Satellite locking method, device and equipment and storage medium

Abstract

The invention discloses a satellite locking method and device, equipment and a storage medium, relates to the field of navigation, is applied to a controller, and comprises the following steps: determining a first ranging code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging code to a code comparator; obtaining a code consistent signal; the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with the ranging code to be compared in the ranging code list to be compared; determining a target satellite signal based on the code consistent signal, demodulating the target satellite signal to obtain a target message, and determining a second pseudo-random noise code of the target satellite signal based on the target message; wherein the second ranging code is a to-be-compared ranging code consistent with the first ranging code in the to-be-compared ranging code list; and judging whether the second pseudo-random noise code is consistent with the first pseudo-random noise code or not, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, determining a satellite of the target satellite signal as a target satellite to execute satellite locking operation. According to the invention, accurate locking of the satellite is realized.

Description

Technical Field

[0001] The present invention relates to the field of navigation, and in particular to a satellite locking method, device, equipment and storage medium. Background Art

[0002] Satellite navigation and positioning terminals generally perform positioning based on navigation messages and ranging code signals broadcast by satellites. Since the satellite landing power varies with the satellite elevation angle, the receiver antenna gain varies with the elevation angle, resulting in a large difference in the strength of the navigation signal entering the receiver. At the same time, factors such as electromagnetic interference and multipath interference around the receiver make it easy for the receiver to mistakenly lock the desired satellite signal to another satellite during signal processing, i.e., satellite mislock. If the pseudorange and message data after mislock are used for positioning calculations, the accuracy and integrity of the positioning results will be seriously affected. For example, in the aviation field, the accuracy and integrity of navigation data will directly affect the safety of aviation operations.

[0003] In summary, how to prevent satellite mislock is a problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a satellite locking method, device, equipment and storage medium, which can prevent satellite mislocking. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a satellite locking method, which is applied to a controller, comprising:

[0006] Determine a first ranging code and a first pseudo-random noise code of the satellite to be locked, and send the first ranging code to a code comparator;

[0007] Acquire a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals;

[0008] Determine a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulate the target satellite signal to obtain a target message, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared;

[0009] It is determined whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, the satellite corresponding to the target satellite signal is determined as the target satellite to perform a satellite locking operation.

[0010] Optionally, determining a first ranging code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging code to a code comparator includes:

[0011] Determine a first ranging master code and a first pseudo-random noise code of the satellite to be locked, and send the first ranging master code to the code comparator;

[0012] Correspondingly, the process of the code comparator determining whether the first ranging code is consistent with the ranging codes to be compared in the ranging code list to be compared includes:

[0013] The first ranging primary code is compared with the ranging primary code to be compared in the ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared.

[0014] Optionally, comparing the first ranging primary code with a ranging primary code to be compared in a ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared includes:

[0015] Comparing the first ranging main code with the to-be-compared ranging main code corresponding to the received satellite signal based on a preset main code comparison formula to obtain a comparison result value;

[0016] If the comparison result value is less than or equal to the preset threshold value, it is determined that the first ranging primary code is consistent with the ranging primary code to be compared.

[0017] Optionally, comparing the first ranging primary code with a ranging primary code to be compared in a ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared includes:

[0018] Determine a data signal corresponding to the satellite signal, determine a primary code of the data to be compared based on the data signal, and save the primary code of the data to be compared in the ranging code list to be compared;

[0019] The first ranging primary code is compared with the data primary code to be compared based on the ranging code list to determine whether the first ranging primary code is consistent with the data primary code to be compared.

[0020] Optionally, the process of the code comparator determining whether the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared includes:

[0021] Determine a pilot signal and a data signal corresponding to the satellite signal, and determine a pilot code to be compared based on the pilot signal, and determine a data main code to be compared based on the data signal; the pilot code to be compared includes a pilot main code to be compared and a pilot subcode to be compared;

[0022] The pilot code to be compared and the data main code to be compared are stored in the ranging code list to be compared;

[0023] Based on the ranging code list to be compared, a first ranging main code corresponding to the first ranging code is compared with the pilot main code to be compared, and a first ranging subcode corresponding to the first ranging code is compared with the pilot subcode to be compared, so as to determine whether the first ranging code is consistent with the pilot code to be compared;

[0024] If the first ranging code is consistent with the pilot code to be compared, the first ranging main code is compared with the data main code to be compared to determine whether the first ranging main code is consistent with the data main code to be compared.

