Multi-gear fusion detection method for satellite signals

Abstract

The invention discloses a satellite signal-oriented multi-gear fusion detection method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring satellite signals, and generating a plurality of satellite signal waterfall plots based on the satellite signals; splicing the plurality of satellite signal waterfall plots to obtain a multi-gear satellite signal waterfall plot; inputting the multi-gear satellite signal waterfall plot into a pre-trained satellite signal detection model to obtain a satellite signal detection result corresponding to the multi-gear satellite signal waterfall plot; and fusing the satellite signal detection results corresponding to the multi-gear satellite signal waterfall plots to obtain a fused satellite signal detection result. According to the technical scheme, the accuracy of a satellite signal detection result is effectively improved through multi-gear satellite signal waterfall plot fusion.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to a multi-level fusion detection method, device, electronic equipment and storage medium for satellite signals. Background Art

[0002] Satellite communications, with its rich spectrum resources, support for broadband signal transmission, long transmission distance, wide coverage, and few geographical restrictions, has gradually occupied an irreplaceable and important position in various fields around the world.

[0003] At present, there is a problem of low accuracy in satellite signal detection results in satellite signal detection methods, such as signal detection methods based on signal statistical characteristics or signal detection methods based on deep learning. Summary of the invention

[0004] The present invention provides a multi-level fusion detection method, device, electronic device and storage medium for satellite signals to improve the accuracy of satellite signal detection results.

[0005] According to one aspect of the present invention, a multi-level fusion detection method for satellite signals is provided, comprising:

[0006] Acquire satellite signals, and generate multiple satellite signal waterfall graphs based on the satellite signals;

[0007] splicing the multiple satellite signal waterfall graphs to obtain multiple levels of satellite signal waterfall graphs;

[0008] Inputting the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs;

[0009] The satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams are fused to obtain a fused satellite signal detection result.

[0010] According to another aspect of the present invention, a multi-level fusion detection device for satellite signals is provided, comprising:

[0011] A satellite signal waterfall diagram generating module, used for acquiring satellite signals and generating a plurality of satellite signal waterfall diagrams based on the satellite signals;

[0012] A multi-level satellite signal waterfall diagram splicing module is used to splice the multiple satellite signal waterfall diagrams to obtain multi-level satellite signal waterfall diagrams;

[0013] A satellite signal detection result prediction module, used for inputting the multiple satellite signal waterfall diagrams into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams;

[0014] The satellite signal detection result fusion module is used to fuse the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor;

[0017] and a memory communicatively coupled to the at least one processor;

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the multi-level fusion detection method for satellite signals described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the multi-level fusion detection method for satellite signals described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention obtains satellite signals, generates multiple satellite signal waterfall graphs based on the satellite signals, and then splices the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs, and then inputs the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs, and fuses the satellite signal detection results corresponding to the multiple satellite signal waterfall graphs to obtain a fused satellite signal detection result. The above technical solution effectively improves the accuracy of satellite signal detection results by fusing multiple satellite signal waterfall graphs.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1is a flowchart of a multi-level fusion detection method for satellite signals provided according to Embodiment 1 of the present invention;

[0024] Figure 2 A satellite signal waterfall diagram provided according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a signal acquisition environment provided according to an embodiment of the present invention;

[0026] Figure 4 is a flow chart of a multi-level fusion detection method for satellite signals provided according to Embodiment 2 of the present invention;

[0027] Figure 5 A multi-level satellite signal waterfall diagram provided according to an embodiment of the present invention;

[0028] Figure 6 is a flowchart of a multi-level fusion detection method for satellite signals provided according to Embodiment 3 of the present invention;

[0029] Figure 7 is a schematic diagram of a multi-level fusion strategy provided according to an embodiment of the present invention;

[0030] Figure 8 is a flowchart of a multi-level fusion detection method for satellite signals provided according to Embodiment 4 of the present invention;

[0031] Fig. 9 2 is a schematic diagram of the structure of a multi-level fusion detection device for satellite signals provided according to Embodiment 5 of the present invention;

[0032] Fig.10 It is a schematic diagram of the structure of an electronic device for implementing the multi-level fusion detection method for satellite signals according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0035] Embodiment 1

[0036] Figure 1 This is a flowchart of a multi-level fusion detection method for satellite signals provided in the first embodiment of the present invention. This embodiment is applicable to the case of satellite signal detection. The method can be performed by a multi-level fusion detection device for satellite signals. The multi-level fusion detection device for satellite signals can be implemented in the form of hardware and / or software. The multi-level fusion detection device for satellite signals can be configured in electronic devices such as terminals and / or servers. Figure 1 As shown, the method includes:

[0037] S110: Acquire satellite signals, and generate a plurality of satellite signal waterfall graphs based on the satellite signals.

