Positioning mode switching system, method and equipment for sounding rocket and medium

Abstract

The invention provides a positioning mode switching system, method and device for a sounding rocket and a medium. The system comprises four GNSS positioning antennas, a baseband processing unit and a mode switching unit, the baseband processing unit comprises a first baseband SOC and a second baseband SOC, and the four GNSS positioning antennas are used for receiving navigation signals; the first baseband SOC is used for carrying out positioning processing on a first navigation signal of the first GNSS positioning antenna and a third navigation signal of the third GNSS positioning antenna by adopting a high-precision positioning algorithm to obtain first positioning information; the second baseband SOC is used for carrying out positioning processing on a second navigation signal of the second GNSS positioning antenna and a fourth navigation signal of the fourth GNSS positioning antenna by adopting a carrier phase adaptive fast tracking algorithm to obtain second positioning information; and the mode switching unit is used for switching the positioning mode according to the relationship among the first positioning information, the second positioning information and the threshold range.

Description

Technical Field

[0001] The present application relates to the field of aviation technology, and in particular to a positioning mode switching system, method, device and medium for a sounding rocket. Background Art

[0002] The sounding rocket is the only field exploration tool for near-space. It is an effective means of three-dimensional profile exploration of the middle and upper atmosphere and microgravity scientific experiments, and a verification platform for new payloads and their new technologies, new devices and new materials. It has been widely used in many fields such as space weather forecasting, middle and upper atmosphere research, near-space environment research, material processing under microgravity conditions, high-altitude biology research, and earth resource exploration. It has advantages and functions that cannot be replaced by other aircraft.

[0003] As an indispensable and important component of sounding rockets, the GNSS (Global Navigation Satellite System) positioning system is designed to provide real-time position, velocity, acceleration and other information for the sounding rocket platform, provide high-precision position and velocity information for scientific payload data inversion, and provide continuous and reliable actual orbit information for the rocket-borne platform to meet the combined navigation needs of the rocket-borne attitude measurement instrument.

[0004] Existing sounding rockets usually use a dual-positioning antenna GNSS positioning system, with two antennas 180° apart and symmetrically installed on the outer wall of the rocket body. This design method can generally meet the needs of the GNSS positioning system for continuous positioning during the stable flight of the sounding rocket. However, when the sounding rocket experiences high acceleration, high jerk, high-speed rotation and tumbling, the GNSS positioning system often loses lock temporarily and has low positioning accuracy. Summary of the invention

[0005] The embodiments of the present application provide a positioning mode switching system, method, device and medium for a sounding rocket to solve the problem of loss of lock and low positioning accuracy of the existing rocket-borne GNSS positioning system under the high dynamic conditions of the sounding rocket.

[0006] In order to solve the above technical problems, the embodiments of the present application are implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a positioning mode switching system for a sounding rocket, the system comprising: four GNSS positioning antennas installed on the outer wall of the sounding rocket, a baseband processing unit and a mode switching unit, the baseband processing unit comprising: a first baseband SOC and a second baseband SOC, the four GNSS positioning antennas comprising: a first GNSS positioning antenna, a second GNSS positioning antenna, a third GNSS positioning antenna and a fourth GNSS positioning antenna, the four GNSS positioning antennas are located at the same height perpendicular to the sounding rocket, and the angle between two adjacent antennas of the four GNSS positioning antennas is 90°, the angle between the first GNSS positioning antenna and the third GNSS positioning antenna is 180°, wherein,

[0008] The four GNSS positioning antennas are used to receive navigation signals;

[0009] The first baseband SOC is used to use a high-precision positioning algorithm to perform positioning processing on the first navigation signal received by the first GNSS positioning antenna and the third navigation signal received by the third GNSS positioning antenna to obtain first positioning information of the sounding rocket;

[0010] The second baseband SOC is used to adopt a carrier phase adaptive fast tracking algorithm to perform positioning processing on the second navigation signal received by the second GNSS positioning antenna and the fourth navigation signal received by the fourth GNSS antenna to obtain second positioning information of the sounding rocket;

[0011] The mode switching unit is used to switch the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range.

[0012] Optionally, the first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and a first number of positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and a second number of positioning satellites;

[0013] The mode switching unit is specifically used to switch the positioning mode of the sounding rocket to the high-precision positioning mode when the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range;

[0014] When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, switching the positioning mode of the sounding rocket to a high dynamic positioning mode;

[0015] The minimum value of the second threshold range is greater than the maximum value of the first threshold range.

[0016] Optionally,

[0017] The mode switching unit is further configured to, when the positioning mode of the sounding rocket is a high-precision positioning mode, send the first positioning information to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the first positioning information;

[0018] When the positioning mode of the sounding rocket is a high dynamic positioning mode, the second positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

[0019] Optionally, the system further includes: a radio frequency amplification and filtering unit and a radio frequency processing unit, the radio frequency amplification and filtering unit includes: a first radio frequency unit and a third radio frequency unit, the radio frequency processing unit includes: a first radio frequency chip and a third radio frequency chip,

[0020] The first radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the first navigation signal to obtain a first processed navigation signal;

[0021] The third radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the third navigation signal to obtain a third processed navigation signal;

[0022] The first radio frequency chip is used to process the first processed navigation signal to obtain a first digital signal;

[0023] The third radio frequency chip is used to process the third processed navigation signal to obtain a third digital signal;

[0024] The first baseband SOC is specifically used to fuse the first digital signal and the second digital signal, and use a high-precision positioning algorithm to perform positioning and solution processing on the fused digital signal to obtain the first positioning information.

[0025] Optionally, the RF amplification and filtering unit further includes: a second RF unit and a fourth RF unit, and the RF processing unit further includes: a second RF chip and a fourth RF chip.

