Navigation signal quality detection method, device, equipment, medium, product and chip system

Abstract

The invention provides a navigation signal quality detection method, device and equipment, a medium, a product and a chip system.According to the method, multi-domain quality detection is conducted on navigation signals, quality detection parameters, namely a multi-domain detection parameter set, of the navigation signals in multiple signal domains are obtained, the signal quality is evaluated from multiple dimensions such as the frequency domain, the time domain, the modulation domain and the related domain, and the navigation signal quality detection accuracy is improved. And the accuracy of signal quality detection is improved. And performing multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value for optimizing the navigation signal, so as to accurately quantify the navigation signal quality in a dynamic environment, improve the comprehensiveness and accuracy of signal quality detection and improve the signal quality of the navigation signal.

Description

Technical Field

[0001] The present disclosure mainly relates to the field of satellite communication technology, and in particular to a navigation signal quality detection method, device, computer equipment, computer storage medium, computer program product and chip system. Background Art

[0002] The navigation signal is a radio signal containing navigation messages and ranging codes transmitted by the navigation satellite to the ground receiving end. It is used to provide spatial positioning services (longitude, latitude, altitude) and time synchronization services, etc.

[0003] However, traditional navigation signal quality detection methods only focus on static or low-dynamic scenarios, and use static or low-dynamic characteristics such as signal-to-noise ratio, delay estimation, and correlation peak analysis for signal quality detection. They are difficult to adapt to the signal quality detection needs of high-dynamic and high-frequency signals of low-orbit satellites, resulting in low accuracy in navigation signal quality detection, making it difficult to provide effective guidance for practical applications in complex environments. Summary of the invention

[0004] It would be advantageous to provide a mechanism that mitigates, alleviates or eliminates at least one of the problems discussed above.

[0005] In a first aspect, the present disclosure provides a navigation signal quality detection method, the method comprising: Performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set; the multi-domain detection parameter set includes quality detection parameters of the navigation signal in multiple signal domains; The multi-domain detection parameter set is subjected to multi-domain fusion processing to obtain a comprehensive quality detection value, and the comprehensive quality detection value is used to optimize the navigation signal.

[0006] In a second aspect, the present disclosure provides a navigation signal quality detection device, the device comprising: A detection unit, configured to perform multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set; the multi-domain detection parameter set includes quality detection parameters of the navigation signal in multiple signal domains; The fusion unit is used to perform multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value, and the comprehensive quality detection value is used to optimize the navigation signal.

[0007] In a third aspect, the present disclosure provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the navigation signal quality detection methods described in the first aspect is implemented.

[0008] In a fourth aspect, the present disclosure provides a computer storage medium, wherein the computer-readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement any one of the navigation signal quality detection methods in the first aspect.

[0009] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, comprising computer program instructions, which, when executed by a processor, implement any one of the navigation signal quality detection methods in the first aspect.

[0010] In a sixth aspect, an embodiment of the present disclosure provides a chip system of a computer device, comprising at least one processor, wherein the at least one processor is configured to individually or jointly execute a computer program stored in a memory of the computer device in the third aspect above, so that the computer device executes any one of the navigation signal quality detection methods in the first aspect above.

[0011] It should be understood that the invention summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are included to provide a further understanding of the present disclosure, and they are included and constitute a part of the present disclosure. The accompanying drawings illustrate embodiments of the present disclosure and together with the specification serve to explain the principles of the present disclosure. In the accompanying drawings: Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure; Figure 2 is a flowchart diagram of an exemplary method 200 for detecting navigation signal quality provided by an embodiment of the present disclosure; Figure 3 It is a schematic diagram of an overall process of navigation signal quality detection provided by an embodiment of the present disclosure; Figure 4 A schematic diagram of the structure of a navigation signal quality detection device provided in an embodiment of the present disclosure; Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present disclosure. For ordinary technicians in this field, the present disclosure can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0014] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0015] References in this disclosure to "one embodiment," "an embodiment," "an exemplary embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an exemplary embodiment, whether or not explicitly described, those skilled in the art will recognize that such feature, structure, or characteristic affects incorporation into other embodiments.

[0016] As shown in the present disclosure, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, and may also include plural forms. Unless the context clearly indicates otherwise. "A group of elements" or "element set" used herein is intended to include one or more elements. It should also be understood that the terms "include", "comprise", "have", "have", "include" and / or "include", when used in this article, specify the existence of the features, elements and / or parts, etc., only prompt the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements, and therefore does not exclude the existence or addition of one or more other features, elements, parts and / or their combinations. Unless otherwise specified, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present disclosure. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed herein, any specific value should be interpreted as being merely exemplary and not limiting. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0017] In the description of the present disclosure, it is necessary to understand that the orientation or positional relationship indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0018] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0019] In addition, it should be noted that the use of words such as "first" and "second" to define parts is only for the convenience of distinguishing the corresponding parts. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of the present disclosure. Therefore, although the terms "first" and "second" can be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the exemplary embodiment, the first element can be referred to as the second element, and similarly, the second element can be referred to as the first element. The term "and / or" used herein includes any and all combinations of one or more of the listed terms. In addition, although the terms used in the present disclosure are selected from well-known and commonly used terms, some of the terms mentioned in the present disclosure may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand the present disclosure not only by the actual terms used, but also by the meaning implied by each term.

[0020] To facilitate understanding of the technical solution provided by the embodiments of the present disclosure, some key terms used in the embodiments of the present disclosure are explained here: Navigation signal: A radio signal sent by a navigation satellite to ground equipment (such as a receiver) for ground equipment to determine relevant location information. The receiver can demodulate and analyze the navigation signal to extract the location information and time synchronization information.

[0021] Receiver: A terminal device that can receive and process signals from navigation satellites to determine the location information (including longitude, latitude and altitude) of ground targets and time synchronization information. Its main functions include signal capture, demodulation, pseudo-code tracking and position calculation.

[0022] Low Earth Orbit Satellite (LEO Satellite): refers to an artificial satellite operating in low Earth orbit (LEO), with an orbital altitude usually between 160 kilometers and 2,000 kilometers.

[0023] High-frequency signal: High-frequency electromagnetic waves, with a frequency range of 3 GHz to 300 GHz (microwave band). Commonly used frequency bands include Ku band (12-18 GHz) and Ka band (26.5-40 GHz).

[0024] As used herein, the term "communication network" refers to a network that complies with any appropriate communication standard, such as Long Term Evolution (LTE), LTE-Advanced (LTE-A), Wideband Code Division Multiple Access (WCDMA), High Speed ​​Packet Access (HSPA), Narrowband Internet of Things (NB-IoT), New Radio (NR), Non-terrestrial Network (NTN), etc. In addition, the communication between the terminal equipment and the network equipment in the communication network can be performed according to any appropriate generation of communication protocols, including but not limited to the first generation (1G), second generation (2G), 2.5G, 2.75G, third generation (3G), fourth generation (4G), 4.5G, fifth generation (5G), future sixth generation (6G) communication protocols, and / or any other protocols currently known or to be developed in the future. The embodiments of the present disclosure can be applied in satellite communication systems. In view of the rapid development in communication, there will certainly be future types of communication technologies and systems, and the present disclosure can be implemented with these technologies and systems. It should not be considered that the scope of the present disclosure is limited to the aforementioned system.

