calculation module, used to calculate the rotation speed of the high-speed rotating carrier after pulling and tracking the satellite signal captured by each microstrip antenna;

[0106] The acquisition module is used to correct the carrier increment adjustment value in the carrier tracking loop, perform bit synchronization and frame synchronization processing, and acquire the navigation message.

[0107] In an exemplary embodiment, the calculation module includes:

[0108] A calculation submodule, used to calculate a rotational Doppler shift through a rotation speed measurement unit provided inside the satellite navigation device, wherein the Doppler shift is used to describe the Doppler shift of the satellite signal relative to the rotation center caused by the rapid rotation of the high-speed rotating carrier;

[0109] The tracking submodule is used to add the rotational Doppler offset to the carrier frequency adjustment value in the carrier tracking loop to perform stable tracking of the satellite signal.

[0110] In an exemplary embodiment, the filtering unit comprises:

[0111] A first filtering module is used to perform Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and restart Kalman filtering when the filtering result exceeds a preset threshold value;

[0112] The first output module is used to output the filtered positioning result as the final output positioning and speed measurement result when the filtering result does not exceed the preset threshold value.

[0113] In an exemplary embodiment, the filtering unit comprises:

[0114] The second filtering module is used to perform Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and to perform Kalman prediction to obtain a prediction result in the event that the satellite suddenly loses lock after the Kalman filtering is completed;

[0115] A third filtering module, used for restarting Kalman filtering when the prediction result exceeds a preset threshold value;

[0116] The second output module is used to output the filtered positioning result as the final output positioning and speed measurement result when the prediction result does not exceed the preset threshold value.

[0117] It should be noted here that the examples and scenarios implemented by the above-mentioned modules and corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiments. It should be noted that the above-mentioned modules as part of the device can run in a hardware environment and can be implemented by software or hardware, wherein the hardware environment includes a network environment.

[0118] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned satellite navigation methods supporting high dynamic anti-rotation in the embodiments of the present application.

[0119] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0120] S1, symmetrically install at least two microstrip antennas on the surface of a high-speed rotating carrier, and use a dual-diversity capture method to alternately capture satellite signals from each channel, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent;

[0121] S2, after pulling the satellite signal captured by each microstrip antenna, adjust the carrier tracking loop to obtain the navigation message broadcast by the satellite;

[0122] S3, after processing the acquired navigation message, the tracking satellite data is integrated to determine the target satellite information for positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio;

[0123] S4, using Kalman filtering to predict the result of the positioning solution, wherein the solution result is used to position and measure the speed of the high-speed rotating carrier.

[0124] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0125] Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0126] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned satellite navigation method supporting high dynamic anti-rotation is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0127] Figure 6 is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application, such as Figure 6 As shown, it includes a processor 602, a communication interface 604, a memory 606 and a communication bus 608, wherein the processor 602, the communication interface 604, and the memory 606 communicate with each other through the communication bus 608, wherein,

[0128] Memory 606, used to store computer programs;

[0129] The processor 602 is used to implement the following steps when executing the computer program stored in the memory 606:

[0130] S1, symmetrically install at least two microstrip antennas on the surface of a high-speed rotating carrier, and use a dual-diversity capture method to alternately capture satellite signals from each channel, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent;

[0131] S2, after pulling the satellite signal captured by each microstrip antenna, adjust the carrier tracking loop to obtain the navigation message broadcast by the satellite;

[0132] S3, after processing the acquired navigation message, the tracking satellite data is integrated to determine the target satellite information for positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio;

[0133] S4, using Kalman filtering to predict the result of the positioning solution, wherein the solution result is used to position and measure the speed of the high-speed rotating carrier.

[0134] Optionally, the communication bus may be a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 The communication interface is used for communication between the electronic device and other devices.

[0135] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0136] As an example, the memory 606 may include, but is not limited to, the capture unit 502, the acquisition unit 504, the positioning solution unit 506, and the judgment and filtering unit 508 in the satellite navigation device supporting high dynamic anti-rotation. In addition, other module units in the satellite navigation device supporting high dynamic anti-rotation may also be included but are not limited to, which will not be repeated in this example.