[0025] Optionally, determining a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulating the target satellite signal to acquire a target message includes:

[0026] A data signal corresponding to the main code of the data to be compared is determined based on the code consistency signal, and the data signal is demodulated to obtain a target message.

[0027] Optionally, after determining whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, the method further includes:

[0028] If the second pseudo-random noise code is inconsistent with the first pseudo-random noise code, the target electronic message is directly discarded.

[0029] In a second aspect, the present application discloses a satellite locking device, applied to a controller, comprising:

[0030] A ranging code sending module, used for determining a first ranging code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging code to a code comparator;

[0031] a code consistency signal acquisition module, used to acquire a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals;

[0032] a noise code determination module, configured to determine a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulate the target satellite signal to obtain a target message, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared;

[0033] The satellite locking module is used to determine whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, determine the satellite corresponding to the target satellite signal as the target satellite so as to perform a satellite locking operation.

[0034] In a third aspect, the present application discloses an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] The processor is used to execute the computer program to implement the aforementioned satellite locking method.

[0037] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program, wherein the computer program implements the aforementioned satellite locking method when executed by a processor.

[0038] In the present application, when locking a satellite, the controller determines a first ranging code and a first pseudo-random noise code of the satellite to be locked, and sends the first ranging code to a code comparator; obtains a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals; based on the code consistency signal, a target satellite signal corresponding to a second ranging code is determined, and the target satellite signal is demodulated to obtain a target telegram, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target telegram; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared; determines whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and determines the satellite corresponding to the target satellite signal as the target satellite when the second pseudo-random noise code is consistent with the first pseudo-random noise code, so as to perform a satellite locking operation. It can be seen that the present application determines the first ranging code and the first pseudo-random noise code of the satellite that is desired to be captured or tracked by using a controller, and then sends the first ranging code to a code comparator, and the code comparator compares the first ranging code with the ranging codes to be compared corresponding to all the received satellite signals, thereby determining the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and sending the corresponding code consistency signal to the controller. After receiving the code consistency signal, the controller will demodulate the satellite signal corresponding to the second ranging code to obtain the target telegram, so as to parse the target telegram to obtain the corresponding second pseudo-random noise code. If the second pseudo-random noise code is consistent with the first pseudo-random noise code, it can be determined that the target satellite signal is the satellite signal that is desired to be locked, and the satellite locking operation can be performed to lock the target satellite, reducing satellite locking or tracking errors caused by interference from neighboring satellites, strong and weak coupling interference between signals, ground clutter interference, etc., thereby ensuring the accuracy of positioning data and the integrity of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 A flow chart of a satellite locking method disclosed in this application;

[0041] Figure 2 This is a schematic diagram of the structure of a satellite locking device disclosed in this application;

[0042] Figure 3 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Since the satellite landing power varies with the satellite elevation angle, the receiver antenna gain varies with the elevation angle, resulting in a large difference in the strength of the navigation signal entering the receiver. At the same time, factors such as electromagnetic interference and multipath interference around the receiver make it easy for the receiver to mistakenly lock the desired satellite signal to another satellite during signal processing, i.e., satellite mislock. If the pseudorange and telegram data after mislock are used for positioning calculations, the accuracy and integrity of the positioning results will be seriously affected. For example, in the aviation field, the accuracy and integrity of navigation data will directly affect the safety of aviation operations. In order to solve the above technical problems, the present application discloses a satellite locking method that can prevent satellite mislock.

[0045] See also Figure 1 As shown, an embodiment of the present invention discloses a satellite locking method, which is applied to a controller and includes:

[0046] Step S11, determining a first ranging code and a first pseudo-random noise code of the satellite to be locked, and sending the first ranging code to a code comparator.