[0025] The term "satellite network equipment" used in this article refers to a node set on a satellite or ground segment in a satellite communication network. The terminal device accesses the network through this node and receives services from it. Depending on the terminology and technology applied, the satellite network equipment may refer to a base station (BS) or access point (AP) as a satellite payload, such as a node B (NodeB or NB), an evolved NodeB (eNodeB or eNB), a NR NB (also known as a gNB), a remote radio unit (RRU), a radio head (RH), a remote radio head (RRH), and a relay node. An example of a relay node may be an integrated access and backhaul (IAB) node. The distributed unit (DU) part of the IAB node can perform the functions of a "satellite network device" and can therefore operate as a network device. In the following description, the terms "satellite network equipment", "BS" and "node" can be used interchangeably.

[0026] The term "terminal device" refers to any terminal device capable of wireless communication. As an example and not a limitation, a terminal device may also be referred to as a communication device, a user equipment (UE), a user station (SS), a portable user station, a mobile station (MS), or an access terminal (AT). The terminal device may include, but is not limited to, a mobile phone, a cellular phone, a smart phone, a voice over IP (VoIP) phone, a wireless local loop phone, a tablet computer, a wearable terminal device, a personal digital assistant (PDA), a portable computer, a desktop computer, an image capture terminal device such as a digital camera, a game terminal device, a music storage and playback device, a vehicle-mounted wireless terminal device, a wireless endpoint, a mobile station, a notebook embedded device (LEE), a laptop mounted device (LME), a USB dongle, a smart device, a wireless user equipment (CPE), an Internet of Things (IoT) device, a watch or other wearable device, a head mounted display (HMD), a vehicle, a drone, medical equipment and applications (e.g., remote surgery), industrial equipment and applications (e.g., robots and / or other wireless devices operating in the context of an industrial and / or automated processing chain), consumer electronic devices, relay nodes, devices operating on commercial and / or industrial wireless networks, etc. The mobile terminal (MT) part of the IAB node can perform the functions of a "terminal device" and can therefore operate as a terminal device. In the following description, the terms "terminal device", "communication device", "terminal", "user equipment" and "UE" can be used interchangeably.

[0027] Although the functions described herein may be performed in fixed and / or wireless network nodes in various exemplary embodiments, in other exemplary embodiments, the functions may be implemented in a user equipment device (such as a cellular phone, or a tablet computer, or a laptop computer, or a desktop computer, or a mobile Internet of Things device, or a fixed Internet of Things device). For example, the user equipment device may appropriately have the corresponding capabilities described in relation to fixed and / or wireless network nodes. The user equipment device may be a user device and / or a control device, such as a chipset or a processor, which is configured to control the user device when the user device is installed therein. Examples of these functions include boot server functions and / or home user servers, which may be implemented in a user equipment device by providing the user equipment device with software configured to cause the user equipment device to execute from the perspective of these functions / nodes.

[0028] It is understandable that in the following specific implementations of the present disclosure, data related to navigation satellites, etc. are involved. When the various embodiments of the present disclosure are applied to specific products or technologies, relevant licenses or consents need to be obtained, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, relevant volunteers can be recruited and relevant agreements on volunteer authorization data can be signed, and then the data of these volunteers can be used for implementation; or, by implementing within the scope of an authorized organization, the following implementation methods are implemented by using the data of members within the organization to manage data; or, the relevant data used in the specific implementation are all simulated data, such as simulated data generated in a virtual scene.

[0029] The following is a brief introduction to the design concept of the embodiment of the present disclosure: The navigation signal is a radio signal containing navigation messages and ranging codes transmitted by navigation satellites to ground receivers. It is used to provide spatial positioning services (longitude, latitude, altitude) and time synchronization services, etc.

[0030] However, traditional navigation signal quality detection methods only focus on static or low-dynamic scenarios, using static or low-dynamic characteristics such as signal-to-noise ratio, delay estimation, and correlation peak analysis for signal quality detection, mainly for medium-orbit or geostationary orbit satellites, and are difficult to adapt to the signal quality detection needs of high-dynamic and high-frequency signals of low-orbit satellites. For example, the high-speed movement of low-orbit satellites will cause the navigation signal to have a more significant Doppler effect, which will have an adverse effect on the capture, tracking and quality detection of navigation signals. At the same time, due to the low orbit altitude, the navigation signal is prone to introduce delay errors, peak offsets and phase distortions, and high-frequency signals are more sensitive to environmental noise, electromagnetic interference and ionospheric effects during transmission, which can easily lead to problems such as reduced signal-to-noise ratio, spectrum distortion and increased bit error rate. Therefore, the traditional navigation signal quality detection method has low accuracy and is difficult to provide effective guidance for practical applications in complex environments.

[0031] In view of the above problems, the disclosed embodiment provides a navigation satellite quality detection method, which performs multi-domain quality detection on the navigation signal to obtain its quality detection parameters in multiple signal domains, namely, a multi-domain detection parameter set, so as to evaluate the signal quality from multiple dimensions such as the frequency domain, time domain, modulation domain and correlation domain, break through the limitations of traditional single-domain detection, and improve the accuracy of signal quality detection. Then, the multi-domain detection parameter set is subjected to multi-domain fusion processing to obtain a comprehensive quality detection value, so as to accurately quantify the quality of the navigation signal in a dynamic environment and improve the comprehensiveness and accuracy of the signal quality detection. And through the comprehensive quality detection value, the navigation signal is optimized to further improve the signal quality of the navigation signal.

[0032] The following briefly introduces the application scenarios to which the technical solution of the present disclosure can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the present disclosure and are not limited. In the specific implementation process, the technical solution provided by the present disclosure can be flexibly applied according to actual needs.

[0033] Figure 1 1 shows an exemplary communication network 100 in which embodiments of the present disclosure may be implemented. The communication network 100 includes a satellite network device 110 and terminal devices 120A and 120B served by the satellite network device 110. The terminal devices 120A and 120B may also be collectively referred to as terminal devices 120. Figure 1 In the example of , as a satellite communication network, the communication network 100 also includes a ground station 130, a gNB 140, a next generation core network NGC 150 and a data network 160. The satellite communication network may include a low orbit satellite (LEO), a medium orbit satellite (MEO) and a geosynchronous orbit satellite (GEO).

[0034] The ground station 130 acts as a gateway for connecting non-terrestrial networks and public data networks. The gNB 140 acts as an access network, connecting the ground station 130 to the core network NGC 150. The NGC 150 can also be connected to the data network 160 to provide, for example, Internet content services. It will be understood that the communication network 100 is not required to include Figure 1 All elements shown in .

[0035] In some embodiments, the satellite network device 110 can be used as a base station to communicate with the terminal devices 120A and 120B, or as a transparent forwarding node to transparently transmit the signal sent by the ground station 140 to the terminal devices 120A and 120B. In the former case, the satellite network device 110 has all or part of the functions of a base station. For example, the satellite network device 110 can be a gNB or a gNB-DU, and the satellite network device 110 with the gNB function can be with an inter-satellite link ISL or without an inter-satellite link ISL. In the case of a transparent forwarding node, the satellite network device 110 only performs transparent forwarding.

[0036] It should be understood that the number of satellite network devices 110, terminal devices 120A and 120B is for illustration purposes only and is not intended to impose any limitation. Communication network 100 may include any appropriate number of satellite network devices and terminal devices suitable for implementing the embodiments of the present disclosure.

