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

Abstract

The present application provides a positioning mode switching system, method, device, and medium for a sounding rocket. The system includes: four GNSS positioning antennas, a baseband processing unit, and a mode switching unit. The baseband processing unit includes: a first baseband SOC and a second baseband SOC. 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 a first navigation signal from the first GNSS positioning antenna and a third navigation signal from a third GNSS positioning antenna to obtain first positioning information. The second baseband SOC is used to use a carrier phase adaptive fast tracking algorithm to perform positioning processing on a second navigation signal from the second GNSS positioning antenna and a fourth navigation signal from a fourth GNSS positioning antenna to obtain second positioning information. The mode switching unit is used to switch positioning modes based on the relationship between the first positioning information, the second positioning information, and a 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] Sounding rockets are the only field exploration tools for near-space. They are an effective means of three-dimensional profile detection 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. They are currently 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. They have 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 typically use a dual-antenna GNSS positioning system. The two antennas are symmetrically mounted 180° apart on the outer wall of the rocket. This design generally ensures continuous positioning during stable flight. However, when a sounding rocket experiences high acceleration, high jerk, high-speed rotation, or tumbling, the GNSS positioning system often experiences temporary lock loss and 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 being located at the same height perpendicular to the sounding rocket, and the angle between two adjacent antennas of the four GNSS positioning antennas being 90°, the angle between the first GNSS positioning antenna and the third GNSS positioning antenna being 180°, wherein,

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

[0009] The first baseband SOC is configured 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 using a high-precision positioning algorithm to obtain first positioning information of the sounding rocket;

[0010] The second baseband SOC is configured 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 using a carrier phase adaptive fast tracking algorithm 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 configured 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 number of first 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 configured 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 configured 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 configured 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; the RF processing unit further includes: a second RF chip and a fourth RF chip;

[0026] The second radio frequency unit is configured 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 configured 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 positioning modes for 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 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;

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

[0036] performing positioning processing on the second navigation signal and the fourth navigation signal using a carrier phase adaptive fast tracking algorithm 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] When 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 corresponding first digital signals and third digital signals;

[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 carrier phase adaptive fast tracking algorithm is used to perform positioning solution processing on the fused digital signal 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 the computer program, when executed by the processor, implements any one of the above-described methods for switching the positioning mode of a sounding rocket.

[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-mentioned positioning mode switching methods for a sounding rocket.

[0055] In this embodiment, by adopting a dual-mode intelligent switching approach and a uniform layout of four independent positioning antennas, the GNSS positioning system maintains lock and maintains uninterrupted operation under conditions of high acceleration, high jerk, high-speed rotation, and tumbling of the sounding rocket. This overcomes the drawbacks of existing rocket-borne GNSS positioning systems, which often experience lock loss and low positioning accuracy under the high dynamics of sounding rockets. Furthermore, dual-antenna signal adaptive synthesis technology is employed to simultaneously receive GNSS signals from both antennas, effectively improving GNSS signal reception efficiency and enhancing 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 following briefly introduces the drawings required for use in the description of the embodiments of the present application. 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 creative work.

[0058] Figure 1 A schematic structural diagram 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 the layout of a GNSS positioning antenna and a GNSS receiver 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0067] Existing sounding rockets use a dual-antenna GNSS positioning system with two antennas spaced 180 degrees apart. When the sounding rocket experiences high acceleration, high jerk, high-speed rotation, and tumbling, the GNSS positioning system often experiences temporary lock loss and low positioning accuracy.

[0068] In order to solve the above problems, the embodiment of the present application provides a system for rocket-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 receives GNSS navigation positioning signals. The high-dynamic module captures, tracks, and resolves the positioning signals received by the antenna unit, and transmits the resolved positioning information to the intelligent switching unit. The high-precision module also captures, tracks, and resolves the positioning signals received by the antenna unit, and transmits the resolved positioning information to the intelligent switching unit. The intelligent switching unit evaluates the positioning data from the high-precision and high-dynamic modules and transmits the superior positioning information to the rocket platform. When the sounding rocket is operating in a high-dynamic state, the system switches to a high-dynamic scenario, increasing the tracking loop bandwidth and the loop integration time to ensure that the system maintains lock and uninterrupted positioning. When the sounding rocket is in stable flight, the system switches to a high-precision scenario, reducing the tracking loop bandwidth and the loop integration time to improve positioning accuracy.