[0026] The second radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the second navigation signal to obtain a second processed navigation signal;

[0027] The fourth radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the fourth navigation signal to obtain a fourth processed navigation signal;

[0028] The second radio frequency chip is used to process the second processed navigation signal to obtain a second digital signal;

[0029] The fourth radio frequency chip is used to process the fourth processed navigation signal to obtain a fourth digital signal;

[0030] The second baseband SOC is specifically used to fuse the second digital signal and the fourth digital signal, and use a carrier phase adaptive fast tracking algorithm to perform positioning and solution processing on the fused digital signal to obtain the second positioning information.

[0031] Optionally, the first RF unit, the second RF unit, the third RF unit and the fourth RF unit all include: a low noise amplifier, an attenuator and a filter.

[0032] Optionally, the four GNSS positioning antennas are all right-hand circularly polarized positioning antennas.

[0033] In a second aspect, an embodiment of the present application provides a method for switching a positioning mode of a sounding rocket, which is applied to any of the above-mentioned systems, and the method includes:

[0034] Acquire a first navigation signal received by a first GNSS positioning antenna, a second navigation signal received by a second GNSS positioning antenna, a third navigation signal received by a third GNSS positioning antenna, and a fourth navigation signal received by a fourth GNSS positioning antenna;

[0035] Using a high-precision positioning algorithm, positioning processing is performed on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket;

[0036] Using a carrier phase adaptive fast tracking algorithm, positioning the second navigation signal and the fourth navigation signal are processed to obtain second positioning information of the sounding rocket;

[0037] The positioning mode for the sounding rocket is switched according to the relationship between the first positioning information, the second positioning information and a preset threshold range.

[0038] Optionally, the first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and a first number of positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and a second number of positioning satellites;

[0039] The switching of the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range includes:

[0040] When the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range, switching the positioning mode of the sounding rocket to a high-precision positioning mode;

[0041] When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, switching the positioning mode of the sounding rocket to a high dynamic positioning mode;

[0042] The minimum value of the second threshold range is greater than the maximum value of the first threshold range.

[0043] Optionally, after switching the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range, the method further includes:

[0044] In a case where the positioning mode of the sounding rocket is a high-precision positioning mode, the first positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform positions the sounding rocket according to the first positioning information;

[0045] When the positioning mode of the sounding rocket is a high dynamic positioning mode, the second positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

[0046] Optionally, the adopting a high-precision positioning algorithm to perform positioning processing on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket includes:

[0047] Performing signal processing on the first navigation signal and the third navigation signal respectively to obtain a corresponding first digital signal and a third digital signal;

[0048] The first baseband SOC is called to perform data fusion processing on the first digital signal and the third digital signal to obtain a fused digital signal, and a high-precision positioning algorithm is used to perform positioning solution processing on the fused digital signal to obtain the first positioning information.

[0049] Optionally, the adopting a carrier phase adaptive fast tracking algorithm to perform positioning processing on the second navigation signal and the fourth navigation signal to obtain second positioning information of the sounding rocket includes:

[0050] performing signal processing on the second navigation signal and the fourth navigation signal respectively to obtain a corresponding second digital signal and fourth digital signal;

[0051] The second baseband SOC is called to perform data fusion processing on the second digital signal and the fourth digital signal to obtain a fused digital signal, and the digital signal fused by a carrier phase adaptive fast tracking algorithm is used to perform positioning solution processing to obtain the second positioning information.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0053] A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the positioning mode switching method for a sounding rocket described in any one of the above items is implemented.

[0054] In a fourth aspect, an embodiment of the present application provides a readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute any of the above-described positioning mode switching methods for a sounding rocket.

[0055] In the embodiment of the present application, by adopting the dual-mode intelligent switching method and the uniform layout of 4 independent positioning antennas, the GNSS positioning system is not lost and is uninterrupted under the conditions of high acceleration, high jerk, high-speed rotation and tumbling of the sounding rocket, overcoming the defects of the existing rocket-borne GNSS positioning system losing lock and low positioning accuracy under the high dynamic conditions of the sounding rocket. At the same time, the dual-antenna signal adaptive synthesis technology is adopted to simultaneously receive the GNSS signals received by the two antennas, effectively improving the GNSS signal reception efficiency and improving the system positioning accuracy.

[0056] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application 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.

[0058] Figure 1 A schematic diagram of the structure of a positioning mode switching system for a sounding rocket provided in an embodiment of the present application;

[0059] Figure 2 A block diagram of a system principle provided in an embodiment of the present application;

[0060] Figure 3 A block diagram of a circuit design principle provided in an embodiment of the present application;

[0061] Figure 4 A schematic diagram of a GNSS positioning antenna and a GNSS receiver layout provided in an embodiment of the present application;

[0062] Figure 5 A block diagram of a dual-antenna adaptive fast synthesis principle provided in an embodiment of the present application;

[0063] Figure 6 A schematic diagram of an adaptive intelligent switching control process provided in an embodiment of the present application;

[0064] Figure 7 A flowchart of a method for switching positioning modes of a sounding rocket provided in an embodiment of the present application;

[0065] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] The existing sounding rocket adopts a dual-positioning antenna GNSS positioning system, with the two antennas 180° apart. When the sounding rocket experiences high acceleration, high jerk, high-speed rotation and tumbling, the GNSS positioning system often loses lock temporarily and has low positioning accuracy.