[0038] In the embodiment of the present invention, the satellite signal waterfall diagram refers to a graphical representation used to present satellite signal characteristics, such as Figure 2 shown.

[0039] For example, satellite signals of the full frequency band (0-3GHz frequency band) can be collected, and then the satellite signals of the full frequency band are segmented according to a 50% overlap rate to generate multiple satellite signal waterfall graphs. It should be noted that by overlapping the signals, the probability of the signal being distributed at the boundary of the waterfall graph can be reduced, thereby improving the quality of the satellite signal waterfall graph.

[0040] S120: splicing the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs.

[0041] Among them, the multi-level satellite signal waterfall chart may include multiple levels of spliced ​​satellite signal waterfall charts, and the splicing quantity or splicing method of the spliced ​​satellite signal waterfall charts of each level is different.

[0042] Exemplarily, a plurality of satellite signal waterfall graphs are spliced ​​according to a preset splicing quantity or splicing method to obtain a spliced ​​satellite signal waterfall graph of two levels, three levels, four levels or more than four levels.

[0043] S130: Input the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs.

[0044] In an embodiment of the present invention, the satellite signal detection model can be a deep learning model trained based on a satellite signal sample data set, which can be used to predict satellite signal detection results corresponding to multiple satellite signal waterfall charts. The satellite signal detection results include but are not limited to center frequency, center time, signal bandwidth, and signal duration.

[0045] The training steps of the satellite signal detection model include: using a signal generator to simulate satellite signals with a bandwidth of 0-256MHz, and using antenna communication to connect to the USRP X310 acquisition device to simulate the real electromagnetic signal environment, and collecting satellite signal sample sets with different bandwidths and different center frequencies at a sampling rate of 655.36MHz and an acquisition bandwidth of 500MHz. Figure 3 As shown in the figure, the signal generator and the USRP X310 acquisition device are connected by antenna communication, and the USRP X310 acquisition device and the terminal device are connected by a network cable so that the terminal device can obtain the signal file. Furthermore, the terminal device superimposes the multiple signal files read randomly in the time domain to form a multi-tone signal; and then sets the window length to 512 through the signal.stft function to generate a 512×512 waterfall chart based on the multi-tone signal. Furthermore, the waterfall chart is annotated with annotation software, and the signal part is framed with a rectangular frame to obtain a label file. The waterfall chart and the label file are then combined to construct a training data set. Furthermore, the satellite signal detection model is trained using the training data set and the YOLO detection algorithm, wherein the model input is a 512×512 waterfall chart, and the output is the coordinates {x, y, w, h} of the predicted signal in the waterfall chart, i.e., the satellite signal detection result, wherein x represents the center frequency of the predicted signal, y represents the center time of the predicted signal, w represents the predicted signal bandwidth, and h represents the predicted signal duration; the loss function includes the sum of classification loss, positioning loss, and confidence loss. The classification loss and confidence loss can be obtained by calculating the binary cross entropy, and the positioning loss can be obtained by calculating CIOU (Complete IoU).

[0046] S140: Fusing the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

[0047] The fused satellite signal detection result refers to the fused result of the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams.

[0048] In the embodiment of the present invention, the satellite signal detection results corresponding to the spliced ​​satellite signal waterfall diagrams of each level are fused to avoid the occurrence of a single inaccurate prediction of the satellite signal detection result, thereby improving the accuracy of the satellite signal detection result.

[0049] The technical solution of the embodiment of the present invention obtains satellite signals, generates multiple satellite signal waterfall graphs based on the satellite signals, and then splices the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs, and then inputs the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs, and fuses the satellite signal detection results corresponding to the multiple satellite signal waterfall graphs to obtain a fused satellite signal detection result. The above technical solution effectively improves the accuracy of satellite signal detection results by fusing multiple satellite signal waterfall graphs.

[0050] Embodiment 2

[0051] Figure 4 This is a flowchart of a multi-level fusion detection method for satellite signals provided in Embodiment 2 of the present invention. The method of this embodiment can be combined with each optional solution in the multi-level fusion detection method for satellite signals provided in the above embodiments. The multi-level fusion detection method for satellite signals provided in this embodiment is further optimized. Optionally, the splicing of the multiple satellite signal waterfall charts to obtain multiple satellite signal waterfall charts includes: splicing every two satellite signal waterfall charts in the multiple satellite signal waterfall charts in the horizontal axis frequency direction to obtain a first-level satellite signal waterfall chart; splicing every sixteen satellite signal waterfall charts in the multiple satellite signal waterfall charts in the horizontal axis frequency direction to obtain a second-level satellite signal waterfall chart; splicing every fifty-two satellite signal waterfall charts in the multiple satellite signal waterfall charts in the horizontal axis frequency direction to obtain a third-level satellite signal waterfall chart; splicing every two hundred and eight satellite signal waterfall charts in the multiple satellite signal waterfall charts in the horizontal axis frequency direction to obtain a fourth-level satellite signal waterfall chart; generating multiple levels of satellite signal waterfall charts based on the first-level satellite signal waterfall chart, the second-level satellite signal waterfall chart, the third-level satellite signal waterfall chart and the fourth-level satellite signal waterfall chart.