[0037] In the communication network 100, the satellite network device 110 can send a navigation signal to the terminal devices 120A and 120B. The terminal devices 120A and 120B obtain the comprehensive quality detection value of the navigation signal based on the navigation signal quality detection method provided in the embodiment of the present application, and optimize the navigation signal to feedback relevant data and control information to the satellite network device 110.

[0038] The communication in the communication network 100 may conform to any suitable standard, but is not limited to Long Term Evolution (LTE), LTE Evolution, LTE-Advanced (LTE-A), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA), and Global System for Mobile Communications (GSM). In addition, the communication may be performed according to any generation of communication protocols currently known or developed in the future. Examples of communication protocols include, but are not limited to, first generation (1G), second generation (2G), 2.5G, 2.75G, third generation (3G), fourth generation (4G), 4.5G, fifth generation (5G), and sixth generation (6G) communication protocols.

[0039] In some embodiments, the present disclosure may be applicable to the pseudo code tracking stage of a low-orbit satellite navigation receiver, and quality detection is performed on satellite navigation signals that have completed demodulation and pseudo code capture. Through multi-dimensional signal quality detection in the frequency domain, time domain, modulation domain, and related domain, the comprehensive quality detection value of the navigation signal is output, thereby providing a reference basis for the performance optimization of the navigation signal. For example, a navigation satellite (such as GPS, Beidou satellite) sends a navigation signal to the ground through its payload. A satellite navigation receiver (such as a vehicle-mounted navigation system or a GNSS module in a smartphone) receives the navigation signal and performs the above processing. The satellite navigation signal is a high-frequency radio wave emitted by a navigation satellite, which contains pseudo code and navigation messages. The receiver can extract the location information and time synchronization information therein by demodulating and analyzing the navigation signal.

[0040] The following describes the navigation signal quality detection method provided by the exemplary embodiment of the present disclosure in combination with the application scenarios described above and with reference to the accompanying drawings. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principles of the present disclosure, and the embodiments of the present disclosure are not limited in this respect.

[0041] Please refer to Figure 2 , Figure 2 2 is a flow chart showing an exemplary method 200 for detecting navigation signal quality according to some embodiments of the present disclosure. The method 200 may be implemented on a device, such as Figure 1 For the purpose of discussion, reference will be made to the terminal device 120. Figure 1 Method 200 is described. Method 200 may involve Figure 1Satellite network device 110 and terminal devices 120A and 120B are shown. It should be understood that method 200 may include additional steps not shown and / or may omit some of the steps shown, and the scope of the present disclosure is not limited in this regard.

[0042] Step 201: Perform multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set.

[0043] In the disclosed embodiment, the multi-domain detection parameter set includes quality detection parameters of navigation signals in multiple signal domains. Among them, the signal domain refers to the characteristic performance of the signal in different detection dimensions, representing the multi-angle expression of the signal characteristics, and the quality detection parameter is a specific quantitative indicator of the quality performance of the relevant signal in each signal domain. In this way, evaluating the signal quality from multiple dimensions such as the frequency domain, time domain, modulation domain and correlation domain can break through the limitations of traditional single-domain detection and improve the accuracy of signal quality detection.

[0044] In some embodiments, reference Figure 3 FIG. 1 is a schematic diagram of an overall process of navigation signal quality detection provided by an embodiment of the present disclosure. Figure 3 In the present disclosure, the multiple signal domains may include frequency domain, time domain, modulation domain, and correlation domain. Among them, frequency domain quality detection is to map the signal from the time domain to the frequency domain, thereby analyzing its spectrum distribution characteristics and obtaining multiple quality detection parameters such as frequency offset based on Doppler compensation, frequency signal-to-noise ratio and frequency standard deviation of the signal under frequency. Time domain quality detection is to use time as the independent variable to analyze the characteristics of the signal waveform changing with time, thereby obtaining multiple quality detection parameters such as the delay deviation of the signal in the time domain and the delay fluctuation value reflecting the jitter of the time domain signal. Modulation domain quality detection is to evaluate the integrity of the signal modulation parameters, thereby obtaining multiple quality detection parameters such as the phase deviation and demodulation bit error rate of the signal in the modulation domain. Correlation domain quality detection is to analyze the correlation peak morphology through the cross-correlation operation of the local pseudo code and the received signal, thereby obtaining multiple quality detection parameters such as the main peak intensity value, sidelobe interference ratio and peak offset value of the signal in the correlation domain. Therefore, according to the quality detection parameters of multiple signal domains, the signal quality is comprehensively evaluated to obtain a comprehensive quality detection value. In this way, the present invention comprehensively designs the dynamic characteristics of high-speed motion of low-orbit satellites and the high-frequency characteristics of navigation signals, and constructs a multi-dimensional quality detection system covering frequency domain, time domain, modulation domain and correlation domain, so as to integrate the characteristics of each domain to perform comprehensive signal quality detection on navigation signals, thereby improving the quality of navigation signals.

[0045] In some embodiments, for the frequency domain, the present disclosure can perform frequency domain quality detection through the frequency change information of the navigation signal to obtain frequency domain detection parameters. The frequency domain detection parameters include the target frequency deviation value, the frequency signal-to-noise ratio, and the frequency standard deviation, wherein the target frequency deviation value can be used to analyze and evaluate the frequency error of the navigation signal outside the Doppler effect, the frequency signal-to-noise ratio can be used to analyze and evaluate the spectral clarity of the navigation signal, and the frequency standard deviation can be used to analyze and evaluate the short-term frequency fluctuations of the navigation signal. In this way, by calculating the various detection parameters of the navigation signal in the frequency domain, the frequency domain characteristics of the navigation signal can be comprehensively analyzed, thereby improving the comprehensiveness and accuracy of the signal quality detection.

[0046] In some embodiments, for the target frequency deviation value parameter under the frequency domain detection dimension, the present disclosure takes into account that the high-speed movement of low-orbit satellites relative to terminal devices such as receivers will lead to a significant Doppler effect, and the continuous locking time between low-orbit satellites and receivers is shorter, and the dynamic changes of signals are more frequent, which will cause the frequency offset of the navigation signal of low-orbit satellites to be much higher than that of medium-orbit and geostationary orbit satellites. Therefore, the present disclosure will adopt dynamic spectrum analysis, capture the dynamic changes of signal frequency in real time through short-time Fourier transform, calculate the frequency offset, and accurately calculate the remaining offset through Doppler compensation to ensure the accuracy of frequency domain quality detection.

[0047] In some embodiments, the present disclosure can obtain a target frequency deviation value through the frequency spectrum information of the navigation signal to compensate for the frequency deviation of the navigation signal, and obtain a frequency signal-to-noise ratio representing the spectral clarity of the navigation signal based on the bandwidth power information of the navigation signal. Then, the frequency standard deviation representing the frequency fluctuation degree of the navigation signal is obtained through the navigation signal after frequency deviation compensation. In this way, through dynamic spectrum analysis and Doppler compensation mechanism, the present disclosure can accurately detect the frequency domain characteristics of the navigation signal such as signal frequency offset, frequency signal-to-noise ratio and frequency stability based on Doppler compensation, thereby accurately detecting the signal quality performance of the navigation signal in the frequency domain.