[0068] In order to solve the above problems, the embodiment of the present application provides a system for arrow-borne dual-mode intelligent switching GNSS positioning. Figure 2As shown, the system includes: an antenna unit, a high-dynamic module, a high-precision module and an intelligent switching unit. The antenna unit can receive GNSS navigation positioning signals. The high-dynamic module can capture, track and solve the positioning signals received by the antenna unit, and transmit the solved positioning information to the intelligent switching unit. The high-precision module simultaneously captures, tracks and solves the positioning signals received by the antenna unit, and transmits the solved positioning information to the intelligent switching unit. The intelligent switching unit can judge the two positioning information data from the high-precision module and the high-dynamic module, and then transmit one of the better positioning information to the rocket platform. When the sounding rocket is running in a high-dynamic state, the system switches to a high-dynamic scene, increases the tracking loop bandwidth, increases the loop integration time, and ensures that the system positioning system does not lose lock and is uninterrupted; when the sounding rocket is in a stable flight state, the system switches to a high-precision scene, reduces the tracking loop bandwidth, reduces the loop integration time, and improves the system positioning accuracy.

[0069] Next, the technical solution of the embodiment of the present application is described in detail in conjunction with specific embodiments.

[0070] Reference Figure 1 , shows a schematic diagram of the structure of a positioning mode switching system for a sounding rocket provided by an embodiment of the present application. Figure 1 As shown, the positioning mode switching system 100 for a sounding rocket may include: 4 GNSS positioning antennas installed on the outer wall of the sounding rocket, a baseband processing unit 105 and a mode switching unit 106, the baseband processing unit 105 may include: a first baseband SOC 1051 and a second baseband SOC 1052, the 4 GNSS positioning antennas include: a first GNSS positioning antenna 101, a second GNSS positioning antenna 102, a third GNSS positioning antenna 103 and a fourth GNSS positioning antenna 104, wherein,

[0071] The four GNSS positioning antennas are located at the same height perpendicular to the sounding rocket, and the angle between two adjacent antennas among the four GNSS positioning antennas is 90°, and the angle between the first GNSS positioning antenna 101 and the third GNSS positioning antenna 103 is 180°.

[0072] In this embodiment, the four GNSS positioning antennas may be, but are not limited to, right-hand circularly polarized positioning antennas. A right-hand circularly polarized antenna refers to an antenna whose radiation or reception of electromagnetic waves presents a right-hand circularly polarized state in space. Circularly polarized waves are a special form of electromagnetic waves, and their electric field vectors rotate in a circle over time in space. When the electric field vector rotates in a clockwise direction, it is called a right-hand circularly polarized wave. The right-hand circularly polarized antenna is designed specifically, such as a spiral structure, a microstrip patch, etc., so that it can efficiently radiate or receive right-hand circularly polarized waves.

[0073] The layout of the GNSS positioning antenna and GNSS receiver can be as follows: Figure 4 Among them, the GNSS positioning antenna T1, the GNSS positioning antenna T2, the GNSS positioning antenna T3 and the GNSS positioning antenna T4 can be used to represent the first GNSS positioning antenna, the second GNSS positioning antenna, the third GNSS positioning antenna and the fourth GNSS positioning antenna respectively.

[0074] like Figure 4 As shown, the GNSS positioning antenna T1 is located between the first quadrant and the second quadrant of the rocket body, and the coaxial cable GNSS-C1 connects the port X1 of the GNSS positioning antenna T1 with the port X5 of the GNSS receiver to transmit the navigation signal received by the GNSS positioning antenna T1 to the GNSS receiver. The GNSS positioning antenna T2 is located between the second quadrant and the third quadrant of the rocket body, and the coaxial cable GNSS-C2 connects the port X2 of the GNSS positioning antenna T2 with the port X6 of the GNSS receiver to transmit the navigation signal received by the GNSS positioning antenna T2 to the GNSS receiver. The GNSS positioning antenna T3 is located between the third quadrant and the fourth quadrant of the rocket body, and the coaxial cable GNSS-C3 connects the port X3 of the GNSS positioning antenna T3 with the port X7 of the GNSS receiver to transmit the navigation signal received by the GNSS positioning antenna T3 to the GNSS receiver. The GNSS positioning antenna T4 is located between the fourth quadrant and the first quadrant of the arrow body. The coaxial cable GNSS-C4 connects the port X4 of the GNSS positioning antenna T4 with the port X8 of the GNSS receiver to transmit the navigation signal received by the GNSS positioning antenna T4 to the GNSS receiver.

[0075] The four GNSS positioning antennas can be used to receive navigation signals. The main function of the GNSS positioning antenna is to receive signals from navigation satellites. These signals contain the position and time information of the satellites and are the basis for the GNSS system to achieve positioning, navigation and timing functions. By receiving and analyzing these signals, the GNSS receiver can determine its own position, speed and time.

[0076] The first baseband SOC (System on Chip) 1051 can be used to adopt a high-precision positioning algorithm to perform positioning processing on the first navigation signal received by the first GNSS positioning antenna 101 and the third navigation signal received by the third GNSS positioning antenna 103 to obtain first positioning information of the sounding rocket.

[0077] The second baseband SOC 1052 may be used to perform positioning processing on the second navigation signal received by the second GNSS positioning antenna 102 and the fourth navigation signal received by the fourth GNSS antenna 104 using a carrier phase adaptive fast tracking algorithm to obtain second positioning information of the sounding rocket.

[0078] The mode switching unit 106 may be configured to switch the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information, and a preset threshold range.

[0079] Among them, high-precision positioning algorithms rely on observation data from the Global Navigation Satellite System (GNSS) and achieve centimeter-level or even millimeter-level positioning accuracy through complex mathematical models and data processing technologies. These algorithms usually include differential GPS (DGPS), real-time kinematic differential technology (RTK), precise point positioning (PPP), etc.

[0080] The carrier phase adaptive fast tracking algorithm is a technology used to improve the tracking performance of GNSS receivers. The algorithm adaptively adjusts the tracking parameters of the receiver to quickly and accurately track the carrier phase in the satellite signal.