[0052] like Figure 4 As shown, the method includes:

[0053] S210: Acquire satellite signals, and generate a plurality of satellite signal waterfall graphs based on the satellite signals.

[0054] S220: splice every two satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in a horizontal frequency direction to obtain a first-level satellite signal waterfall graph.

[0055] Exemplarily, two satellite signal waterfall charts of 512×512 size to be spliced ​​are read from multiple satellite signal waterfall charts, and then horizontally stacked along the horizontal frequency direction to obtain a 1024×512 spliced ​​image, that is, a first-level satellite signal waterfall chart.

[0056] S230: splice every sixteen satellite signal waterfall graphs among the plurality of satellite signal waterfall graphs in a horizontal frequency direction to obtain a second-level satellite signal waterfall graph.

[0057] Exemplarily, sixteen satellite signal waterfall charts of 512×512 size to be spliced ​​are read from multiple satellite signal waterfall charts, and then horizontally stacked along the horizontal axis frequency direction to obtain a 8192×512 spliced ​​image, that is, a second-level satellite signal waterfall chart.

[0058] S240: splice every fifty-two satellite signal waterfall graphs among the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a third level satellite signal waterfall graph.

[0059] Exemplarily, fifty-two satellite signal waterfall charts of 512×512 size to be spliced ​​are read from multiple satellite signal waterfall charts, and then horizontally stacked along the horizontal frequency direction to obtain a 26624×512 spliced ​​image, that is, a third-level satellite signal waterfall chart.

[0060] S250, splicing every 208 satellite signal waterfall graphs among the plurality of satellite signal waterfall graphs along the horizontal axis frequency direction to obtain a fourth level satellite signal waterfall graph.

[0061] Exemplarily, two hundred and eight satellite signal waterfall charts of 512×512 size to be spliced ​​are read from multiple satellite signal waterfall charts, and then horizontally stacked along the horizontal axis frequency direction to obtain a 106496×512 spliced ​​image, that is, a fourth-level satellite signal waterfall chart.

[0062] S260: Generate multiple levels of satellite signal waterfall graphs based on the first level satellite signal waterfall graph, the second level satellite signal waterfall graph, the third level satellite signal waterfall graph, and the fourth level satellite signal waterfall graph.

[0063] Exemplarily, the sizes of the first-level satellite signal waterfall graph, the second-level satellite signal waterfall graph, the third-level satellite signal waterfall graph, and the fourth-level satellite signal waterfall graph are resized to 512×512, thereby forming a multi-level satellite signal waterfall graph for testing. Figure 5A multi-level satellite signal waterfall graph is provided in an embodiment of the present invention, and the multi-level satellite signal waterfall graph includes a first-level satellite signal waterfall graph, a second-level satellite signal waterfall graph, a third-level satellite signal waterfall graph, and a fourth-level satellite signal waterfall graph whose sizes are resized.

[0064] S270: Input the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs.

[0065] S280: Fusing the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

[0066] The technical solution of the embodiment of the present invention is to obtain a first-level satellite signal waterfall chart by splicing every two satellite signal waterfall charts in a plurality of satellite signal waterfall charts in the direction of the horizontal axis frequency; to obtain a second-level satellite signal waterfall chart by splicing every sixteen satellite signal waterfall charts in a plurality of satellite signal waterfall charts in the direction of the horizontal axis frequency; to obtain a third-level satellite signal waterfall chart by splicing every fifty-two satellite signal waterfall charts in a plurality of satellite signal waterfall charts in the direction of the horizontal axis frequency; to obtain a fourth-level satellite signal waterfall chart by splicing every two hundred and eight satellite signal waterfall charts in a plurality of satellite signal waterfall charts in the direction of the horizontal axis frequency; and to generate multiple levels of satellite signal waterfall charts based on the first-level satellite signal waterfall chart, the second-level satellite signal waterfall chart, the third-level satellite signal waterfall chart and the fourth-level satellite signal waterfall chart. The above technical solution increases the diversity of satellite signal waterfall charts by splicing multiple levels.