[0048] In some embodiments, the present disclosure may analyze the frequency spectrum information of the received time domain signal. , multiple time windows will be divided according to time, and the signal length of each time window is , thus converting the continuous time domain signal Split into several non-overlapping or partially overlapping time periods, and the time period length is fixed to , and each time window can represent the dynamic characteristics of the signal within the time range. Perform Fourier transform on the signal in each time window to obtain the dynamic spectrum corresponding to the signal , thereby converting the time domain signal into a frequency domain representation, which is used to analyze the frequency components of the signal within a specific time window, as shown below:

[0049] in, The dynamic spectrum of the received navigation signal, that is, the spectrum intensity of the signal at the frequency f near the center point t of the time window, can be used to analyze the frequency components (such as carrier, noise, interference) of the signal in a specific time period.

[0050] Tw represents the window length, which can be set according to the actual scenario requirements. It should be short enough to capture the dynamic changes of the signal and long enough to ensure the spectral resolution. For example, the high dynamic signals of low-orbit satellites usually use a millisecond time window.

[0051] Next, in each time window, extract the frequency point with the highest power , that is, the main frequency position of the signal.

[0052]

[0053] in, Represents the main frequency position of the signal, that is, the main frequency component of the signal within a given time window. It reflects the instantaneous frequency of the signal, and the dynamically changing main frequency position is a direct manifestation of the Doppler effect, that is, due to the relative motion between the satellite and the receiver, the signal frequency will shift.

[0054] In some embodiments, the present disclosure can obtain the real-time frequency deviation value of the navigation signal through the spectrum information of the navigation signal. And obtain the target frequency deviation value of the navigation signal through the real-time frequency deviation value and the theoretical frequency deviation value. Among them, the actual frequency is determined based on the spectrum information, the theoretical frequency deviation value is determined based on the relative speed between the navigation satellite and the receiving end, and the real-time frequency deviation value represents the difference between the actual frequency of the navigation signal and the theoretical frequency.

[0055] In some embodiments, after obtaining the main frequency position information of the navigation signal, the present disclosure can calculate the real-time frequency deviation value of the signal, that is, the real-time frequency offset between the actual frequency (main frequency position) of the signal and the theoretical frequency. , and its calculation formula is as follows:

[0056] in, It represents the theoretical carrier frequency of the signal, that is, the nominal frequency of the signal transmitted by the satellite.

[0057] In this way, by calculating the difference between the received signal frequency and the theoretical frequency, the frequency shift caused by the Doppler effect can be quantified.

[0058] In summary, the first offset value of the signal is calculated through spectrum analysis After that, the signal can be Doppler compensated to accurately calculate the frequency deviation value after Doppler compensation.

[0059] In some embodiments, the present disclosure can use satellite orbit data and receiver relative speed, combined with the high frequency characteristics of the signal, to calculate the theoretical frequency deviation value. , the specific calculation is as follows:

[0060] in, Represents the relative speed between the navigation satellite and the receiver.

[0061] c represents the speed of light.

[0062] Represents the signal carrier frequency, that is, the high-frequency carrier frequency of the satellite navigation signal, which is used to carry pseudo-random codes and navigation messages. The carrier frequencies of different satellite navigation systems are fixed. For example, the carrier frequency of GPSL1 is 1575.42MHz. The carrier frequency of Beidou B1I is 1561.098MHz. The satellite navigation system standard specifies the carrier frequency of each signal, and the receiver can use these frequencies to demodulate the signal.

[0063] Theoretical frequency deviation It represents the frequency change caused by relative speed. It is the key to Doppler compensation frequency offset and the main source of signal frequency offset in dynamic environment. Through Doppler compensation, the influence of relative motion on signal frequency can be eliminated, so that the final calculated target frequency deviation value is closer to the true value.

[0064] In summary, through the above-calculated real-time frequency offset value and theoretical frequency offset value, the present disclosure can calculate the spectrum offset value after Doppler compensation, as shown below:

[0065] in: The real-time frequency deviation value is obtained by spectrum analysis observation. The present disclosure directly measures the actual receiving frequency of the signal through dynamic spectrum analysis, and calculates the difference between the actual receiving frequency and the theoretical carrier frequency, that is, the real-time frequency deviation value, which includes the frequency change component not explained by the theoretical Doppler compensation.

[0066] It is the theoretical frequency deviation value calculated by Doppler theory, which describes the frequency change caused by the Doppler effect.

[0067] It is the difference between the real-time frequency deviation value and the theoretical frequency deviation value, that is, the frequency error part other than the Doppler effect. It can be used to further evaluate the stability and accuracy of the signal frequency, help identify the quality of the Doppler compensation effect and other factors that may interfere with the signal quality, such as satellite and receiver orbit data errors, environmental factors in signal transmission (such as the influence of the ionosphere and troposphere), and receiver clock errors.

[0068] In some embodiments, with respect to the frequency signal-to-noise ratio parameter in the frequency domain detection dimension, the present disclosure further takes into account that high-frequency signals are more attenuated by the environment during transmission, which can easily cause spectrum changes. Therefore, the frequency signal-to-noise ratio of the navigation signal in the frequency domain is detected to analyze and evaluate the spectrum clarity of the navigation signal, with particular emphasis on quantifying the anti-interference capability of the high-frequency signal.

[0069] In some embodiments, the frequency signal-to-noise ratio The calculation of is as follows:

[0070] in, represents the power within the signal bandwidth, and B represents the bandwidth range of the signal.

[0071] represents the noise power outside the signal bandwidth, Represents the noise distribution range.

[0072] In some embodiments, with respect to the frequency standard deviation parameter in the frequency domain detection dimension, the present disclosure further takes into account that the frequency jitter of the low-orbit signal is significantly affected by orbital disturbances and the rate of change of the Doppler frequency shift, and therefore uses the frequency standard deviation to evaluate and analyze the short-term frequency fluctuations of the navigation signal.

[0073] In some embodiments, the frequency standard deviation It can be expressed as:

[0074] in, represents the instantaneous frequency; Represents the average frequency of the Doppler compensated signal.

[0075] In some embodiments, for the time domain, the present disclosure can perform time domain quality detection through the time domain change information of the navigation signal to obtain time domain detection parameters. The time domain detection parameters may include a delay deviation value and a delay fluctuation value, wherein the delay deviation value can be used to measure the degree of deviation between the actual propagation time of the navigation signal and the theoretical expected value, reflecting the delay difference caused by factors such as atmospheric interference, equipment hardware errors or path obstruction during the transmission of the signal. The delay fluctuation value can be used to analyze and evaluate the stability of the propagation time of the navigation signal, reflecting the random changes in the delay caused by the dynamic environment (such as ionospheric disturbances, multipath effects) during the transmission of the signal. In this way, by calculating a variety of detection parameters of the navigation signal in the time domain, the time domain characteristics of the navigation signal can be comprehensively analyzed, thereby improving the comprehensiveness and accuracy of the signal quality detection.

[0076] In some embodiments, the present disclosure takes into account the high-speed relative motion between the low-orbit satellite and the receiver and the nonlinear characteristics of the orbit, and its propagation delay and phase characteristics will change significantly. Therefore, the delay deviation value of the navigation signal is calculated through the actual delay and theoretical delay of the navigation signal, and the delay fluctuation value of the navigation signal is obtained by quantifying the fluctuation of the arrival time of the navigation signal. In this way, the time synchronization capability of the navigation signal is quantified through delay estimation and time domain jitter analysis, so as to accurately detect and evaluate the signal quality of the navigation signal in the time domain.