[0081] In this embodiment, the first positioning information may include: a first positioning state parameter, a first positioning result measurement parameter (Position Dilution of Precision, PDOP) and a first number of positioning satellites, and the second positioning information may include: a second positioning state parameter, a second positioning result measurement parameter and a second number of positioning satellites. The positioning state parameter can be used to indicate the result of positioning, and can be represented by 1 and 0, where 1 indicates that there is a positioning result and 0 indicates that there is no positioning result. PDOP refers to the strength of position accuracy, which is an indicator for measuring positioning accuracy. The number of positioning satellites refers to the number of satellites involved in positioning.

[0082] In a specific implementation of the present application, the mode switching unit 106 can be specifically used to switch the positioning mode of the sounding rocket to a high-precision positioning mode when the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range.

[0083] When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, the positioning mode of the sounding rocket is switched to a high dynamic positioning mode, wherein the minimum value of the second threshold range is greater than the maximum value of the first threshold range.

[0084] In this embodiment, the threshold ranges corresponding to the high dynamic positioning mode and the high precision positioning mode can be pre-set, namely, the first threshold range and the second threshold range. The first threshold range may include the threshold ranges corresponding to the first positioning state parameter, the first positioning result measurement parameter, and the first number of positioning satellites. The second threshold range may include the threshold ranges corresponding to the second positioning state parameter, the second positioning result measurement parameter, and the second number of positioning satellites.

[0085] In another specific implementation of the present application, Figure 1 As shown, the mode switching unit 106 can also be used to send the first positioning information to the rocket platform corresponding to the sounding rocket when the positioning mode of the sounding rocket is the high-precision positioning mode, so that the rocket platform can position the sounding rocket according to the first positioning information.

[0086] When the positioning mode of the sounding rocket is the high dynamic positioning mode, the second positioning information is sent to the rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

[0087] The embodiment of the present application judges the two types of positioning information from the high-precision positioning mode and the high-dynamic positioning mode, and then transmits the better positioning information to the rocket platform, thereby avoiding the defects of the GNSS positioning system losing lock and having low positioning accuracy under the high dynamic conditions of the sounding rocket.

[0088] In another specific implementation of the present application, the positioning mode switching system for a sounding rocket may also include: a radio frequency amplification and filtering unit and a radio frequency processing unit, the radio frequency amplification and filtering unit may include: a first radio frequency unit, a second radio frequency unit, a third radio frequency unit and a fourth radio frequency unit, and the radio frequency processing unit may include: a first radio frequency chip, a second radio frequency chip, a third radio frequency chip and a fourth radio frequency chip.

[0089] in,

[0090] In a first specific implementation, the first radio frequency unit may be used to perform signal amplification, gain adjustment, and filtering processing on the first navigation signal to obtain a first processed navigation signal.

[0091] The third radio frequency unit may be used to perform signal amplification, gain adjustment and filtering processing on the third navigation signal to obtain a third processed navigation signal.

[0092] The first radio frequency chip can be used to process the first processed navigation signal to obtain a first digital signal.

[0093] The third radio frequency chip can be used to process the third processed navigation signal to obtain a third digital signal.

[0094] The first baseband SOC can be specifically used to fuse the first digital signal and the second digital signal, and use a high-precision positioning algorithm to perform positioning and solution processing on the fused digital signal to obtain first positioning information.

[0095] In a second specific implementation of the present application, the second radio frequency unit may be used to perform signal amplification, gain adjustment, and filtering processing on the second navigation signal to obtain a second processed navigation signal.

[0096] The fourth radio frequency unit may be used to perform signal amplification, gain adjustment and filtering processing on the fourth navigation signal to obtain a fourth processed navigation signal.

[0097] The second radio frequency chip can be used to process the second processed navigation signal to obtain a second digital signal.

[0098] The fourth radio frequency chip can be used to process the fourth processed navigation signal to obtain a fourth digital signal.

[0099] The second baseband SOC can be specifically used to fuse the second digital signal and the fourth digital signal, and use a carrier phase adaptive fast tracking algorithm to perform positioning and solution processing on the fused digital signal to obtain second positioning information.

[0100] In this embodiment, the first radio frequency unit, the second radio frequency unit, the third radio frequency unit and the fourth radio frequency unit may each include: a low noise amplifier, an attenuator and a filter.

[0101] The embodiment of the present application adopts dual-antenna signal adaptive synthesis technology to simultaneously receive GNSS signals received by two antennas, thereby effectively improving the GNSS signal reception efficiency and improving the system positioning accuracy.

[0102] Next, combine Figure 3 The circuit design for mode switching is described in detail.

[0103] exist Figure 3 In the figure, the GNSS positioning antenna T1 is the first GNSS positioning antenna, the GNSS positioning antenna T2 is the second GNSS positioning antenna, the GNSS positioning antenna T3 is the third GNSS positioning antenna, and the GNSS positioning antenna T4 is the fourth GNSS positioning antenna.

[0104] The RF amplification and filtering unit includes a first RF amplification and filtering channel, a second RF amplification and filtering channel, a third RF amplification and filtering channel and a fourth RF amplification and filtering channel (representing the first RF unit, the second RF unit, the third RF unit and the fourth RF unit in this embodiment respectively).

[0105] The radio frequency processing unit includes a first radio frequency IC, a second radio frequency IC, a third radio frequency IC and a fourth radio frequency IC (representing the first radio frequency chip, the second radio frequency chip, the third radio frequency chip and the fourth radio frequency chip in this embodiment respectively).

[0106] The first baseband SOC in the baseband processing unit is the first baseband SOC in this embodiment, and the second baseband SOC is the second baseband SOC in this embodiment.

