A satellite locking method, device, equipment and storage medium

Abstract

The present application discloses a satellite locking method, device, equipment and storage medium, which relates to the navigation field and is applied to a controller. The method includes: 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 coincidence signal, where the code coincidence 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; determining a target satellite signal based on the code coincidence 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; where the second ranging code is the ranging code to be compared in the ranging code list to be compared that is consistent with the first ranging code; determining whether the second pseudo-random noise code is consistent with the first pseudo-random noise code, and when they are consistent, determining the satellite of the target satellite signal as the target satellite to perform a satellite locking operation. The present application realizes accurate locking of a satellite.

Description

Technical Field

[0001] The present invention relates to the field of navigation, and particularly 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 ground power varies with the satellite elevation angle and the receiver antenna gain varies with the elevation angle, the strength of the navigation signals entering the receiver varies greatly. At the same time, due to factors such as electromagnetic interference and multipath interference around the receiver, during the signal processing of the receiver, it is very easy to lock the satellite signal that is expected to be locked to another satellite by mistake, that is, satellite mislock. If the pseudorange and message data after mislock are used for positioning calculation, it will seriously affect the accuracy and integrity of the positioning result. 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 an urgent problem to be solved at present. 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 mislock. The specific solutions are as follows:

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

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

[0007] Obtain the 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 the ranging code to be compared in the list of ranging codes to be compared; the list of ranging codes to be compared is used to store the ranging codes of all received satellite signals;

[0008] Based on the code consistency signal, determine the target satellite signal corresponding to the second ranging code, and demodulate the target satellite signal to obtain the 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 the ranging code to be compared in the list of ranging codes to be compared that is consistent with the first ranging code;

[0009] Judge 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 the satellite locking operation.

[0010] Optionally, 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 includes:

[0011] 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;

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

[0013] Comparing the first ranging main code with the ranging main codes to be compared in the ranging code list to be compared to determine whether the first ranging main code is consistent with the ranging main codes to be compared.

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

[0015] Comparing the first ranging main code with the ranging main codes to be compared corresponding to the received satellite signals 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 a preset threshold value, it is determined that the first ranging main code is consistent with the ranging main codes to be compared.

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

[0018] Determining the data signal corresponding to the satellite signal, determining the ranging data main code to be compared based on the data signal, and storing the ranging data main code to be compared in the ranging code list to be compared;

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

[0020] Optionally, the process by which the code comparator determines whether the first ranging code is consistent with the ranging codes to be compared in the ranging code list to be compared includes:

[0021] Determining the pilot signal and the data signal corresponding to the satellite signal, determining the pilot code to be compared based on the pilot signal, and determining the ranging 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 sub-code to be compared;

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

[0023] Based on the ranging code list to be compared, compare the main ranging code corresponding to the first ranging code with the pilot main code to be compared, and compare the sub-ranging code corresponding to the first ranging code with the pilot sub-code 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, then compare the first ranging main code with the main data code to be compared, so as to determine whether the first ranging main code is consistent with the main data code to be compared.

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

[0026] Determine the data signal corresponding to the main data code to be compared based on the code consistency signal, and demodulate the data signal to obtain the target message.

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

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

[0029] In a second aspect, the present application discloses a satellite locking device, which is applied to a controller and includes:

[0030] A ranging code sending module, configured 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;

[0031] A code consistency signal acquisition module, configured 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 the ranging code to be compared in the ranging code list to be compared; the ranging code list to be compared is used to save the 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 the ranging code to be compared in the ranging code list to be compared that is consistent with the first ranging code;

[0033] A satellite locking module, configured 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] A memory, configured to store a computer program;

[0036] A processor, configured to execute the computer program to implement the foregoing satellite locking method.

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

[0038] In this application, when locking a satellite, the controller determines the first ranging code and the first pseudo-random noise code of the satellite to be locked, and sends the first ranging code to the code comparator; obtains the 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 the ranging code to be compared in the list of ranging codes to be compared; the list of ranging codes to be compared is used to store the ranging codes of all received satellite signals; 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, 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 the ranging code to be compared in the list of ranging codes to be compared that is consistent with the first ranging code; determines 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, determines the satellite corresponding to the target satellite signal as the target satellite to perform the satellite locking operation. It can be seen that in this application, the controller determines the first ranging code and the first pseudo-random noise code of the satellite that is desired to be captured or tracked, and then sends the first ranging code to the code comparator. The code comparator compares the first ranging code with the ranging codes to be compared corresponding to all received satellite signals, so as to determine the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and sends 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 message, so as to analyze the target message 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 adjacent satellite interference, strong and weak coupling interference between signals, ground clutter interference, etc., thereby ensuring the accuracy of positioning data and the integrity of positioning. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0040] Figure 1 Flowchart of a satellite locking method disclosed in this application;