[0069] Next, the technical solutions of the embodiments of the present application are described in detail with reference to specific embodiments.

[0070] Reference Figure 1 , shows a schematic structural diagram 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: four 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 four 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.

[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 that radiates or receives electromagnetic waves that are right-hand circularly polarized in space. Circularly polarized waves are a special form of electromagnetic waves, in which the electric field vector rotates in a circular pattern over time in space. When the electric field vector rotates clockwise, it is called a right-hand circularly polarized wave. Right-hand circularly polarized antennas are designed to efficiently radiate or receive right-hand circularly polarized waves, using specific techniques such as a spiral structure or microstrip patches.

[0073] The layout of 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, GNSS positioning antenna T1 is located between the first and second quadrants of the rocket body. A coaxial cable GNSS-C1 connects port X1 of GNSS positioning antenna T1 to port X5 of the GNSS receiver to transmit the navigation signal received by GNSS positioning antenna T1 to the GNSS receiver. GNSS positioning antenna T2 is located between the second and third quadrants of the rocket body. A coaxial cable GNSS-C2 connects port X2 of GNSS positioning antenna T2 to port X6 of the GNSS receiver to transmit the navigation signal received by GNSS positioning antenna T2 to the GNSS receiver. GNSS positioning antenna T3 is located between the third and fourth quadrants of the rocket body. A coaxial cable GNSS-C3 connects port X3 of GNSS positioning antenna T3 to port X7 of the GNSS receiver to transmit the navigation signal received by GNSS positioning antenna T3 to the GNSS receiver. The GNSS positioning antenna T4 is located between the fourth and first quadrants of the rocket 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] Four GNSS positioning antennas are used to receive navigation signals. Their primary function is to receive signals from navigation satellites. These signals contain satellite position and time information and are the foundation for the GNSS system's positioning, navigation, and timing functions. By receiving and analyzing these signals, a GNSS receiver can determine its own position, velocity, and time.

[0076] The first baseband SOC (System on Chip) 1051 can be used to use 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 can 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] High-precision positioning algorithms rely on observation data from the Global Navigation Satellite System (GNSS) and, through complex mathematical models and data processing techniques, achieve centimeter-level or even millimeter-level positioning accuracy. These algorithms typically include Differential GPS (DGPS), Real-Time Kinematic (RTK), and Precise Point Positioning (PPP).

[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 receiver's tracking parameters to quickly and accurately track the carrier phase in satellite signals.

[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 or 0, where 1 indicates the existence of a positioning result and 0 indicates the absence of a 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 evaluation 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, threshold ranges corresponding to the high-dynamic positioning mode and the high-precision positioning mode, namely, a first threshold range and a second threshold range, can be pre-set. The first threshold range may include 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 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 this 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 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: an RF amplification and filtering unit and an RF processing unit. The RF amplification and filtering unit may include: a first RF unit, a second RF unit, a third RF unit and a fourth RF unit. The RF processing unit may include: a first RF chip, a second RF chip, a third RF chip and a fourth RF chip.

[0089] in,

[0090] In a first specific implementation, the first radio frequency unit may be configured 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 configured 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 configured 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 configured 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, effectively improving the GNSS signal reception efficiency and improving the system positioning accuracy.