[0107] In the specific implementation process, the first RF amplification and filtering channel may include a low noise amplifier, an attenuator and an RF filter. The low noise amplifier can be used to low-noise amplify the navigation signal received by the GNSS positioning antenna T1. In order to reduce the system noise coefficient and ensure sufficient system gain, the noise coefficient NF of the low noise amplifier needs to be less than 1.5dB, and the gain of the low noise amplifier needs to meet 30±2dB. The attenuator can adaptively adjust the gain of the amplified signal. The RF filter can filter the adjusted signal, filter out out-of-band interference and image interference, and then transmit the processed navigation signal to the first RF IC (Integrated Circuit) in the RF processing unit.

[0108] The second RF amplification and filtering channel may include a low noise amplifier, an attenuator, and a RF filter. The low noise amplifier may be used to amplify the navigation signal received by the GNSS positioning antenna T2 with low noise. In order to reduce the system noise coefficient and ensure sufficient system gain, the noise coefficient NF of the low noise amplifier needs to be less than 1.5dB, and the gain of the low noise amplifier needs to meet 30±2dB. The attenuator may perform adaptive gain adjustment on the amplified signal. The RF filter may filter the adjusted signal, filter out out-of-band interference and image interference, and then transmit the processed navigation signal to the second RF IC in the RF processing unit.

[0109] The third RF amplification and filtering channel may include a low noise amplifier, an attenuator, and a RF filter. The low noise amplifier may be used to amplify the navigation signal received by the GNSS positioning antenna with low noise. In order to reduce the system noise coefficient and ensure sufficient system gain, the noise coefficient NF of the low noise amplifier needs to be less than 1.5dB, and the gain of the low noise amplifier needs to meet 30±2dB. The attenuator may perform adaptive gain adjustment on the amplified signal. The RF filter may filter the adjusted signal, filter out out-of-band interference and image interference, and then transmit the processed navigation signal to the third RF IC in the RF processing unit.

[0110] The fourth RF amplification and filtering channel may include a low noise amplifier, an attenuator and an RF filter. The low noise amplifier may be used to low-noise amplify the navigation signal received by the GNSS positioning antenna. In order to reduce the system noise coefficient and ensure sufficient system gain, the noise coefficient NF of the low noise amplifier needs to be less than 1.5dB, and the gain of the low noise amplifier needs to meet 30±2dB. The attenuator may perform adaptive gain adjustment on the amplified signal. The RF filter may filter the adjusted signal, filter out out-of-band interference and image interference, and then transmit the processed navigation signal to the fourth RF IC in the RF processing unit.

[0111] The first RF IC can further amplify the signal filtered by the first RF amplification and filtering channel, down-convert (the amplified RF signal is converted into an intermediate frequency signal through a down-converter), perform intermediate frequency filtering (the intermediate frequency signal is filtered through an intermediate frequency filter to remove spurious signals and noise generated during the mixing process), intermediate frequency amplification (the filtered intermediate frequency signal is amplified again to improve the signal-to-noise ratio and dynamic range of the signal), and AD sampling (the amplified intermediate frequency signal is sampled through an analog-to-digital converter (ADC) to convert the analog signal into a digital signal). Considering the signal bandwidth, the sampling rate can be set to 40MHz, and then the digital signal after AD sampling is input into the first baseband SOC of the baseband processing unit.

[0112] The second RF IC can further amplify, down-convert, filter, amplify and AD sample the signal filtered by the second RF amplification and filtering channel. Considering the signal bandwidth, the sampling rate can be set to 40MHz, and then the digital signal after AD sampling is input into the second baseband SOC of the baseband processing unit.

[0113] The third RF IC can further amplify, down-convert, filter, amplify and AD sample the signal filtered by the third RF amplification and filtering channel. Considering the signal bandwidth, the sampling rate can be set to 40MHz, and then the digital signal after AD sampling is input into the first baseband SOC of the baseband processing unit.

[0114] The fourth RF IC can further amplify, down-convert, filter, amplify and AD sample the signal filtered by the fourth RF amplification and filtering channel. Considering the signal bandwidth, the sampling rate can be set to 40MHz, and then the digital signal after AD sampling is input into the second baseband SOC of the baseband processing unit.

[0115] The first baseband SOC performs data fusion, high-precision algorithm processing and positioning calculation on the digital signals processed by the first RF IC and the third RF IC. The specific operation process is as follows: first, data fusion is performed on the two signals received by the first RF IC and the third RF IC. Figure 5As shown, in this embodiment, a dual-antenna adaptive fast synthesis technology is used, which can simultaneously use two navigation signals to provide a positioning source, increase the number of positioning satellites, and improve positioning accuracy. The synthesized digital signal is then captured and tracked, and high-precision measurements of pseudorange and carrier phase observations are performed. In order to enable the system to provide high-precision positioning data under stable operating conditions, the first baseband SOC uses a high-precision positioning algorithm to reduce the tracking loop bandwidth and the loop integration time, so as to ensure that the positioning system provides high-precision positioning results during the stable flight of the sounding rocket.

[0116] The second baseband SOC performs data fusion, high dynamic algorithm processing and positioning solution on the digital signal dual antennas processed by the second RF IC and the fourth RF IC. The specific operation process is as follows: first, data fusion is performed on the two signals received by the second RF IC and the fourth RF IC. Figure 5 As shown, this embodiment adopts dual-antenna adaptive fast synthesis technology, which can simultaneously use two navigation signals to provide positioning sources, increase the number of positioning satellites, and improve positioning accuracy. The synthesized digital signal is then captured and tracked, and high-precision measurements of pseudorange and carrier phase observations are performed. In order to enable the system to work normally under high dynamics, the second baseband SOC adopts a carrier phase adaptive fast tracking algorithm to increase the tracking loop bandwidth and increase the loop integration time to adapt to the high dynamic scene requirements of sounding rockets, ensuring that the positioning system does not lose lock and the positioning data is uninterrupted.