[0047] In this embodiment, the controller first determines the satellite to be captured or tracked, takes the satellite as the satellite to be locked, and determines the first ranging code and the corresponding PRN number (Pseudo-Random Noise Code) of the satellite to be locked, that is, the first pseudo-random noise code, and then sends the first ranging code to the code comparator. Since the navigation signal sent by the satellite includes a data signal and a pilot signal, the ranging code of the pilot signal includes two parts: a pilot main code and a pilot subcode, and the data signal only includes the data main code. The pilot main code of the pilot signal sent by the same satellite is consistent with the data main code of the data signal. Therefore, when determining the first ranging code and the first pseudo-random noise code of the satellite to be locked, and sending the first ranging code to the code comparator, it can specifically include: determining the first ranging main code and the first pseudo-random noise code of the satellite to be locked, and sending the first ranging main code to the code comparator. That is to say, in actual applications, it can be selected to send only the first ranging main code of the satellite to be locked to the code comparator, and preliminarily judge whether the captured satellite signal is the signal of the satellite to be locked by comparing the ranging main code.

[0048] Step S12, obtaining a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals.

[0049] In this embodiment, the code consistency signal acquired by the controller is sent by the code comparator. After receiving the first ranging code sent by the controller, the code comparator will compare the first ranging code with the ranging code to be compared in the ranging code list to be compared, and send a corresponding code consistency signal to the controller when the ranging code to be compared is consistent with the first ranging code in the ranging code list to be compared. It can be understood that the ranging code list to be compared contains the ranging codes of all received satellite signals. If the code comparator only receives the first ranging main code sent by the controller, the process of the code comparator judging whether the first ranging code is consistent with the ranging code to be compared in the ranging code list to be compared includes: comparing the first ranging main code with the ranging main code to be compared in the ranging code list to be compared to judge whether the first ranging main code is consistent with the ranging main code to be compared.

[0050] In this embodiment, when the code comparator compares the ranging main code, the specific process may include: comparing the first ranging main code with the ranging main code to be compared corresponding to the received satellite signal based on a preset main code comparison formula to obtain a comparison result value; if the comparison result value is less than or equal to a preset threshold value, it is determined that the first ranging main code is consistent with the ranging main code to be compared. The preset main code comparison formula may be:

[0051] ;

[0052] In the above formula, S is the comparison result value; The i-th bit in the main code A has a value of logic 0 or logic 1; is the i-th bit in the main code B, whose value is logic 0 or logic 1, is the XOR operator. The comparison result value S is between 0 and 1023. The larger S is, the greater the difference between the main code A and the main code B is. When the comparison result value S is less than or equal to the preset threshold value T (such as T=3), it can be considered that the main code A is consistent with the main code B.

[0053] In this embodiment, if the controller sends the first ranging master code, the process of the code comparator determining whether the first ranging master code is consistent with the ranging master code to be compared may specifically include: determining the data signal corresponding to the satellite signal, determining the data master code to be compared based on the data signal, and saving the data master code to be compared in the ranging code list to be compared; comparing the first ranging master code with the data master code to be compared based on the ranging code list to be compared to determine whether the first ranging master code is consistent with the data master code to be compared. In other words, if only the master code comparison method is adopted, it is only necessary to compare whether the data master code in the data signal is the same as the first ranging master code, thereby speeding up the screening of satellite signals.

[0054] In this embodiment, if the controller sends the first ranging code, the process of the code comparator determining whether the first ranging code is consistent with the ranging codes to be compared in the ranging code list to be compared may specifically include: determining the pilot signal and the data signal corresponding to the satellite signal, and determining the pilot code to be compared based on the pilot signal, and determining the data main code to be compared based on the data signal; the pilot code to be compared includes the pilot main code to be compared and the pilot subcode to be compared; saving the pilot code to be compared and the data main code to be compared in the ranging code list to be compared; comparing the first ranging main code corresponding to the first ranging code with the pilot main code to be compared based on the ranging code list to be compared, and comparing the first ranging subcode corresponding to the first ranging code with the pilot subcode to be compared to determine whether the first ranging code is consistent with the pilot code to be compared; if the first ranging code is consistent with the pilot code to be compared, comparing the first ranging main code with the data main code to be compared to determine whether the first ranging main code is consistent with the data main code to be compared. That is to say, if the method of comparing both the main code and the subcode is adopted, it is necessary to first determine the pilot main code in the pilot code and then determine the pilot subcode, and then compare the pilot main code in the pilot signal with the first ranging main code in the first ranging code, and compare the pilot subcode with the first ranging subcode when the pilot main code is consistent with the first ranging main code, and finally compare the data main code with the first ranging main code when the pilot subcode is consistent with the first ranging subcode, and send a code consistency signal to the controller when the data main code is consistent with the first ranging main code. This solution is the most accurate, can best ensure the integrity of the data, and can capture weaker navigation signals.