[0077] In some embodiments, the present disclosure takes into account that the altitude of low-orbit satellites is usually between 500 and 2000 kilometers, and the signal propagation delay is relatively short, for example, about 1.67ms to 6.67ms. Its high-speed movement causes the delay measured by the receiver to change rapidly. Therefore, the present disclosure can calculate the delay deviation value of the navigation signal by the deviation between the theoretical propagation delay and the actual propagation delay of the signal. , as shown below:

[0078] in, represents the actual propagation delay measured by the receiver; represents the theoretical propagation delay; is the real-time distance between the navigation satellite and the receiver.

[0079] In some embodiments, the present disclosure takes into account that the arrival time of the navigation signal fluctuates in the short term due to the Doppler effect, receiver clock error, and orbital disturbance of satellite motion of low-orbit satellite signals, thereby affecting the clock synchronization performance of the navigation system. Therefore, the present disclosure measures the arrival time of the navigation signal multiple times and then analyzes its standard deviation to calculate the delay fluctuation value of the navigation signal.

[0080] In some embodiments, the present disclosure can obtain an instantaneous time series by measuring the arrival time of the navigation signal multiple times. , and calculate the average of multiple instantaneous arrival times , the specific calculation is as follows:

[0081] in, represents the signal arrival time of the i-th measurement; N is the total number of measurements of the arrival time of the navigation signal; is the average of all measured arrival times.

[0082] Next, the present disclosure can use the standard deviation to calculate the short-term fluctuation value of the arrival time , that is, the delay fluctuation value required in the time domain quality detection phase:

[0083] in, The short-term fluctuations in the signal arrival time are calculated using the standard deviation.

[0084] In some embodiments, for the modulation domain, the present disclosure can perform modulation domain quality detection through the modulation and demodulation information of the navigation signal to obtain modulation domain detection parameters. The modulation domain detection parameters include phase deviation value and demodulation bit error rate, wherein the phase deviation value refers to the difference between the actual carrier phase and the ideal phase during the modulation and demodulation process of the navigation signal, which is usually caused by carrier synchronization error, Doppler frequency shift or channel interference. The phase deviation value can be used to evaluate the phase consistency of the modulated signal, reflecting the phase distortion caused by channel distortion or equipment imperfections during the transmission process of the signal. The demodulation bit error rate refers to the ratio of the number of error bits to the total number of transmitted bits when the receiving end demodulates the navigation signal, which directly reflects the signal modulation quality and channel conditions.

[0085] In some embodiments, the present disclosure takes into account that the high-speed relative motion of low-orbit satellites will lead to significant phase accumulation errors of navigation signals, and high-frequency signals will also be more sensitive to modulation and demodulation performance. Therefore, the present disclosure can detect the modulation domain performance of navigation signals through key indicators such as phase deviation and demodulation bit error rate of high-frequency signals of low-orbit satellites, thereby improving the comprehensiveness and accuracy of navigation signal quality detection.

[0086] In some embodiments, the present disclosure can obtain the phase deviation value of the navigation signal, that is, the phase error that is not fully described by the theoretical model during the signal propagation process, through the actual phase and theoretical phase of the navigation signal, and obtain the demodulation bit error rate through the demodulated bit stream and the original bit stream of the navigation signal.

[0087] In some embodiments, the present disclosure can obtain the actual phase result by actual measurement after the receiver demodulates the received signal. , that is, the signal phase value obtained by the demodulation algorithm after the receiver receives and demodulates the signal. Then, according to the theoretical propagation delay, the theoretical phase of the signal is calculated. , the specific calculation process is as follows:

[0088] in, is the signal carrier frequency.

[0089] is the theoretical propagation delay calculated based on the satellite orbit and receiver position.

[0090] Thus, the phase deviation value of the navigation signal is calculated based on the difference between the actual phase and the theoretical phase. , as shown below:

[0091] The actual phase It is the result of demodulation calculation performed by the receiver based on the change of the carrier signal or pseudo code after the receiver actually receives the satellite signal. It reflects the phase of the navigation signal received by the receiver at a certain moment, and includes various influences on the signal during the process of propagation from the satellite to the receiver, such as: the Doppler effect caused by the relative motion between the satellite and the receiver, the phase accumulation during the signal propagation process, the clock error inside the receiver, etc.

[0092] Theoretical Phase , is the phase value that the signal should have during propagation under ideal conditions. It is the standard reference value during signal propagation and is used to compare with the actual measured phase. This value can be calculated using the propagation path model based on the satellite's orbital parameters, the receiver's known position and time information.

[0093] In some embodiments, the present disclosure may statistically analyze the demodulated signal bit stream. With the original bitstream The signal bit stream is the bit sequence restored by the receiver after demodulating the navigation signal, reflecting the information content of the signal after space transmission and demodulation. Especially in low-orbit satellite navigation systems, due to the high-speed movement of satellites and the high-frequency characteristics of signals, the demodulation process may be affected by factors such as the Doppler effect and electromagnetic interference, resulting in the demodulated signal bit stream may not be completely consistent with the original bit stream. The original bit stream is the navigation information sequence carried by the satellite when transmitting the signal, including the bit content of the pseudo-random code and the navigation message. The specific calculation process of the number of error bits is as follows:

[0094] Among them, 1 represents an indicator function, which takes the value 1 when the bits are different, and 0 otherwise.

[0095] N represents the total number of bits transmitted, that is, the total number of bits actually transmitted in the navigation signal, which may include, for example, all bits of the pseudo-random code and the navigation message. In practical applications, N can be the number of bits counted by the receiver after demodulating the navigation signal, and is also the basis for calculating the demodulation bit error rate, which is used to measure the error ratio of the entire signal bit stream.

[0096] Next, the present disclosure can obtain the demodulation bit error rate (BER) of the navigation signal through the calculated error bit number, as shown below:

[0097] N errorThe number of bits that are inconsistent between the received signal bit stream and the original bit stream.

[0098] In some embodiments, for the correlation domain, the present disclosure can perform correlation domain quality detection through the pseudocode correlation function of the navigation signal to obtain correlation domain detection parameters. The correlation domain detection parameters include the main peak intensity value, the sidelobe interference ratio and the peak offset value, wherein the main peak intensity value is one of the core indicators for measuring the signal pseudocode correlation performance, and low intensity may represent that the signal is affected by interference or multipath effects. The higher the main correlation peak intensity, the higher the pseudorange measurement accuracy and the more reliable the navigation positioning performance; the sidelobe interference ratio is the ratio of the main peak intensity to the maximum sidelobe intensity in the pseudocode correlation function of the navigation signal, which is used to quantify the interference degree of the sidelobes other than the main peak on the signal detection, that is, it represents the degree of multipath or external interference of the signal, and is a key indicator for anti-interference design and receiver optimization; the peak offset value is the offset of the main peak position of the pseudocode correlation function relative to the theoretical alignment position, reflecting the code phase deviation caused by the change of the signal propagation path, the receiver clock error or dynamic stress. Thus, through the quality detection indicators of the above-mentioned correlation domain, the correlation characteristics and pseudorange measurement accuracy of the navigation signal can be accurately and comprehensively evaluated, providing a basis for subsequent comprehensive quality detection and signal optimization.