[0117] The intelligent switching unit (i.e., the mode switching unit in the present embodiment) uses an adaptive intelligent switching control algorithm to quickly judge the two-way data output by the high-precision module and the high-dynamic module, and adaptively and intelligently switches the two-way data according to preset judgment conditions, so as to ensure that when the sounding rocket is in a high-dynamic situation, the GNSS positioning system does not lose lock and is uninterrupted; when the sounding rocket is in a stable flight state, the GNSS positioning system provides the rocket platform with high-precision positioning results.

[0118] This application adopts an intelligent switching switch control algorithm to ensure uninterrupted system positioning during mode switching and achieve continuous high-quality reception of GNSS signals.

[0119] The adaptive intelligent switching control process can be as follows Figure 6 shown.

[0120] During the system initialization phase, the default positioning mode is high-precision mode (i.e., high-precision positioning mode). After receiving the positioning information of the high-precision mode, the positioning state, PDOP, and the number of positioning satellites in the high-precision mode can be obtained, and it can be determined whether the positioning state, PDOP, and the number of positioning satellites in the high-precision mode are within the set threshold range. If so, the positioning information of the high-precision mode is transmitted to the rocket platform. If not, it is switched to the high-dynamic mode.

[0121] Then, the high dynamic mode positioning state, PDOP, and positioning satellite number parameters can be obtained, and it can be determined whether the high dynamic mode positioning state, PDOP, and positioning satellite number parameters are within the set threshold range. If so, the high dynamic mode positioning information is transmitted to the rocket platform. If not, it is switched to high precision mode.

[0122] Of course, in a specific implementation, the positioning information of the high dynamic mode and the high precision mode are obtained simultaneously, and the intelligent switching unit can judge the information in the two modes simultaneously to perform intelligent switching of the positioning mode.

[0123] In actual applications, during the takeoff phase of the sounding rocket, the sounding rocket is in a state of high acceleration and high jerk. At this time, if the positioning state, PDOP, and the number of positioning satellites in the high dynamic mode are within the set threshold range, the positioning mode can be switched to the high dynamic mode. When the sounding rocket is in a stable flight state, if the positioning state, PDOP, and the number of positioning satellites in the high precision mode are within the set threshold range, the positioning mode can be switched to the high precision mode.

[0124] The positioning mode switching system for a sounding rocket provided in the embodiment of the present application realizes that the GNSS positioning system does not lose lock and is uninterrupted under the conditions of high acceleration, high jerk, high-speed rotation and tumbling of the sounding rocket by adopting a dual-mode intelligent switching method and a uniform layout of four independent positioning antennas, thereby overcoming the defects of the existing rocket-borne GNSS positioning system losing lock and having low positioning accuracy under the high dynamic conditions of the sounding rocket. At the same time, the dual-antenna signal adaptive synthesis technology is adopted to simultaneously receive the GNSS signals received by the two antennas, effectively improving the GNSS signal reception efficiency and improving the system positioning accuracy.

[0125] Reference Figure 7 , shows a flowchart of the steps of a method for switching the positioning mode of a sounding rocket provided in an embodiment of the present application, which can be applied to the positioning mode switching system for a sounding rocket provided in the above embodiment. Figure 7 As shown, the positioning mode switching method for a sounding rocket may include: step 701, step 702, step 703 and step 704.

[0126] Step 701: Acquire a first navigation signal received by a first GNSS positioning antenna, a second navigation signal received by a second GNSS positioning antenna, a third navigation signal received by a third GNSS positioning antenna, and a fourth navigation signal received by a fourth GNSS positioning antenna.

[0127] The embodiments of the present application can be applied to the positioning mode switching system for a sounding rocket provided in the above embodiments.

[0128] Among them, the installation method of the first GNSS positioning antenna, the second GNSS positioning antenna, the third GNSS positioning antenna, and the fourth GNSS positioning antenna on the sounding rocket can refer to the description of the above embodiment, and this embodiment will not be repeated here.

[0129] During the positioning process, a first navigation signal received by the first GNSS positioning antenna, a second navigation signal received by the second GNSS positioning antenna, a third navigation signal received by the third GNSS positioning antenna, and a fourth navigation signal received by the fourth GNSS positioning antenna may be obtained.

[0130] Step 702: Use a high-precision positioning algorithm to perform positioning processing on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket.

[0131] High-precision positioning algorithms rely on observation data from the Global Navigation Satellite System (GNSS) and achieve centimeter-level or even millimeter-level positioning accuracy through complex mathematical models and data processing technologies. These algorithms usually include differential GPS (DGPS), real-time kinematic differential technology (RTK), and precise point positioning (PPP).

[0132] After obtaining the first navigation signal received by the first GNSS positioning antenna and the third navigation signal received by the third GNSS positioning antenna, a high-precision positioning algorithm can be used to perform positioning processing on the first navigation signal and the third navigation signal to obtain the first positioning information of the sounding rocket. The high-precision positioning mode is a positioning algorithm that uses a reduced tracking loop bandwidth and a reduced loop integration time.

[0133] In the specific processing process, the first navigation signal and the third navigation signal can be processed respectively to obtain the corresponding first digital signal and third digital signal. The specific processing process can refer to the processing process of the first RF amplification and filtering channel and the first RF IC in the above embodiment, and the processing process of the third RF amplification and filtering channel and the third RF IC.

[0134] Then, the first baseband SOC can be called to perform data fusion processing on the first digital signal and the third digital signal to obtain a fused digital signal, and a high-precision positioning algorithm can be used to perform positioning and solution processing on the fused digital signal to obtain the first positioning information. Specifically, the fused digital signal can be input into the high-precision positioning algorithm for positioning and solution processing. This includes calculating the geometric distance from the satellite to the receiver, and solving the position, speed and other parameters of the sounding rocket.