[0055] It is understandable that if there is no ranging code to be compared in the ranging code list to be compared, or all ranging codes to be compared are inconsistent with the first ranging code, satellite signal capture will continue to obtain the ranging code and PRN number of the new satellite signal. At the same time, the determined pilot main code, pilot subcode and data main code are stored in the terminal device as read-only data.

[0056] Step S13: determining a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulating the target satellite signal to obtain a target message, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared in the ranging code list to be compared that is consistent with the first ranging code.

[0057] In this embodiment, the controller determines the target satellite signal corresponding to the second ranging code based on the code consistency signal, and demodulates the target satellite signal to obtain the target message. Specifically, the process may include: determining the data signal corresponding to the main code of the data to be compared based on the code consistency signal, and demodulating the data signal to obtain the target message. That is, whether the target satellite signal is determined by comparing the main code or by comparing the main code and the subcode, the controller can determine the data signal corresponding to the main code of the data to be compared based on the code consistency signal, that is, the data signal corresponding to the first ranging code, the data signal includes the main code of the data and the target message, and the target message can be obtained by demodulating the data signal, and then the PRN number corresponding to the satellite signal can be obtained by parsing the target message, that is, the second pseudo-random noise code. The second ranging code is the ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared.

[0058] Step S14: determine whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, determine the satellite corresponding to the target satellite signal as the target satellite to perform a satellite locking operation.

[0059] In this embodiment, the controller determines whether the satellite corresponding to the target satellite signal is the satellite that the controller wishes to lock by judging whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, thereby further reducing the false lock rate. When the first pseudo-random noise code is consistent with the second pseudo-random noise code, it can be considered that the satellite is the satellite that the controller wishes to lock, that is, the target satellite, and subsequent data processing and positioning calculation are performed to complete the satellite locking operation. Correspondingly, if the second pseudo-random noise code is inconsistent with the first pseudo-random noise code, the target message is directly discarded.

[0060] It can be seen that the present application determines the first ranging code and the first pseudo-random noise code of the satellite that is desired to be captured or tracked by using a controller, and then sends the first ranging code to a code comparator, and the code comparator compares the first ranging code with the ranging codes to be compared corresponding to all the received satellite signals, thereby determining the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and sending the corresponding code consistency signal to the controller. After receiving the code consistency signal, the controller will demodulate the satellite signal corresponding to the second ranging code to obtain the target telegram, so as to parse the target telegram to obtain the corresponding second pseudo-random noise code. If the second pseudo-random noise code is consistent with the first pseudo-random noise code, it can be determined that the target satellite signal is the satellite signal that is desired to be locked, and the satellite locking operation can be performed to lock the target satellite, reducing satellite locking or tracking errors caused by interference from neighboring satellites, strong and weak coupling interference between signals, ground clutter interference, etc., thereby ensuring the accuracy of positioning data and the integrity of positioning.

[0061] See also Figure 2 As shown, the present application discloses a satellite locking device, which is applied to a controller and includes:

[0062] A ranging code sending module 11 is used to determine a first ranging code and a first pseudo-random noise code of a satellite to be locked, and send the first ranging code to a code comparator;

[0063] A code consistency signal acquisition module 12 is used to acquire a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals;

[0064] The noise code determination module 13 is used to determine the target satellite signal corresponding to the second ranging code based on the code consistency signal, and demodulate the target satellite signal to obtain a target message, so as to determine the second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared;

[0065] The satellite locking module 14 is used to determine whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, determine the satellite corresponding to the target satellite signal as the target satellite to perform a satellite locking operation.