[0102] Next, combine Figure 3 The circuit design of 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 RF processing unit includes a first RF IC, a second RF IC, a third RF IC, and a fourth RF IC (representing the first RF chip, the second RF chip, the third RF chip, and the fourth RF 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 a RF filter. The low-noise amplifier can be used to amplify the navigation signal received by the GNSS positioning antenna T1 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 can adaptively adjust the gain of the amplified signal. The RF filter can filter the adjusted signal to 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 can 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 T2. To reduce the system noise figure and ensure sufficient system gain, the noise figure (NF) of the low-noise amplifier must be less than 1.5dB, and the gain of the low-noise amplifier must meet 30±2dB. The attenuator can adaptively adjust the gain of the amplified signal. The RF filter can filter the adjusted signal to remove 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 can 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. To reduce the system noise figure and ensure sufficient system gain, the noise figure (NF) of the low-noise amplifier must be less than 1.5dB, and the gain of the low-noise amplifier must meet 30±2dB. The attenuator can adaptively adjust the gain of the amplified signal. The RF filter can filter the adjusted signal to remove 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 can be used to low-noise amplify the navigation signal received by the GNSS positioning antenna. To reduce the system noise figure and ensure sufficient system gain, the noise figure (NF) of the low-noise amplifier must be less than 1.5dB, and the gain of the low-noise amplifier must meet 30±2dB. The attenuator can adaptively adjust the gain of the amplified signal. The RF filter can filter the adjusted signal to remove 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 sample the signal after filtering 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 sample the signal after filtering 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 perform AD sampling on 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 on the digital signals processed by the first RF IC and the third RF IC, and performs high-precision algorithm processing and positioning calculation. The specific operation process is as follows: First, the two signals received by the first RF IC and the third RF IC are fused. Figure 5As shown, the dual-antenna adaptive rapid synthesis technology is adopted in this embodiment, 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 provide high-precision positioning data under stable operation, the first baseband SOC adopts a high-precision positioning algorithm, reduces the tracking loop bandwidth, and reduces the loop integration time 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 on the digital signals processed by the second RF IC and the fourth RF IC, performs high dynamic algorithm processing and positioning solution. 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, increases the tracking loop bandwidth, and increases 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 this embodiment) 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 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 system initialization, the default positioning mode is high-precision mode (i.e., high-accuracy positioning mode). After receiving positioning information from high-precision mode, the system obtains the high-precision mode positioning status, PDOP, and the number of positioning satellites. It then determines whether these parameters are within the set thresholds. If so, the high-precision mode positioning information is transmitted to the rocket platform. If not, the system switches to high-dynamic mode.

[0121] Then, the high-dynamic mode positioning status, PDOP, and the number of positioning satellites can be obtained and judged to see whether the high-dynamic mode positioning status, PDOP, and the number of positioning satellites are within the set threshold range. If so, the high-dynamic mode positioning information is transmitted to the rocket platform. If not, the high-precision mode is switched.

[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 a sounding rocket, which is in a state of high acceleration and high jerk, the positioning mode can be switched to high dynamic mode if the positioning status, PDOP, and number of positioning satellites parameters in high dynamic mode are within the set thresholds. When the sounding rocket is in stable flight, the positioning mode can be switched to high precision mode if the positioning status, PDOP, and number of positioning satellites parameters in high precision mode are within the set thresholds.

[0124] The positioning mode switching system for a sounding rocket provided in the embodiments of the present application utilizes dual-mode intelligent switching and a uniform layout of four independent positioning antennas. This system ensures that the GNSS positioning system remains locked and uninterrupted even under conditions of high acceleration, high jerk, high-speed rotation, and tumbling. This overcomes the drawbacks of existing rocket-borne GNSS positioning systems, which suffer from lock loss and low positioning accuracy under high-dynamic conditions. Furthermore, the system utilizes dual-antenna signal adaptive synthesis technology to simultaneously receive GNSS signals from two antennas, effectively improving GNSS signal reception efficiency and enhancing system positioning accuracy.

[0125] Reference Figure 7 , shows a flowchart of the steps of a positioning mode switching method for 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 methods 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 will not be repeated in this embodiment.

[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: Using a high-precision positioning algorithm, 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, through complex mathematical models and data processing techniques, achieve centimeter-level or even millimeter-level positioning accuracy. These algorithms typically include Differential GPS (DGPS), Real-Time Kinematic (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 and third navigation signals to obtain the first positioning information of the sounding rocket. The high-precision positioning mode uses a positioning algorithm that reduces the tracking loop bandwidth and the loop integration time.

[0133] During the specific processing, the first navigation signal and the third navigation signal can be processed separately to obtain corresponding first digital signals and third digital signals. The specific processing can refer to the processing of the first RF amplification and filtering channel and the first RF IC, and the processing of the third RF amplification and filtering channel and the third RF IC in the above-mentioned embodiment.