[0135] Step 703: Using a carrier phase adaptive fast tracking algorithm, perform positioning processing on the second navigation signal and the fourth navigation signal to obtain second positioning information of the sounding rocket.

[0136] The carrier phase adaptive fast tracking algorithm is a technology used to improve the tracking performance of GNSS receivers. The algorithm adaptively adjusts the tracking parameters of the receiver to quickly and accurately track the carrier phase in the satellite signal.

[0137] After obtaining the second navigation signal and the fourth navigation signal, the carrier phase adaptive fast tracking algorithm can be used to perform positioning processing on the second navigation signal and the fourth navigation signal to obtain the second positioning information of the sounding rocket. The high dynamic positioning mode is a positioning algorithm that uses an increased tracking loop bandwidth and increased loop integration time.

[0138] In the specific processing process, the second navigation signal and the fourth navigation signal can be processed respectively to obtain the corresponding second digital signal and fourth digital signal. The specific processing process can refer to the processing process of the second RF amplification and filtering channel and the second RF IC in the above embodiment, and the processing process of the fourth RF amplification and filtering channel and the fourth RF IC.

[0139] Then, the second baseband SOC can be called to perform data fusion processing on the second digital signal and the fourth digital signal to obtain a fused digital signal, and the fused digital signal is processed by using a carrier phase adaptive fast tracking algorithm to perform positioning solution processing to obtain second positioning information. Specifically, the fused digital signal can be input into a carrier phase adaptive fast tracking algorithm for positioning solution processing. The algorithm uses the precise measurement value of the carrier phase, combined with external data sources such as satellite orbit parameters and atmospheric delay models, to calculate parameters such as the position and speed of the sounding rocket.

[0140] Step 704: Switch the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range.

[0141] After obtaining the first positioning information and the second positioning information, the positioning mode for the sounding rocket can be switched according to the relationship between the first positioning information, the second positioning information and a preset threshold range. The first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and the number of first positioning satellites, and the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and the number of second positioning satellites.

[0142] When the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range, the positioning mode of the sounding rocket is switched to a high-precision positioning mode.

[0143] When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, the positioning mode of the sounding rocket is switched to a high dynamic positioning mode.

[0144] The minimum value of the second threshold range is greater than the maximum value of the first threshold range.

[0145] Specifically, the mode switching unit adopts an adaptive intelligent switching control algorithm to quickly judge the two-way data output by the high-precision module and the high-dynamic module, and adaptively and intelligently switches the two-way data according to preset judgment conditions to ensure that when the sounding rocket is in a high-dynamic situation, the GNSS positioning system will not lose lock or be interrupted; when the sounding rocket is in a stable flight state, the GNSS positioning system will provide the rocket platform with high-precision positioning results.

[0146] In this embodiment, after the positioning mode is switched, the positioning information in the switched positioning mode can be sent to the rocket platform of the sounding rocket. Specifically, when the positioning mode of the sounding rocket is a high-precision positioning mode, the first positioning information is sent to the rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the first positioning information.

[0147] When the positioning mode of the sounding rocket is the high dynamic positioning mode, the second positioning information is sent to the rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

[0148] The positioning mode switching method for a sounding rocket provided in the embodiment of the present application realizes that the GNSS positioning system does not lose lock and is uninterrupted under the conditions of high acceleration, high jerk, high-speed rotation and tumbling of the sounding rocket by adopting a dual-mode intelligent switching method and a uniform layout of four independent positioning antennas, thereby overcoming the defects of the existing rocket-borne GNSS positioning system losing lock and having low positioning accuracy under the high dynamic conditions of the sounding rocket. At the same time, the dual-antenna signal adaptive synthesis technology is adopted to simultaneously receive the GNSS signals received by the two antennas, effectively improving the GNSS signal reception efficiency and improving the system positioning accuracy.

[0149] In addition, an embodiment of the present application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the above-mentioned positioning mode switching method for a sounding rocket.

[0150] Figure 8 FIG. 8 is a schematic diagram showing the structure of an electronic device 800 according to an embodiment of the present invention. Figure 8 As shown, the electronic device 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 802 or computer program instructions loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 can also be stored. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0151] Multiple components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, a microphone, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0152] The various processes and processing described above may be performed by the processing unit 801. For example, the method of any of the above embodiments may be implemented as a computer software program, which is tangibly contained in a computer-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the CPU 801, one or more actions in the method described above may be performed.

[0153] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned positioning mode switching method embodiment for a sounding rocket is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the computer-readable storage medium is such as a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0154] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0155] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0156] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0157] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0158] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0159] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0160] 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.

[0161] 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.

[0162] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning mode switching system for a sounding rocket, characterized in that: The system includes: 4 GNSS positioning antennas installed on the outer wall of the sounding rocket, a baseband processing unit and a mode switching unit, the baseband processing unit includes: a first baseband SOC and a second baseband SOC, the 4 GNSS positioning antennas include: a first GNSS positioning antenna, a second GNSS positioning antenna, a third GNSS positioning antenna and a fourth GNSS positioning antenna, the 4 GNSS positioning antennas are located at the same height perpendicular to the sounding rocket, and the angle between two adjacent antennas of the 4 GNSS positioning antennas is 90°, the angle between the first GNSS positioning antenna and the third GNSS positioning antenna is 180°, wherein, The four GNSS positioning antennas are used to receive navigation signals; The first baseband SOC is used to use a high-precision positioning algorithm to perform positioning processing on the first navigation signal received by the first GNSS positioning antenna and the third navigation signal received by the third GNSS positioning antenna to obtain first positioning information of the sounding rocket; The second baseband SOC is used to adopt a carrier phase adaptive fast tracking algorithm to perform positioning processing on the second navigation signal received by the second GNSS positioning antenna and the fourth navigation signal received by the fourth GNSS antenna to obtain second positioning information of the sounding rocket; The mode switching unit is used to switch the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range.