[0067] Embodiment 3

[0068] Figure 6 A flowchart of a multi-level fusion detection method for satellite signals provided in Embodiment 3 of the present invention, the method of this embodiment can be combined with the various optional schemes in the multi-level fusion detection method for satellite signals provided in the above embodiments. The multi-level fusion detection method for satellite signals provided in this embodiment is further optimized. Optionally, the satellite signal detection results corresponding to the multi-level satellite signal waterfall diagrams are fused to obtain fused satellite signal detection results, including: performing same-level fusion on the satellite signal detection results corresponding to the multi-level satellite signal waterfall diagrams to obtain same-level fused satellite signal detection results; performing cross-level fusion on the satellite signal detection results after the same-level fusion to obtain cross-level fused satellite signal detection results; performing cross-time fusion on the satellite signal detection results after the cross-level fusion to obtain a fused satellite signal detection result.

[0069] like Figure 6 As shown, the method includes:

[0070] S310: Acquire satellite signals, and generate a plurality of satellite signal waterfall graphs based on the satellite signals.

[0071] S320: splice the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs.

[0072] S330: Input the multiple satellite signal waterfall diagrams into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams.

[0073] S340: performing same-level fusion on the satellite signal detection results corresponding to the multiple-level satellite signal waterfall diagrams to obtain same-level fused satellite signal detection results.

[0074] S350: Perform cross-file fusion on the satellite signal detection results after the same-file fusion to obtain the satellite signal detection results after the cross-file fusion.

[0075] S360: Perform cross-time fusion on the satellite signal detection results after the cross-file fusion to obtain a fused satellite signal detection result.

[0076] In an embodiment of the present invention, same-grade fusion refers to the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall chart in the same grade, for example, the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall chart in the first grade. Cross-grade fusion refers to the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall charts between different grades, for example, the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall charts in the first grade and the second grade. Cross-time fusion refers to the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall charts at different time points, for example, the fusion of satellite signal detection results corresponding to the spliced ​​satellite signal waterfall charts at the first time point and the second time point. It should be noted that through the multi-grade fusion strategies of same-grade fusion, cross-grade fusion and cross-time fusion, the accuracy of satellite signal detection results is greatly improved, and the situation of missed detection or missed detection is reduced.

[0077] For example, Figure 7 A schematic diagram of a multi-stage fusion strategy provided by an embodiment of the present invention. Figure 7 As shown, satellite signal 1 represents the satellite signal collected at the first time point, and satellite signal 2 represents the satellite signal collected at the second time point. Further, the waterfall diagrams of multiple satellite signals at two time points are respectively subjected to same-level fusion, cross-level fusion and cross-time fusion to obtain the fused satellite signal detection result.

[0078] Optionally, perform same - gear fusion on the satellite signal detection results corresponding to the multi - gear satellite signal waterfall diagrams, including: for any gear of satellite signal waterfall diagrams, if the satellite signal detection result corresponding to any satellite signal waterfall diagram in this gear meets the first same - gear fusion condition, then delete the satellite signal detection result corresponding to this satellite signal waterfall diagram; if there is a situation where the satellite signal detection results corresponding to the satellite signal waterfall diagrams in this gear do not meet the first same - gear fusion condition, then restore the satellite signal detection results corresponding to all satellite signal waterfall diagrams in this gear to the full frequency band, obtaining the full - frequency - band satellite signal detection results corresponding to all satellite signal waterfall diagrams in this gear; if the full - frequency - band satellite signal detection results corresponding to any two satellite signal waterfall diagrams in this gear meet the second same - gear fusion condition, then delete the full - frequency - band satellite signal detection result corresponding to the satellite signal waterfall diagram with a larger bandwidth of the two; if the full - frequency - band satellite signal detection results corresponding to any two satellite signal waterfall diagrams in this gear do not meet the second same - gear fusion condition, then retain the full - frequency - band satellite signal detection results corresponding to these two satellite signal waterfall diagrams.

[0079] Among them, the first same - gear fusion condition and the second same - gear fusion condition are threshold judgment conditions preset according to expert experience.