[0041] Figure 2 Structural schematic diagram of a satellite locking device disclosed in this application;

[0042] Figure 3 This is a structural diagram of an electronic device disclosed in the present application. Specific implementation manner

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Since the satellite landing power varies with the satellite elevation angle, and the receiver antenna gain varies with the elevation angle, the strength of the navigation signal entering the receiver varies greatly. At the same time, factors such as electromagnetic interference and multipath interference around the receiver make it easy to lock the desired satellite signal to another satellite incorrectly during the signal processing of the receiver, that is, satellite mislock. If the pseudorange and ephemeris data after mislock are used for positioning calculation, it will seriously affect the accuracy and integrity of the positioning result. For example, in the aviation field, the accuracy and integrity of navigation data will directly affect aviation operation safety. To solve the above technical problems, the present application discloses a satellite locking method that can prevent satellite mislock.

[0045] See Figure 1 As shown, the embodiments of the present invention disclose a satellite locking method applied to a controller, including:

[0046] Step S11: Determine the first ranging code and the first pseudo-random noise code of the satellite to be locked, and send the first ranging code to the code comparator.

[0047] In this embodiment, the controller first determines the satellite to be captured or tracked, takes this satellite as the satellite to be locked, and determines the first ranging code and the corresponding PRN number (Pseudo-Random Noise Code) of this 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 sub-code, and only the data main code is included in the data signal. The pilot main code of the pilot signal sent by the same satellite is the same as 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 may 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 practical applications, it is possible to choose to only send the first ranging main code of the satellite to be locked to the code comparator, and initially determine whether the captured satellite signal is the signal of the satellite to be locked by comparing the ranging main codes.

[0048] Step S12: Obtain the code consistency signal sent by the code comparator; where 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 list of ranging codes to be compared; the list of ranging codes to be compared is used to store the ranging codes of all received satellite signals.

[0049] In this embodiment, the code consistency signal obtained 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 codes to be compared in the list of ranging codes to be compared, and send the corresponding code consistency signal to the controller when there is a ranging code to be compared in the list of ranging codes to be compared that is consistent with the first ranging code. It can be understood that the list of ranging codes 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 determining whether the first ranging code is consistent with the ranging codes to be compared in the list of ranging codes to be compared includes: comparing the first ranging main code with the ranging main codes to be compared in the list of ranging codes to be compared to determine whether the first ranging main code is consistent with the ranging main codes to be compared.

[0050] In this embodiment, when the code comparator compares the ranging main codes, 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. Among them, the preset main code comparison formula may be:

[0051] ;

[0052] In the above formula, S is the comparison result value; is the i-th bit in the main code A, and its value is logic 0 or logic 1; is the i-th bit in the main code B, and its value is logic 0 or logic 1, is the exclusive OR operation symbol. 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. When the comparison result value S is less than or equal to the preset threshold value T (e.g., T = 3), it can be considered that the main code A and the main code B are consistent.

[0053] In this embodiment, if the first ranging main code is sent by the controller, the process of the code comparator determining whether the first ranging main code is consistent with the ranging main code to be compared may specifically include: determining the data signal corresponding to the satellite signal, determining the data main code to be compared based on the data signal, and storing the data main code to be compared in the ranging code list to be compared; comparing the first ranging main code with the data main code to be compared based on the ranging code list 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 only the main code comparison method is adopted, it is only necessary to compare whether the data main code in the data signal is the same as the first ranging main code, so as to speed up the screening speed of the satellite signal.

[0054] In this embodiment, if the first ranging code is sent by the controller, the process of the code comparator determining whether the first ranging code is consistent with the ranging code 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, 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 sub-code to be compared; storing 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 sub-code corresponding to the first ranging code with the pilot sub-code 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, then 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 sub-code is adopted, it is necessary to first determine the pilot main code in the pilot code and then determine the pilot sub-code, 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 sub-code with the first ranging sub-code 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 sub-code is consistent with the first ranging sub-code, and send a code consistent signal to the controller when the data main code is consistent with the first ranging main code. This scheme 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 the ranging codes to be compared are inconsistent with the first ranging code, satellite signal acquisition 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 sub-code, and data main code are stored in the terminal device as read-only data.