2. The system according to claim 1, characterized in that The first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and a first number of positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and a second number of positioning satellites; The mode switching unit is specifically used to switch the positioning mode of the sounding rocket to the high-precision positioning mode when the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range; When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, switching the positioning mode of the sounding rocket to a high dynamic positioning mode; The minimum value of the second threshold range is greater than the maximum value of the first threshold range.

3. The system according to claim 2, characterized in that The mode switching unit is further configured to, when the positioning mode of the sounding rocket is a high-precision positioning mode, send the first positioning information to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the first positioning information; When the positioning mode of the sounding rocket is a high dynamic positioning mode, the second positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

4. The system according to claim 1, characterized in that The system further includes: a radio frequency amplification and filtering unit and a radio frequency processing unit, wherein the radio frequency amplification and filtering unit includes: a first radio frequency unit and a third radio frequency unit, and the radio frequency processing unit includes: a first radio frequency chip and a third radio frequency chip. The first radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the first navigation signal to obtain a first processed navigation signal; The third radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the third navigation signal to obtain a third processed navigation signal; The first radio frequency chip is used to process the first processed navigation signal to obtain a first digital signal; The third radio frequency chip is used to process the third processed navigation signal to obtain a third digital signal; The first baseband SOC is specifically used to fuse the first digital signal and the second digital signal, and use a high-precision positioning algorithm to perform positioning and solution processing on the fused digital signal to obtain the first positioning information.

5. The system according to claim 4, characterized in that The RF amplification and filtering unit further includes: a second RF unit and a fourth RF unit, and the RF processing unit further includes: a second RF chip and a fourth RF chip. The second radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the second navigation signal to obtain a second processed navigation signal; The fourth radio frequency unit is used to perform signal amplification, gain adjustment and filtering on the fourth navigation signal to obtain a fourth processed navigation signal; The second radio frequency chip is used to process the second processed navigation signal to obtain a second digital signal; The fourth radio frequency chip is used to process the fourth processed navigation signal to obtain a fourth digital signal; The second baseband SOC is specifically used to fuse the second digital signal and the fourth digital signal, and use a carrier phase adaptive fast tracking algorithm to perform positioning and solution processing on the fused digital signal to obtain the second positioning information.

6. The system according to claim 5, characterized in that The first radio frequency unit, the second radio frequency unit, the third radio frequency unit and the fourth radio frequency unit all include: a low noise amplifier, an attenuator and a filter.

7. The system according to any one of claims 1 to 6, characterized in that The four GNSS positioning antennas are all right-hand circularly polarized positioning antennas.

8. A method for switching positioning modes of a sounding rocket, applied to the system according to any one of claims 1 to 7, characterized in that: The method comprises: Acquire a first navigation signal received by a first GNSS positioning antenna, a second navigation signal received by a second GNSS positioning antenna, a third navigation signal received by a third GNSS positioning antenna, and a fourth navigation signal received by a fourth GNSS positioning antenna; Using a high-precision positioning algorithm, positioning processing is performed on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket; Using a carrier phase adaptive fast tracking algorithm, positioning the second navigation signal and the fourth navigation signal are processed to obtain second positioning information of the sounding rocket; The positioning mode for the sounding rocket is switched according to the relationship between the first positioning information, the second positioning information and a preset threshold range.

9. The method according to claim 8, characterized in that The first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and a first number of positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and a second number of positioning satellites; The switching of the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and a preset threshold range includes: When the first positioning state parameter, the first positioning result measurement parameter and the first number of positioning satellites are within a preset first threshold range, switching the positioning mode of the sounding rocket to a high-precision positioning mode; When the second positioning state parameter, the second positioning result measurement parameter and the second number of positioning satellites are within a preset second threshold range, switching the positioning mode of the sounding rocket to a high dynamic positioning mode; The minimum value of the second threshold range is greater than the maximum value of the first threshold range.

10. The method according to claim 9, characterized in that After switching the positioning mode for the sounding rocket according to the relationship between the first positioning information, the second positioning information and the preset threshold range, the method further includes: In a case where the positioning mode of the sounding rocket is a high-precision positioning mode, the first positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform positions the sounding rocket according to the first positioning information; When the positioning mode of the sounding rocket is a high dynamic positioning mode, the second positioning information is sent to a rocket platform corresponding to the sounding rocket, so that the rocket platform can position the sounding rocket according to the second positioning information.

11. The method according to claim 8, characterized in that The adopting of a high-precision positioning algorithm to perform positioning processing on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket includes: Performing signal processing on the first navigation signal and the third navigation signal respectively to obtain a corresponding first digital signal and a third digital signal; The first baseband SOC is called to perform data fusion processing on the first digital signal and the third digital signal to obtain a fused digital signal, and a high-precision positioning algorithm is used to perform positioning solution processing on the fused digital signal to obtain the first positioning information.

12. The method according to claim 8, characterized in that The method of adopting a carrier phase adaptive fast tracking algorithm to perform positioning processing on the second navigation signal and the fourth navigation signal to obtain second positioning information of the sounding rocket includes: performing signal processing on the second navigation signal and the fourth navigation signal respectively to obtain a corresponding second digital signal and fourth digital signal; The second baseband SOC is called to perform data fusion processing on the second digital signal and the fourth digital signal to obtain a fused digital signal, and the digital signal fused by a carrier phase adaptive fast tracking algorithm is used to perform positioning solution processing to obtain the second positioning information.

13. 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 when the computer program is executed by the processor, the positioning mode switching method for a sounding rocket as described in any one of claims 8 to 12 is implemented.

14. A readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the positioning mode switching method for a sounding rocket as described in any one of claims 8 to 12.

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