[0080] Exemplarily, traverse the satellite signal detection results {x, y, w, h} of the first - gear satellite signal waterfall diagram, the second - gear satellite signal waterfall diagram, the third - gear satellite signal waterfall diagram, and the fourth - gear satellite signal waterfall diagram respectively. Specifically, set the first same - gear fusion condition. If x - w / 2 < thr1 or 512 - x - w / 2 < thr1, it means that the satellite signal is close to the left and right boundaries and is not fully detected in this gear, and the satellite signal detection result needs to be discarded. Among them, x represents the center frequency of the satellite signal, y represents the center time of the satellite signal, w represents the bandwidth of the satellite signal, h represents the duration of the satellite signal, and thr1 represents the threshold set under the first same - gear fusion condition; if the above - mentioned first same - gear fusion condition is not met, it means that the satellite signal is not close to the left and right boundaries, and the satellite signal detection results corresponding to all satellite signal waterfall diagrams in this gear are restored to the full frequency band, obtaining the full - frequency - band satellite signal detection results {x ′ , y, w, h} of all satellite signal waterfall diagrams in this gear, where x ′ represents the absolute center frequency of the satellite signal, and adding the starting frequency to the center frequency of the satellite signal gives x ′ , and this starting frequency is obtained by subtracting 1 / 2 of the signal bandwidth from the center frequency at the time of satellite signal acquisition. Further, for example, {x ′ 1 , y 1 , w 1 , h 1} and {x ′ 2 , y 2 , w2 , h 2} respectively represent the two satellite signal detection results when this gear is restored to the full frequency band. Set the second same-gear fusion condition. If |x ′ 1 - w 1 / 2 - x ′ 2 + w 2 / 2| < thr2 and |w 1 / 2 - w 2 / 2| < thr2, it means that {x ′ 1 , y 1 , w 1 , h 1} and {x ′ 2 , y 2 , w 2 , h 2} are the detection results of the same satellite signal. Then, among these two full-frequency band satellite signal detection results, retain the full-frequency band satellite signal detection result with a smaller bandwidth and discard the full-frequency band satellite signal detection result with a larger bandwidth. thr2 represents the threshold set under the second same-gear fusion condition. If the full-frequency band satellite signal detection results corresponding to any two satellite signal waterfall diagrams in this gear do not meet the above second same-gear fusion condition, it indicates that there are no identical detection results within the same gear, and then retain the full-frequency band satellite signal detection results corresponding to these two satellite signal waterfall diagrams.

[0081] It should be noted that for the detection results of the same satellite signal, the detection result with a smaller bandwidth has a higher accuracy than the detection result with a larger bandwidth. Therefore, retain the satellite signal detection result with a smaller bandwidth and discard the satellite signal detection result with a larger bandwidth.

[0082] Optionally, perform cross-gear fusion on the satellite signal detection results after same-gear fusion, including: for the satellite signal detection results after same-gear fusion, if the satellite signal detection results corresponding to two satellite signal waterfall diagrams in different gears meet the cross-gear fusion condition, then delete the satellite signal detection results corresponding to the two satellite signal waterfall diagrams in the higher gears of the different gears; if the satellite signal detection results corresponding to two satellite signal waterfall diagrams in different gears do not meet the cross-gear fusion condition, then retain the satellite signal detection results corresponding to these two satellite signal waterfall diagrams in different gears.

[0083] Among them, the cross-gear fusion condition is a threshold judgment condition preset according to expert experience.

[0084] Exemplarily, traverse the satellite signal detection results of each gear after same-gear fusion. For example, {x 1 , y 1 , w 1 , h1}, and {x 1 , y 2 , w 2 , h 2} respectively represent the satellite signal detection results corresponding to the waterfall diagrams of two satellite signals in different gears. Set the cross-gear fusion condition. If |x 1 - w 1 / 2 - x 2 + w 2 / 2| < thr3 and |w 1 / 2 - w 2 / 2| < thr3, it means that {x 1 , y 1 , w 1 , h 1} and {x 1 , y 2 , w 2 , h 2} are the detection results of the same satellite signal. Retain the satellite signal detection result of the lower gear and discard the satellite signal detection result of the higher gear. The gear size order is: the first gear < the second gear < the third gear < the fourth gear. Thr3 represents the threshold set under the cross-gear fusion condition. If the satellite signal detection results corresponding to the waterfall diagrams of two satellite signals in different gears do not meet the above cross-gear fusion condition, then retain the satellite signal detection results corresponding to the waterfall diagrams of these two satellite signals in different gears.

[0085] It should be noted that for the detection results of the same satellite signal, the resolution of the detection result of the lower gear is higher than that of the higher gear. Therefore, retain the satellite signal detection result of the lower gear and discard the satellite signal detection result of the higher gear.

[0086] Optionally, perform cross-time fusion on the satellite signal detection results after cross-gear fusion, including: for the satellite signal detection results after cross-gear fusion, if the satellite signal detection results corresponding to the waterfall diagrams of two satellite signals at different time points meet the cross-time fusion condition, then delete the satellite signal detection results corresponding to the waterfall diagram with the smaller time point among the two at different time points, and update the satellite signal detection results corresponding to the waterfall diagram with the larger time point among the two at different time points; if the satellite signal detection results corresponding to the waterfall diagrams of two satellite signals at different time points do not meet the cross-time fusion condition, then retain the satellite signal detection results corresponding to the waterfall diagrams of these two satellite signals at different time points.