[0099] In some embodiments, the present disclosure can obtain the main peak intensity value through the pseudo code correlation function, and determine the sidelobe interference ratio through the main peak intensity value and the target sidelobe amplitude, wherein the target sidelobe amplitude is the maximum sidelobe amplitude other than the main peak in the pseudo code correlation function. And obtain the peak offset value based on the main peak position and the theoretical matching point, and the theoretical matching point represents the complete matching point under the pseudo code alignment state.

[0100] In some embodiments, the present disclosure takes into account that low-orbit satellite signals in a dynamic environment may be affected by the Doppler effect, noise interference, and multipath effect, which significantly reduces the correlation performance of the pseudo-random code. Therefore, the present disclosure measures the pseudo-code correlation domain performance from key correlation domain indicators such as the main peak intensity value (also known as the main correlation peak intensity value), the sidelobe interference ratio, and the peak offset value of the pseudo-code.

[0101] In some embodiments, the pseudo code correlation function of the navigation signal Represents the signal s(t) received by the receiver and the pseudo-random code generated locally by the receiver By calculating the pseudocode correlation function, the main correlation peak of the pseudocode can be quickly determined, thereby determining the propagation time of the signal arrival and performing pseudorange measurement. This can be shown as follows:

[0102] in, Represents the navigation signal received by the receiver.

[0103] Represents the pseudo-random code generated locally by the receiver.

[0104] For related delays.

[0105] Furthermore, the main correlation peak intensity value Represents the effect of pseudo code matching. The higher the intensity, the better the signal matching and the stronger the pseudo code correlation. The main correlation peak intensity value is the maximum value of the pseudo code correlation function at the theoretical matching point, as shown below:

[0106] in, Under ideal conditions, it is the perfect matching point of the pseudo code, that is, the time point when the pseudo code generated locally by the receiver is completely aligned with the pseudo code of the received signal.

[0107] In some embodiments, the present disclosure takes into account that multipath propagation of low-orbit signals may introduce strong sidelobe interference, reducing the signal capture and tracking capabilities. Therefore, the present disclosure measures the amplitude difference between the main correlation peak and the maximum sidelobe by detecting the sidelobe interference ratio of the navigation signal. The present disclosure can determine the maximum sidelobe amplitude other than the main peak, that is, the target sidelobe amplitude, through the above pseudo-code correlation function, and the expression is as follows:

[0108] Among them, the side lobe is the amplitude at other non-matching points in the pseudo-code correlation function, except for the main correlation peak (complete / theoretical matching point). The maximum side lobe amplitude reflects the degree of interference of non-matching points on the pseudo-code correlation, and is also the core parameter for measuring the degree of interference between the pseudo-code main correlation peak and the side lobe.

[0109] Next, the sidelobe interference ratio of the navigation signal is determined by calculating the ratio between the main correlation peak amplitude and the target sidelobe amplitude:

[0110] In this way, the signal's anti-interference ability can be quantified by the sidelobe interference ratio.

[0111] In some embodiments, the present disclosure takes into account factors such as multipath propagation, dynamic Doppler effect, and receiver code synchronization error, which may cause the main peak of the navigation signal to deviate from the theoretical matching point. The main peak offset will directly affect the measurement accuracy of the pseudocode pseudorange and is an important indicator for correlation domain evaluation. Therefore, the present disclosure will determine the main peak position through the pseudocode correlation function. , whose expression is as follows:

[0112] In this way, the observed main peak position directly corresponds to the propagation delay of the signal and is used for pseudorange calculation. If the observed main peak is inconsistent with the theoretical matching point, it means that the signal is affected by multipath effects or other interference. Therefore, the peak offset reflects the degree to which the main peak position of the pseudocode deviates from the theoretical matching point due to multipath propagation, dynamic Doppler effect or receiver code synchronization error. The smaller the peak offset, the higher the matching accuracy of the pseudocode and the smaller the pseudorange measurement error.

[0113] Next, the present disclosure determines the peak offset value of the navigation signal by the difference between the theoretical matching point and the main peak position. The specific calculation process is as follows:

[0114] In summary, the peak offset value reflects the degree to which the main peak position of the pseudocode deviates from the theoretical matching point due to multipath propagation, dynamic Doppler effect or receiver code synchronization error. The smaller the peak offset, the higher the matching accuracy of the pseudocode and the smaller the pseudorange measurement error.

[0115] Step 202: Perform multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value.

[0116] In the disclosed embodiment, multi-domain fusion processing is a further fusion analysis of the aforementioned multiple signal domain detection results. Its core goal is to integrate the quality detection indicators of the frequency domain, time domain, modulation domain, correlation domain and other detection dimensions to form a more comprehensive signal quality evaluation system. Thus, by fusing the quality detection parameters of multiple signal domains, a comprehensive quality detection value representing the comprehensive quality of the signal in multiple signal domains is obtained, and comprehensive and accurate signal quality detection is achieved, which can more accurately quantify the overall quality performance of low-orbit high-frequency signals.

[0117] In some embodiments, the present disclosure takes into account the different dimensions of quality detection parameters in different signal domains, and therefore first normalizes the quality detection parameters of each signal domain to achieve what. Then, the present disclosure can perform weighted summation of the normalized quality detection parameters according to the detection weights of each signal domain to obtain a multi-domain fusion result to determine a comprehensive quality detection value.

[0118] In some embodiments, the normalization process may be as follows:

[0119] Where X is the original quality detection parameter value; They are the minimum and maximum values ​​corresponding to each quality detection parameter respectively.

[0120] Next, the present disclosure may adopt a weighted summation method to fuse different quality detection parameters according to weights. The specific fusion process is as follows:

[0121] in, represents the normalized value of the i-th quality detection parameter; Represents the weight value corresponding to the i-th quality detection parameter.

[0122] In some embodiments, after obtaining the multi-domain fusion results, the present disclosure can also determine the contribution of each signal domain through the multi-domain fusion results, and update the detection weight of each signal domain in combination with each contribution according to a preset weight adjustment strategy. In this way, by adopting the multi-domain fusion and dynamic weight adjustment strategies, a comprehensive signal quality scoring model can be constructed to achieve accurate quantification of signal quality in a dynamic environment.

[0123] In some embodiments, the contribution calculation process of each signal domain may be as follows:

[0124] in, Represents the contribution ratio of the i-th signal domain, which is used to quantify the role of each signal domain in the overall signal quality. The contribution ratio of different signal domains reflects the main factors affecting the signal quality in a specific scenario. For example, in a high-dynamic environment, the contribution of frequency domain evaluation may be higher. In a high-precision positioning scenario, the contribution of related domain evaluation may be greater.

[0125] In some embodiments, the present disclosure can dynamically adjust the weights of each signal domain according to specific application scenarios, environmental characteristics and quality detection objectives. For example, in a high dynamic environment, the weight values ​​of quality detection parameters in the frequency domain and modulation domain can be appropriately increased, and in a high-precision positioning scenario, the weight values ​​of the correlation domain and time domain can be appropriately increased, and so on.

[0126] In some embodiments, the comprehensive quality detection value reflects the overall quality level of the navigation signal in multiple signal domains. The comprehensive quality detection value can be used to determine whether the signal needs to be optimized and from which aspects to optimize the signal, thereby improving the quality of the navigation signal and enhancing communication performance.

[0127] In some embodiments, the present disclosure can determine the overall quality score of the navigation signal based on the calculated comprehensive quality detection value, and determine the quality level of the navigation signal through a preset score level mapping relationship to quantify the actual performance of the navigation signal under different conditions and take corresponding optimization measures. Taking the percentage value as an example, the overall quality score of the navigation signal is as follows:

[0128] in, , the signal quality level is excellent.