[0056] Step S13: 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 the 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 the 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 process by which 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 may specifically include: determining the data signal corresponding to the data main code to be compared based on the code consistency signal, and demodulating the data signal to obtain the target message. That is to say, whether the target satellite signal is determined by comparing the main code or by comparing both the main code and the sub-code, the controller can determine the data signal corresponding to the data main code 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 data main code and the target message. The target message can be obtained by demodulating the data signal, and then the PRN number corresponding to the satellite signal, that is, the second pseudo-random noise code, can be obtained by parsing the target message. The second ranging code is the ranging code to be compared in the ranging code list to be compared that is consistent with the first ranging code.

[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 so as to perform the 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 hopes to lock by determining 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 hopes to lock, that is, the target satellite, and subsequent data processing and positioning calculations 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 in this application, the controller is used to determine the first ranging code and the first pseudo-random noise code of the satellite to be captured or tracked, and then send the first ranging code to the code comparator. The code comparator compares the first ranging code with the ranging codes to be compared corresponding to all the received satellite signals, so as to determine the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and send 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 message, so as to parse the target message 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 to be locked, and the satellite locking operation can be performed to lock the target satellite, reducing satellite locking or tracking errors caused by adjacent satellite interference, strong and weak coupling interference between signals, ground clutter interference, etc., thus ensuring the accuracy of positioning data and the integrity of positioning.

[0061] See Figure 2 As shown, this application discloses a satellite locking device applied to a controller, including:

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

[0063] A code consistency signal obtaining module 12, configured to obtain the 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 the ranging code to be compared in the list of ranging codes to be compared; the list of ranging codes to be compared is used to store the ranging codes of all received satellite signals;

[0064] A noise code determining module 13, configured 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 the 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 the ranging code to be compared in the list of ranging codes to be compared that is consistent with the first ranging code;

[0065] A satellite locking module 14, configured 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 the satellite locking operation.

[0066] It can be seen that in this application, the controller is used to determine the first ranging code and the first pseudo-random noise code of the satellite that is desired to be captured or tracked, and then the first ranging code is sent to the code comparator. The code comparator compares the first ranging code with the ranging codes to be compared corresponding to all the received satellite signals, so as to determine the second ranging code that is consistent with the first ranging code from the ranging codes to be compared, and send a 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 message, so as to parse the target message 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 executed to lock the target satellite, reducing the satellite locking or tracking errors caused by adjacent satellite interference, strong-weak coupling interference between signals, ground clutter interference, etc., thus ensuring the accuracy of the positioning data and the integrity of the positioning.

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

[0068] The ranging main code sending unit is used to determine the first ranging main code and the first pseudo-random noise code of the satellite to be locked, and send the first ranging main code to the code comparator;

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

[0070] In a specific embodiment, the code comparator is specifically used to compare the first ranging main code with the ranging main codes to be compared corresponding to the received satellite signals 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 codes to be compared.

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

[0072] In a specific embodiment, the code comparator is specifically used for the ranging code to-be-compared determination unit, which is configured to determine a pilot signal and a data signal corresponding to the satellite signal, determine a to-be-compared pilot code based on the pilot signal, and determine a to-be-compared data main code based on the data signal; the to-be-compared pilot code includes a to-be-compared pilot main code and a to-be-compared pilot sub-code; save the to-be-compared pilot code and the to-be-compared data main code in the to-be-compared ranging code list; compare the first ranging main code corresponding to the first ranging code with the to-be-compared pilot main code based on the to-be-compared ranging code list, and compare the first ranging sub-code corresponding to the first ranging code with the to-be-compared pilot sub-code to determine whether the first ranging code is consistent with the to-be-compared pilot code; if the first ranging code is consistent with the to-be-compared pilot code, then compare the first ranging main code with the to-be-compared data main code to determine whether the first ranging main code is consistent with the to-be-compared data main code.

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

[0074] A target message acquisition unit, configured to determine a data signal corresponding to the to-be-compared data main code based on the code consistency signal, and demodulate the data signal to obtain a target message.

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

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

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

[0078] Figure 3 It is a schematic structural diagram of an electronic device 20 provided by an embodiment of the present application. The electronic device 20 may specifically 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. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the satellite locking method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0079] In this embodiment, the power supply 23 is used to provide operating voltages 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 external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and no specific limitation is imposed thereon here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application requirements, and no specific limitation is made here.

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

[0081] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device 20, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the satellite locking method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0082] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the satellite locking method disclosed above is implemented. For the specific steps of this method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0083] In this specification, the various embodiments are described in a progressive manner, and the key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts between the various embodiments, reference can be made to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and reference can be made to the description in the method part for related parts.

[0084] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0085] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art.

[0086] Finally, it should also be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0087] The technical solutions provided in this application have been introduced in detail above. Specific examples are used herein to illustrate the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this 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.

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