[0087] Among them, the cross-time fusion condition is a threshold judgment condition set in advance according to expert experience.

[0088] Exemplarily, a batch of waterfall diagrams with four levels can be generated every 409.6 ms and the same-level fusion and cross-level fusion can be completed. Traverse the satellite signal detection results after the same-level fusion and cross-level fusion in adjacent time batches. For example, {x 1 , y 1 , w 1 , h 1} and {x 1 , y 2 , w 2 , h 2} respectively represent the satellite signal detection results corresponding to two satellite signal waterfall diagrams at different time points. Set the cross-time fusion condition. If |x 1 - w 1 / 2 - x 2 + w 2 / 2| < thr4, |w 1 / 2 - w 2 / 2| < thr4, 512 - y 1 - h 1 / 2 < thr4, and y 2 - h 2 / 2 < thr4 hold simultaneously, then {x 1 , y 1 , w 1 , h 1} and {x 1 , y 2 , w 2 , h 2} are the detection results of the same satellite signal. Retain the result {x 2 , (y 1 + y 2 ) / 2, w 2 , h 1 + h 2}. Thr4 represents the threshold set under the cross-time fusion condition. If the satellite signal detection results corresponding to two satellite signal waterfall diagrams at different time points do not meet the above cross-time fusion condition, then retain the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different time points.

[0089] It should be noted that for the detection results of the same satellite signal, the detection result at the latest time is closer to the reporting time. Therefore, retaining the detection result at the latest time helps to detect and analyze satellite signals in real time.

[0090] The technical solution of the embodiment of the present invention greatly improves the accuracy of the satellite signal detection result and reduces the situation of missed detection or false detection through the multi-level fusion strategy of same-level fusion, cross-level fusion, and cross-time fusion.

[0091] Embodiment 4

[0092] Figure 8 A flowchart of a multi-level fusion detection method for satellite signals provided in Embodiment 4 of the present invention is provided. The method of this embodiment can be combined with the various optional schemes in the multi-level fusion detection method for satellite signals provided in the above embodiments. The multi-level fusion detection method for satellite signals provided in this embodiment is further optimized. Optionally, after the satellite signal detection results corresponding to the multi-level satellite signal waterfall diagrams are fused to obtain the fused satellite signal detection results, it also includes: determining the target satellite signal bandwidth, the target satellite signal duration and the target satellite signal center frequency based on the fused satellite signal detection results.

[0093] like Figure 8 As shown, the method includes:

[0094] S410: Acquire satellite signals, and generate a plurality of satellite signal waterfall graphs based on the satellite signals.

[0095] S420: splice the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs.

[0096] S430: Input the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs.

[0097] S440: Fusing the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

[0098] S450: Determine a target satellite signal bandwidth, a target satellite signal duration, and a target satellite signal center frequency based on the fused satellite signal detection result.

[0099] For example, after obtaining an accurate fusion satellite signal detection result {x 融 ,y 融 ,w 融 ,h 融}, we can combine the sampling rate f s and the starting frequency f start The target satellite signal bandwidth, target satellite signal duration and target satellite signal center frequency are calculated.

[0100] Among them, the calculation formula of the target satellite signal bandwidth is:

[0101] Target satellite signal bandwidth = w 融 *fs;

[0102] The calculation formula for the target satellite signal duration is:

[0103] Target satellite signal duration = h 融*fs;

[0104] The calculation formula of the target satellite signal center frequency is:

[0105] Target satellite signal center frequency = x 融 *fs+f start ;

[0106] After obtaining the target satellite signal bandwidth, target satellite signal duration and target satellite signal center frequency, the target satellite signal bandwidth, target satellite signal duration and target satellite signal center frequency may be reported to the target device for user use and analysis.

[0107] The technical solution of the embodiment of the present invention provides data support for subsequent satellite signal analysis by determining the target satellite signal bandwidth, target satellite signal duration and target satellite signal center frequency based on the fused satellite signal detection results.

[0108] Embodiment 5

[0109] Fig. 9 This is a schematic diagram of the structure of a multi-level fusion detection device for satellite signals provided in Embodiment 5 of the present invention. Fig. 9 As shown, the device comprises:

[0110] A satellite signal waterfall diagram generating module 510 is used to obtain satellite signals and generate a plurality of satellite signal waterfall diagrams based on the satellite signals;

[0111] A multi-level satellite signal waterfall diagram splicing module 520 is used to splice the multiple satellite signal waterfall diagrams to obtain multi-level satellite signal waterfall diagrams;

[0112] The satellite signal detection result prediction module 530 is used to input the multiple satellite signal waterfall diagrams into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams;

[0113] The satellite signal detection result fusion module 540 is used to fuse the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

[0114] The technical solution of the embodiment of the present invention obtains satellite signals, generates multiple satellite signal waterfall graphs based on the satellite signals, and then splices the multiple satellite signal waterfall graphs to obtain multiple satellite signal waterfall graphs, and then inputs the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs, and fuses the satellite signal detection results corresponding to the multiple satellite signal waterfall graphs to obtain a fused satellite signal detection result. The above technical solution effectively improves the accuracy of satellite signal detection results by fusing multiple satellite signal waterfall graphs.