[0129] , the signal quality level is good.

[0130] , the signal quality level is Available.

[0131] , the signal quality level is poor.

[0132] In this way, after determining the signal quality level, the present disclosure can dynamically adjust the operating parameters of the system through the level results to achieve optimal processing of the signal. For example, when the signal quality score is low, the system can start adaptive gain control, frequency compensation, delay correction and other functions to enhance the signal's anti-interference ability and improve its clarity and stability. When the signal quality score is high, the system can reduce redundant compensation operations, improve computing efficiency and reduce energy consumption. When the above method is still low after application, it can be fed back to the ground operation control center to further optimize the signal.

[0133] It is worth mentioning that flow charts are used in the present disclosure to illustrate the operations performed by the system according to the embodiments of the present disclosure. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0134] The basic concepts have been described above. Obviously, for those skilled in the art, the above application disclosure is only an example and does not constitute a limitation of the present disclosure. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and corrections to the present disclosure. Such modifications, improvements and corrections are suggested in the present disclosure, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present disclosure.

[0135] At the same time, the present disclosure uses specific words to describe the embodiments of the present disclosure. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present disclosure. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of the present disclosure may be appropriately combined.

[0136] See also Figure 4 Based on the same inventive concept, the embodiment of the present disclosure further provides a navigation signal quality detection device 40, the device comprising: The detection unit 401 is used to perform multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set; the multi-domain detection parameter set includes quality detection parameters of the navigation signal in multiple signal domains.

[0137] The fusion unit 402 is used to perform multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value, and the comprehensive quality detection value is used to optimize the navigation signal.

[0138] In some embodiments, the multiple signal domains include frequency domain, time domain, modulation domain, and correlation domain.

[0139] In some embodiments, the fusion unit 402 is specifically configured to: Normalizing the quality detection parameters of multiple signal domains respectively; Based on the detection weight of each signal domain, the normalized quality detection parameters are weighted and summed to obtain the multi-domain fusion result to determine the comprehensive quality detection value.

[0140] In some embodiments, after obtaining the multi-domain fusion result, the fusion unit 402 is further used to: Based on the multi-domain fusion results, determine the contribution of each signal domain; Based on the preset weight adjustment strategy and combined with each contribution, the detection weight of each signal domain is updated.

[0141] In some embodiments, the detection unit 401 is specifically configured to: Frequency domain quality detection is performed based on the frequency change information of the navigation signal to obtain frequency domain detection parameters; the frequency domain detection parameters include target frequency deviation value, frequency signal-to-noise ratio and frequency standard deviation. The target frequency deviation value represents the frequency error of the navigation signal after eliminating the Doppler effect.

[0142] In some embodiments, the detection unit 401 is specifically configured to: Time domain quality detection is performed based on the time domain change information of the navigation signal to obtain time domain detection parameters; the time domain detection parameters include a delay deviation value and a delay fluctuation value; the delay fluctuation value represents the stability of the navigation signal propagation time.

[0143] In some embodiments, the detection unit 401 is specifically configured to: Modulation domain quality detection is performed based on the modulation and demodulation information of the navigation signal to obtain modulation domain detection parameters; the modulation domain detection parameters include a phase deviation value and a demodulation bit error rate.

[0144] In some embodiments, the detection unit 401 is specifically configured to: The correlation domain quality detection is performed based on the pseudo code correlation function of the navigation signal to obtain the correlation domain detection parameters; the correlation domain detection parameters include the main peak intensity value, the side lobe interference ratio and the peak offset value.

[0145] In some embodiments, the detection unit 401 is specifically configured to: Based on the frequency spectrum information of the navigation signal, a target frequency deviation value is obtained to compensate the frequency deviation of the navigation signal; Based on the bandwidth power information of the navigation signal, the frequency signal-to-noise ratio is obtained; the frequency signal-to-noise ratio represents the clarity of the frequency spectrum of the navigation signal; Based on the navigation signal after frequency offset compensation, a frequency standard deviation is obtained; the frequency standard deviation represents the frequency fluctuation degree of the navigation signal.

[0146] In some embodiments, the detection unit 401 is specifically configured to: Based on the spectrum information of the navigation signal, a real-time frequency deviation value of the navigation signal is obtained; the real-time frequency deviation value represents the difference between the actual frequency and the theoretical frequency of the navigation signal, and the actual frequency is determined based on the spectrum information; Based on the real-time frequency deviation value and the theoretical frequency deviation value, the target frequency deviation value of the navigation signal is obtained; the theoretical frequency deviation value is determined based on the relative speed between the navigation satellite and the receiving end.

[0147] In some embodiments, the detection unit 401 is specifically configured to: Based on the actual delay and theoretical delay of the navigation signal, a delay deviation value is obtained; The fluctuation is quantified based on the arrival time of the navigation signal to obtain the delay fluctuation value.

[0148] In some embodiments, the detection unit 401 is specifically configured to: A phase deviation value is obtained based on an actual phase and a theoretical phase of the navigation signal; A demodulation bit error rate is obtained based on the demodulated bit stream and the original bit stream of the navigation signal.

[0149] In some embodiments, the detection unit 401 is specifically configured to: Based on the pseudo-code correlation function, the main peak intensity value is obtained; The sidelobe interference ratio is determined based on the main peak intensity value and the target sidelobe amplitude; the target sidelobe amplitude is the maximum sidelobe amplitude other than the main peak in the pseudo-code correlation function; Based on the main peak position and the theoretical matching point, the peak offset value is obtained; the theoretical matching point represents the complete matching point under the pseudo code alignment state.

[0150] For the convenience of description, the above parts are divided into various unit modules (or modules) according to their functions and described separately. Of course, when implementing the present disclosure, the functions of each unit (or module) can be implemented in the same or multiple software or hardware. The device can be used to execute the methods shown in the embodiments of the present disclosure. Therefore, for the functions that can be implemented by each functional module of the device, reference can be made to the description of the aforementioned embodiments, and no further elaboration is given.

[0151] See also Figure 5 As shown, based on the same technical concept, the embodiment of the present disclosure further provides a computer device 50. In one embodiment, the computer device can be Figure 1 The state detection device shown, the computer device is as Figure 5 As shown, it includes a memory 501 , a communication module 503 and one or more processors 502 .

[0152] The memory 501 is used to store computer programs executed by the processor 502. The memory 501 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0153] The memory 501 may be a volatile memory, such as a random-access memory (RAM); the memory 501 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or the memory 501 may be any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 501 may be a combination of the above memories.

[0154] The processor 502 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 502 is configured to implement the above navigation signal quality detection method when calling the computer program stored in the memory 501 .

[0155] The communication module 503 is used to communicate with terminal equipment or other satellites.

[0156] The specific connection medium between the memory 501, the communication module 503 and the processor 502 is not limited in the embodiment of the present disclosure. Figure 5 In the embodiment, the memory 501 and the processor 502 are connected via a bus 504. The bus 504 is connected to the processor 502 via a bus 504. Figure 5 The connections between the other components are described with bold lines, which are only for illustrative purposes and are not intended to be limiting. The bus 504 can be divided into an address bus, a data bus, a control bus, etc. For ease of description, Figure 5The diagram shows that only one thick line is used, but this does not mean that there is only one bus or one type of bus.