[0134] The first baseband SOC can then be called to perform data fusion processing on the first and third digital signals to obtain a fused digital signal. A high-precision positioning algorithm is then used to perform positioning solution processing on the fused digital signal to obtain first positioning information. Specifically, the fused digital signal can be input into the high-precision positioning algorithm for positioning solution processing. This includes calculating the geometric distance from the satellite to the receiver and resolving parameters such as the position and velocity 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 receiver's tracking parameters to quickly and accurately track the carrier phase in satellite signals.

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

[0138] During the specific processing, the second navigation signal and the fourth navigation signal can be processed separately to obtain corresponding second digital signals and fourth digital signals. The specific processing can refer to the processing of the second RF amplification and filtering channel and the second RF IC, and the processing of the fourth RF amplification and filtering channel and the fourth RF IC in the above-mentioned embodiments.

[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. The fused digital signal is then processed using a carrier phase adaptive rapid tracking algorithm for positioning and solution processing to obtain second positioning information. Specifically, the fused digital signal can be input into a carrier phase adaptive rapid tracking algorithm for positioning and solution processing. This 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 velocity 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 based on 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; 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 and will not 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, positioning information in the switched positioning mode can be sent to the rocket platform of the sounding rocket. Specifically, when the positioning mode for the sounding rocket is the 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 locate the sounding rocket based on 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 embodiments of the present application utilizes a dual-mode intelligent switching approach and a uniform layout of four independent positioning antennas. This method ensures that the GNSS positioning system remains locked and uninterrupted even under conditions of high acceleration, high jerk, high-speed rotation, and tumbling. This overcomes the drawbacks of existing rocket-borne GNSS positioning systems, which suffer from lock loss and low positioning accuracy under high-dynamic conditions. Furthermore, the method utilizes dual-antenna signal adaptive synthesis technology to simultaneously receive GNSS signals from two antennas, effectively improving GNSS signal reception efficiency and enhancing 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 structural diagram 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. Various programs and data required for the operation of the electronic device 800 can also be stored in the RAM 803. The CPU 801, ROM 802, and 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0152] The various processes and procedures described above may be executed 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 present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the various processes of the above-mentioned embodiment of the method for switching the positioning mode of a sounding rocket are implemented, and the same technical effects are achieved. To avoid repetition, the details are not described here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0154] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising 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 the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this 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, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or 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 this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0157] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of this 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 will 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 this 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 merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0163] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A positioning mode switching system for a sounding rocket, characterized in that: The system includes: four GNSS positioning antennas installed on the outer wall of a 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 four 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 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°, and 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 configured 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 using a high-precision positioning algorithm to obtain first positioning information of the sounding rocket; The second baseband SOC is configured 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 positioning antenna using a carrier phase adaptive fast tracking algorithm 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, wherein: The first positioning information includes: a first positioning state parameter, a first positioning result measurement parameter and the number of first positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and the number of second positioning satellites; The mode switching unit is specifically configured 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 number of first 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, wherein: 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 configured 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 configured 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 configured 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 third 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 radio frequency amplification and filtering unit further includes: a second radio frequency unit and a fourth radio frequency unit; the radio frequency processing unit further includes: a second radio frequency chip and a fourth radio frequency chip; The second radio frequency unit is configured 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 configured 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 each 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 for 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 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; Using a high-precision positioning algorithm, performing positioning processing on the first navigation signal and the third navigation signal to obtain first positioning information of the sounding rocket; performing positioning processing on the second navigation signal and the fourth navigation signal using a carrier phase adaptive fast tracking algorithm 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 the number of first positioning satellites; the second positioning information includes: a second positioning state parameter, a second positioning result measurement parameter and the number of second 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 a preset threshold range, the method further includes: When 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 method of using 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 corresponding first digital signals and third digital signals; 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 using 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 carrier phase adaptive fast tracking algorithm is used to perform positioning solution processing on the fused digital signal 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 method for switching the positioning mode for a sounding rocket according to 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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