[0115] In some optional implementations, the multi-level satellite signal waterfall diagram splicing module 520 can be specifically used for:

[0116] splicing every two satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a first-level satellite signal waterfall graph;

[0117] splicing every sixteen satellite signal waterfall graphs among the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a second-level satellite signal waterfall graph;

[0118] splicing every fifty-two satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a third-level satellite signal waterfall graph;

[0119] splicing every 208 satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a fourth level satellite signal waterfall graph;

[0120] A plurality of satellite signal waterfall graphs are generated based on the first satellite signal waterfall graph, the second satellite signal waterfall graph, the third satellite signal waterfall graph and the fourth satellite signal waterfall graph.

[0121] In some optional implementations, the satellite signal detection result fusion module 540 includes:

[0122] A same-level fusion unit is used to perform same-level fusion on the satellite signal detection results corresponding to the multiple-level satellite signal waterfall diagrams to obtain the same-level fused satellite signal detection results;

[0123] A cross-file fusion unit, used for performing cross-file fusion on the satellite signal detection results after the same-file fusion to obtain the satellite signal detection results after the cross-file fusion;

[0124] The cross-time fusion unit is used to perform cross-time fusion on the satellite signal detection results after the cross-file fusion to obtain a fused satellite signal detection result.

[0125] In some optional implementations, the same-level fusion unit may also be used for:

[0126] For any satellite signal waterfall diagram, if the satellite signal detection result corresponding to any satellite signal waterfall diagram in the diagram satisfies the first same-level fusion condition, the satellite signal detection result corresponding to the satellite signal waterfall diagram is deleted;

[0127] If there is a satellite signal detection result corresponding to the satellite signal waterfall diagram in the file that does not meet the first same-file fusion condition, the satellite signal detection results corresponding to all satellite signal waterfall diagrams in the file are restored to the full frequency band to obtain the full-band satellite signal detection results corresponding to all satellite signal waterfall diagrams in the file;

[0128] If the full-band satellite signal detection results corresponding to any two satellite signal waterfall graphs in the file meet the second same-file fusion condition, the full-band satellite signal detection results corresponding to the two satellite signal waterfall graphs with large bandwidth are deleted;

[0129] If the full-band satellite signal detection results corresponding to any two satellite signal waterfall diagrams in the file do not meet the second same-file fusion condition, the full-band satellite signal detection results corresponding to the two satellite signal waterfall diagrams are retained.

[0130] In some optional implementations, the cross-stage fusion unit may be specifically used for:

[0131] For the satellite signal detection results after the same-level fusion, if the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different levels meet the cross-level fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different levels are deleted;

[0132] If the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different gears do not meet the cross-gear fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different gears are retained.

[0133] In some optional implementations, the cross-time fusion unit may be specifically used for:

[0134] For the satellite signal detection results after the cross-time fusion, if the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points meet the cross-time fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points with a smaller middle time point are deleted, and the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points with a larger middle time point are updated;

[0135] If the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points do not meet the cross-time fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points are retained.

[0136] In some optional implementations, the multi-level fusion detection device for satellite signals further includes:

[0137] The target data determination unit determines the target satellite signal bandwidth, the target satellite signal duration and the target satellite signal center frequency based on the fused satellite signal detection result.

[0138] The multi-level fusion detection device for satellite signals provided in the embodiment of the present invention can execute the multi-level fusion detection method for satellite signals provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0139] Embodiment 6

[0140] Fig.10 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0141] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The I / O interface 15 is also connected to the bus 14.

[0142] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0143] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a multi-stage fusion detection method for satellite signals, which includes:

[0144] Acquire satellite signals, and generate multiple satellite signal waterfall graphs based on the satellite signals;

[0145] splicing the multiple satellite signal waterfall graphs to obtain multiple levels of satellite signal waterfall graphs;

[0146] Inputting the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs;

[0147] The satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams are fused to obtain a fused satellite signal detection result.

[0148] In some embodiments, the multi-level fusion detection method for satellite signals may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the multi-level fusion detection method for satellite signals described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the multi-level fusion detection method for satellite signals in any other appropriate manner (e.g., by means of firmware).