[0157] The memory 501 stores a computer storage medium, which stores computer executable instructions. The computer executable instructions are used to implement the navigation signal quality detection method of the embodiment of the present disclosure. The processor 502 is used to execute the navigation signal quality detection method of each of the above embodiments.

[0158] Based on the same inventive concept, an embodiment of the present disclosure further provides a storage medium storing a computer program. When the computer program is executed on a computer, the computer executes the steps of the navigation signal quality detection method according to various exemplary embodiments of the present disclosure described above in this specification.

[0159] In some possible implementations, various aspects of the navigation signal quality detection method provided by the present disclosure may also be implemented in the form of a computer program product, which includes a computer program. When the program product is run on a computer device, the computer program is used to enable the computer device to execute the steps of the navigation signal quality detection method according to various exemplary embodiments of the present disclosure described above in this specification. For example, the computer device may execute the steps of each embodiment.

[0160] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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 thereof.

[0161] The program product of the embodiment of the present disclosure may adopt a portable compact disk read-only memory (CD-ROM) and include a computer program, and can be run on a computer device. However, the program product of the present disclosure is not limited thereto, and in the present disclosure, a readable storage medium may be any tangible medium containing or storing a program, and the computer program included therein may be used by or in combination with a command execution system, apparatus, or device.

[0162] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with a command execution system, apparatus, or device.

[0163] The computer program embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0164] Computer programs for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages.

[0165] It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0166] In addition, although the operations of the disclosed method are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0167] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0168] Although the preferred embodiments of the present disclosure have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present disclosure.

[0169] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A navigation signal quality detection method, characterized in that: The method comprises: Performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set; the multi-domain detection parameter set includes quality detection parameters of the navigation signal in multiple signal domains; The multi-domain detection parameter set is subjected to multi-domain fusion processing to obtain a comprehensive quality detection value, and the comprehensive quality detection value is used to optimize the navigation signal.

2. The method according to claim 1, characterized in that The multiple signal domains include frequency domain, time domain, modulation domain, and correlation domain.

3. The method according to claim 1, characterized in that The performing multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value includes: Normalizing the quality detection parameters of multiple signal domains respectively; Based on the detection weights of each signal domain, the normalized quality detection parameters are weighted and summed to obtain a multi-domain fusion result to determine the comprehensive quality detection value.

4. The method according to claim 3, characterized in that After obtaining the multi-domain fusion result, the method further includes: Based on the multi-domain fusion result, determining the contribution of each signal domain; Based on the preset weight adjustment strategy and combined with each contribution, the detection weight of each signal domain is updated.

5. The method according to claim 1, characterized in that The performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set includes: Frequency domain quality detection is performed based on the frequency change information of the navigation signal to obtain frequency domain detection parameters; the frequency domain detection parameters include a target frequency deviation value, a frequency signal-to-noise ratio and a frequency standard deviation, and the target frequency deviation value represents the frequency error of the navigation signal after the Doppler effect is eliminated.

6. The method according to claim 1, characterized in that The performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set includes: Based on the time domain change information of the navigation signal, time domain quality detection is performed to obtain time domain detection parameters; the time domain detection parameters include a delay deviation value and a delay fluctuation value; the delay fluctuation value represents the stability of the navigation signal propagation time.

7. The method according to claim 1, characterized in that The performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set includes: Modulation domain quality detection is performed based on the modulation and demodulation information of the navigation signal to obtain modulation domain detection parameters; the modulation domain detection parameters include a phase deviation value and a demodulation bit error rate.

8. The method according to claim 1, characterized in that The performing multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set includes: A correlation domain quality detection is performed based on the pseudo code correlation function of the navigation signal to obtain correlation domain detection parameters; the correlation domain detection parameters include a main peak intensity value, a side lobe interference ratio and a peak offset value.

9. The method according to claim 5, characterized in that The performing frequency domain quality detection on the navigation signal to obtain frequency domain detection parameters includes: Based on the frequency spectrum information of the navigation signal, a target frequency deviation value is obtained to perform frequency deviation compensation on the navigation signal; Obtaining a frequency signal-to-noise ratio based on the bandwidth power information of the navigation signal; the frequency signal-to-noise ratio represents the clarity of the frequency spectrum of the navigation signal; A frequency standard deviation is obtained based on the navigation signal after frequency offset compensation; the frequency standard deviation represents the frequency fluctuation degree of the navigation signal.

10. The method according to claim 9, characterized in that The obtaining of a target frequency deviation value based on the frequency spectrum information of the navigation signal includes: Based on the spectrum information of the navigation signal, a real-time frequency deviation value of the navigation signal is obtained; the real-time frequency deviation value represents a difference between an actual frequency and a theoretical frequency of the navigation signal, wherein the actual frequency is determined based on the spectrum information; Based on the real-time frequency deviation value and the theoretical frequency deviation value, obtaining a target frequency deviation value of the navigation signal; The theoretical frequency deviation value is determined based on the relative speed between the navigation satellite and the receiving end.

11. The method according to claim 6, characterized in that The performing time domain quality detection on the navigation signal to obtain time domain detection parameters includes: Obtaining a delay deviation value based on an actual delay and a theoretical delay of the navigation signal; The fluctuation is quantified based on the arrival time of the navigation signal to obtain a delay fluctuation value.

12. The method according to claim 7, characterized in that The performing modulation domain quality detection on the navigation signal to obtain modulation domain detection parameters includes: Obtaining a phase deviation value based on an actual phase and a theoretical phase of the navigation signal; A demodulation bit error rate is obtained based on the demodulated bit stream and the original bit stream of the navigation signal.

13. The method according to claim 8, characterized in that The performing relevant domain quality detection on the navigation signal to obtain relevant domain detection parameters includes: Based on the pseudocode correlation function, obtaining a main peak intensity value; Determine a sidelobe interference ratio based on the main peak intensity value and the target sidelobe amplitude; the target sidelobe amplitude is the maximum sidelobe amplitude other than the main peak in the pseudo code correlation function; Based on the main peak position and the theoretical matching point, the peak offset value is obtained; the theoretical matching point represents the complete matching point under the pseudo code alignment state.

14. A navigation signal quality detection device, characterized in that: The device comprises: A detection unit, configured to perform multi-domain quality detection on the navigation signal to obtain a multi-domain detection parameter set; the multi-domain detection parameter set includes quality detection parameters of the navigation signal in multiple signal domains; The fusion unit is used to perform multi-domain fusion processing on the multi-domain detection parameter set to obtain a comprehensive quality detection value, and the comprehensive quality detection value is used to optimize the navigation signal.

15. A computer device, characterized in that: include: at least one processor; as well as At least one memory storing instructions thereon, which, when executed individually or collectively by the at least one processor, cause the computer device to perform the method according to any one of claims 1 to 12.

16. A computer storage medium storing instructions, characterized in that: When the instructions are executed individually or collectively by at least one processor of a computer device, the computer device is caused to perform the method according to any one of claims 1 to 12.

17. A computer program product comprising instructions, characterized in that When the instructions are executed individually or collectively by at least one processor of a computer device, the computer device is caused to perform the method according to any one of claims 1 to 12.

18. A chip system for a computer device, characterized in that: The chip system includes at least one processor, and the at least one processor is configured to execute instructions stored in at least one memory of the computer device individually or collectively, so that the computer device performs the method according to any one of claims 1 to 12.

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