[0066] It can be seen that the present application determines the first ranging code and the first pseudo-random noise code of the satellite that is desired to be captured or tracked by using a controller, and then sends the first ranging code to a code comparator, and the code comparator compares the first ranging code with the ranging codes to be compared corresponding to all the received satellite signals, thereby determining the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and sending the corresponding code consistency signal to the controller. After receiving the code consistency signal, the controller will demodulate the satellite signal corresponding to the second ranging code to obtain the target telegram, so as to parse the target telegram to obtain the corresponding second pseudo-random noise code. If the second pseudo-random noise code is consistent with the first pseudo-random noise code, it can be determined that the target satellite signal is the satellite signal that is desired to be locked, and the satellite locking operation can be performed to lock the target satellite, reducing satellite locking or tracking errors caused by interference from neighboring satellites, strong and weak coupling interference between signals, ground clutter interference, etc., thereby ensuring the accuracy of positioning data and the integrity of positioning.

[0067] In a specific implementation, the ranging code sending module 11 may specifically include:

[0068] a ranging main code sending unit, used for determining a first ranging main code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging main code to a code comparator;

[0069] Correspondingly, the code comparator is used to compare the received first ranging primary code with the ranging primary codes to be compared in the ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared.

[0070] In a specific implementation, the code comparator is specifically used to compare the first ranging main code with the ranging main code to be compared corresponding to the received satellite signal based on a preset main code comparison formula to obtain a comparison result value; if the comparison result value is less than or equal to a preset threshold value, it is determined that the first ranging main code is consistent with the ranging main code to be compared.

[0071] In a specific implementation, the code comparator is specifically used to determine the data signal corresponding to the satellite signal, determine the main code of the data to be compared based on the data signal, and save the main code of the data to be compared in the ranging code list to be compared; based on the ranging code list to be compared, compare the first ranging main code with the main code of the data to be compared to determine whether the first ranging main code is consistent with the main code of the data to be compared.

[0072] In a specific implementation, the code comparator is specifically used in a ranging code determination unit to be compared, and is used to determine a pilot signal and a data signal corresponding to the satellite signal, and determine a pilot code to be compared based on the pilot signal, and determine a data main code to be compared based on the data signal; the pilot code to be compared includes a pilot main code to be compared and a pilot subcode to be compared; the pilot code to be compared and the data main code to be compared are stored in the ranging code list to be compared; based on the ranging code list to be compared, a first ranging main code corresponding to the first ranging code is compared with the pilot main code to be compared, and a first ranging subcode corresponding to the first ranging code is compared with the pilot subcode to be compared to determine whether the first ranging code is consistent with the pilot code to be compared; if the first ranging code is consistent with the pilot code to be compared, the first ranging main code is compared with the data main code to be compared to determine whether the first ranging main code is consistent with the data main code to be compared.

[0073] In a specific implementation, the noise code determination module 13 includes:

[0074] The target electronic message acquisition unit is used to determine the data signal corresponding to the main code of the data to be compared based on the code consistency signal, and demodulate the data signal to obtain the target electronic message.

[0075] In a specific embodiment, the device further includes:

[0076] The target message discarding module is used to directly discard the target message if the second pseudo-random noise code is inconsistent with the first pseudo-random noise code.

[0077] Furthermore, the present application also discloses an electronic device. Figure 3 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0078] Figure 3 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the satellite locking method disclosed in any of the above embodiments. In addition, the electronic device 20 in this embodiment may be a computer.

[0079] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0080] In addition, the memory 22 as a carrier for resource storage may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0081] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the satellite locking method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0082] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the satellite locking method disclosed above. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the above embodiments, and no further description will be given here.

[0083] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0084] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0085] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0086] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0087] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A satellite locking method, characterized in that: Applicable to controllers, including: Determine a first ranging code and a first pseudo-random noise code of the satellite to be locked, and send the first ranging code to a code comparator; Acquire a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals; Determine a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulate the target satellite signal to obtain a target message, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared; It is determined whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, the satellite corresponding to the target satellite signal is determined as the target satellite to perform a satellite locking operation.