[0149] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0150] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0151] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0153] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0154] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0155] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0156] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-level fusion detection method for satellite signals, characterized in that: include: Acquire satellite signals, and generate multiple satellite signal waterfall graphs based on the satellite signals; splicing the multiple satellite signal waterfall graphs to obtain multiple levels of satellite signal waterfall graphs; Inputting the multiple satellite signal waterfall graphs into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall graphs; The satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams are fused to obtain a fused satellite signal detection result.

2. The method according to claim 1, characterized in that The step of splicing the plurality of satellite signal waterfall graphs to obtain a plurality of satellite signal waterfall graphs includes: splicing every two satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a first-level satellite signal waterfall graph; splicing every sixteen satellite signal waterfall graphs among the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a second-level satellite signal waterfall graph; splicing every fifty-two satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a third-level satellite signal waterfall graph; splicing every 208 satellite signal waterfall graphs in the plurality of satellite signal waterfall graphs in the horizontal axis frequency direction to obtain a fourth level satellite signal waterfall graph; A plurality of satellite signal waterfall graphs are generated based on the first satellite signal waterfall graph, the second satellite signal waterfall graph, the third satellite signal waterfall graph, and the fourth satellite signal waterfall graph.

3. The method according to claim 1, characterized in that The fusing the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result includes: Performing same-level fusion on the satellite signal detection results corresponding to the multiple-level satellite signal waterfall diagrams to obtain same-level fused satellite signal detection results; Performing cross-file fusion on the satellite signal detection results after the same-file fusion to obtain the satellite signal detection results after the cross-file fusion; The satellite signal detection results after the cross-file fusion are cross-time fused to obtain a fused satellite signal detection result.

4. The method according to claim 3, characterized in that The performing same-level fusion of satellite signal detection results corresponding to the multiple-level satellite signal waterfall graphs includes: For any satellite signal waterfall diagram, if the satellite signal detection result corresponding to any satellite signal waterfall diagram in the diagram satisfies the first same-level fusion condition, the satellite signal detection result corresponding to the satellite signal waterfall diagram is deleted; If there is a satellite signal detection result corresponding to the satellite signal waterfall diagram in the file that does not meet the first same-file fusion condition, the satellite signal detection results corresponding to all satellite signal waterfall diagrams in the file are restored to the full frequency band to obtain the full-band satellite signal detection results corresponding to all satellite signal waterfall diagrams in the file; If the full-band satellite signal detection results corresponding to any two satellite signal waterfall graphs in the file meet the second same-file fusion condition, the full-band satellite signal detection results corresponding to the two satellite signal waterfall graphs with large bandwidth are deleted; If the full-band satellite signal detection results corresponding to any two satellite signal waterfall diagrams in the file do not meet the second same-file fusion condition, the full-band satellite signal detection results corresponding to the two satellite signal waterfall diagrams are retained.

5. The method according to claim 3, characterized in that: The performing cross-file fusion on the satellite signal detection results after the same-file fusion includes: For the satellite signal detection results after the same-level fusion, if the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different levels meet the cross-level fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different levels are deleted; If the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different gears do not meet the cross-gear fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall diagrams at different gears are retained.

6. The method according to claim 3, characterized in that The performing cross-time fusion on the satellite signal detection results after the cross-file fusion includes: For the satellite signal detection results after the cross-time fusion, if the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points meet the cross-time fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points with a smaller middle time point are deleted, and the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points with a larger middle time point are updated; If the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points do not meet the cross-time fusion condition, the satellite signal detection results corresponding to the two satellite signal waterfall graphs at different time points are retained.

7. The method according to any one of claims 1 to 6, characterized in that: After fusing the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result, the method further includes: The target satellite signal bandwidth, the target satellite signal duration and the target satellite signal center frequency are determined based on the fused satellite signal detection result.

8. A multi-level fusion detection device for satellite signals, characterized in that: include: A satellite signal waterfall diagram generating module, used for acquiring satellite signals and generating a plurality of satellite signal waterfall diagrams based on the satellite signals; A multi-level satellite signal waterfall diagram splicing module is used to splice the multiple satellite signal waterfall diagrams to obtain multi-level satellite signal waterfall diagrams; A satellite signal detection result prediction module, used for inputting the multiple satellite signal waterfall diagrams into a pre-trained satellite signal detection model to obtain satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams; The satellite signal detection result fusion module is used to fuse the satellite signal detection results corresponding to the multiple satellite signal waterfall diagrams to obtain a fused satellite signal detection result.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the multi-level fusion detection method for satellite signals described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the multi-level fusion detection method for satellite signals according to any one of claims 1 to 7 when executed.

Images