[0137] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0138] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0139] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0144] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0145] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0146] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A satellite navigation method supporting high dynamic anti-rotation, characterized in that: include: At least two microstrip antennas are symmetrically mounted on the surface of a high-speed rotating carrier, and dual-diversity capture is used to alternately capture satellite signals of various channels, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; After the satellite signal captured by each microstrip antenna is pulled, the carrier tracking loop is adjusted to obtain the navigation message broadcast by the satellite; After processing the acquired navigation message, the tracking satellite data is integrated to determine the target satellite information for participating in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio; The solution result after positioning solution is predicted by Kalman filtering, wherein the solution result is used to position and measure the speed of the high-speed rotating carrier.

2. The satellite navigation method supporting high dynamic anti-rotation as claimed in claim 1, characterized in that: The method of symmetrically installing at least two microstrip antennas on the surface of the high-speed rotating carrier and alternately capturing satellite signals of various channels in a dual-diversity capture mode comprises: After the satellite signal is received by the microstrip antenna, it passes through the low-noise amplifier module and the filter module and then enters the radio frequency channel chip to form multiple digital intermediate frequency signals; A dual capture module is used in the field programmable gate array to alternately capture digital intermediate frequency signals of the at least two microstrip antennas.

3. The satellite navigation method supporting high dynamic anti-rotation as claimed in claim 1, characterized in that: The satellite signal captured by each microstrip antenna is pulled and the carrier tracking loop is adjusted to obtain the navigation message, which includes: After pulling and tracking the satellite signals captured by each microstrip antenna, the rotation speed of the high-speed rotating carrier is calculated; After correcting the carrier increment adjustment value in the carrier tracking loop, bit synchronization and frame synchronization processing are performed to obtain the navigation message.

4. The satellite navigation method supporting high dynamic anti-rotation as claimed in claim 3, characterized in that: The pulling and tracking of the satellite signal captured by each microstrip antenna comprises: The rotation Doppler shift is calculated by a rotation speed measurement unit provided in the satellite navigation device, wherein the Doppler shift is used to describe the Doppler shift of the satellite signal relative to the rotation center caused by the rapid rotation of the high-speed rotating carrier; The rotational Doppler offset is added to the carrier frequency adjustment value in the carrier tracking loop to perform stable tracking of the satellite signal.

5. The satellite navigation method supporting high dynamic anti-rotation as claimed in claim 1, characterized in that: The prediction of the solution result after the positioning solution by using Kalman filtering includes: Performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and restarting Kalman filtering when the filtering result exceeds a preset threshold value; When the filtering result does not exceed the preset threshold value, the filtered positioning result is output as the final output positioning and speed measurement result.

6. The satellite navigation method supporting high dynamic anti-rotation as claimed in claim 1, characterized in that: The prediction of the solution result after the positioning solution by using Kalman filtering includes: Performing Kalman filtering on the position and speed of the high-speed rotating carrier after positioning solution, and performing Kalman prediction to obtain a prediction result in the event that the satellite suddenly loses lock after the Kalman filtering is completed; When the prediction result exceeds the preset threshold, Kalman filtering is restarted; When the prediction result does not exceed the preset threshold value, the filtered positioning result is output as the final output positioning and speed measurement result.

7. A satellite navigation device supporting high dynamic anti-rotation, comprising: A capture unit is used to symmetrically install at least two microstrip antennas on the surface of a high-speed rotating carrier, and alternately capture satellite signals of various channels using a dual-diversity capture method, wherein the length of the high-frequency cable from each microstrip antenna to the satellite navigation receiver is consistent; An acquisition unit, used to adjust a carrier tracking loop after pulling the satellite signal captured by each microstrip antenna, and acquire a navigation message broadcast by the satellite; A positioning solution unit is used to process the acquired navigation message and then fuse the tracking satellite data to determine the target satellite information to participate in the positioning solution, wherein the tracking satellite data includes satellite ephemeris parameter demodulation data, satellite observation calculation data and satellite signal-to-noise ratio; A filtering unit is used to predict the solution result after positioning solution by using Kalman filtering, wherein the solution result is used to locate and measure the speed of the high-speed rotating carrier.

8. The satellite navigation device supporting high dynamic anti-rotation as claimed in claim 7, characterized in that: The capture unit comprises: A receiving module, which is used for the satellite signal to be received by the microstrip antenna, and then enter the radio frequency channel chip after passing through the low-noise amplification module and the filtering module to form multiple digital intermediate frequency signals; The capture module is used to use dual capture modules in a field programmable gate array to alternately capture digital intermediate frequency signals from the at least two microstrip antennas.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

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