2. The satellite locking method according to claim 1, characterized in that: The step of determining a first ranging code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging code to a code comparator, comprises: Determine a first ranging master code and a first pseudo-random noise code of the satellite to be locked, and send the first ranging master code to the code comparator; Correspondingly, the process of the code comparator determining whether the first ranging code is consistent with the ranging codes to be compared in the ranging code list to be compared includes: The first ranging primary code is compared with the ranging primary code to be compared in the ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared.

3. The satellite locking method according to claim 2, characterized in that: The comparing the first ranging primary code with the ranging primary code to be compared in the ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared, includes: Comparing the first ranging main code with the to-be-compared ranging main code corresponding to the received satellite signal based on a preset main code comparison formula to obtain a comparison result value; If the comparison result value is less than or equal to the preset threshold value, it is determined that the first ranging primary code is consistent with the ranging primary code to be compared.

4. The satellite locking method according to claim 2, characterized in that: The comparing the first ranging primary code with the ranging primary code to be compared in the ranging code list to determine whether the first ranging primary code is consistent with the ranging primary code to be compared, includes: Determine a data signal corresponding to the satellite signal, determine a primary code of the data to be compared based on the data signal, and save the primary code of the data to be compared in the ranging code list to be compared; The first ranging primary code is compared with the data primary code to be compared based on the ranging code list to determine whether the first ranging primary code is consistent with the data primary code to be compared.

5. The satellite locking method according to claim 1, characterized in that: The process of the code comparator judging whether the first ranging code is consistent with the ranging codes to be compared in the ranging code list to be compared includes: Determine a pilot signal and a data signal corresponding to the satellite signal, and determine a pilot code to be compared based on the pilot signal, and determine a data main code to be compared based on the data signal; the pilot code to be compared includes a pilot main code to be compared and a pilot subcode to be compared; The pilot code to be compared and the data main code to be compared are stored in the ranging code list to be compared; Based on the ranging code list to be compared, a first ranging main code corresponding to the first ranging code is compared with the pilot main code to be compared, and a first ranging subcode corresponding to the first ranging code is compared with the pilot subcode to be compared, so as to determine whether the first ranging code is consistent with the pilot code to be compared; If the first ranging code is consistent with the pilot code to be compared, the first ranging main code is compared with the data main code to be compared to determine whether the first ranging main code is consistent with the data main code to be compared.

6. The satellite locking method according to claim 4 or 5, characterized in that: The step of determining a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulating the target satellite signal to obtain a target message includes: A data signal corresponding to the main code of the data to be compared is determined based on the code consistency signal, and the data signal is demodulated to obtain a target message.

7. The satellite locking method according to claim 1, characterized in that: After determining whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, the method further includes: If the second pseudo-random noise code is inconsistent with the first pseudo-random noise code, the target electronic message is directly discarded.

8. A satellite locking device, characterized in that: Applicable to controllers, including: A ranging code sending module, used for determining a first ranging code and a first pseudo-random noise code of a satellite to be locked, and sending the first ranging code to a code comparator; a code consistency signal acquisition module, used to acquire a code consistency signal sent by the code comparator; wherein the code consistency signal is a signal generated by the code comparator when the first ranging code is consistent with a ranging code to be compared in a ranging code list to be compared; the ranging code list to be compared is used to store ranging codes of all received satellite signals; a noise code determination module, configured to determine a target satellite signal corresponding to a second ranging code based on the code consistency signal, and demodulate the target satellite signal to obtain a target message, so as to determine a second pseudo-random noise code corresponding to the target satellite signal based on the target message; wherein the second ranging code is a ranging code to be compared that is consistent with the first ranging code in the ranging code list to be compared; The satellite locking module is used to determine whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when the second pseudo-random noise code is consistent with the first pseudo-random noise code, determine the satellite corresponding to the target satellite signal as the target satellite so as to perform a satellite locking operation.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the satellite locking method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the satellite locking method according to any one of claims 1 to 7 is implemented.

Images