Carrier half-cycle detection threshold automatic calibration method, navigation receiver, system and storage medium

Abstract

The invention discloses a carrier half-cycle detection threshold automatic calibration method, a navigation receiver, a system and a storage medium. The method comprises the following steps: initializing a carrier half-cycle detection range to be 0-0.5; carrying out double difference on the carrier wave observed quantities of the master antenna and the slave antenna, and recording the number of satellites appearing in a half cycle in a preset time period; repeatedly moving the carrier half-cycle detection range to the right by a preset numerical value for multiple times in a range from 0 to 1, performing double-difference on carrier observed quantities of the master antenna and the slave antenna, and recording the number of satellites appearing in a half cycle in a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; and determining the carrier half-cycle detection range with the minimum number of satellites as the real half-cycle detection range of the anti-interference antenna. According to the scheme, the real half-cycle detection threshold of the anti-interference antenna can be automatically calibrated, no threshold is provided for a user, and actual use and popularization are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of carrier half-cycle repair, and in particular to a carrier half-cycle detection threshold automatic calibration method, a navigation receiver, a system and a storage medium. Background Art

[0002] At present, the repair of the navigation receiver BOC signal carrier half cycle is generally done by obtaining the modulation mode of the BOC signal and the observation value before compensation, converting the value of the subcarrier observation value, and finally calculating the half cycle compensation value (the value is between 0-1). Then, by real-time determining whether the half cycle compensation value is within the range of [0.5-1.0], it is determined whether the carrier half cycle needs to be compensated and repaired.

[0003] However, for anti-interference antennas, since their carrier phase center is not stable enough, setting the half-cycle detection threshold to the range of [0.5,1] will cause false alarms. Therefore, for anti-interference antennas, it is generally necessary to calibrate their true detection threshold. The current calibration method is generally to connect the anti-interference antenna to the master antenna and slave antenna ports of the navigation receiver with a one-to-two power splitter, record the carrier observations and half-cycle compensation values ​​of all satellites of the master and slave antennas for one hour, and then perform double differences on the carrier observations of the master and slave antennas to obtain the half-cycle situation of each satellite. By comparing the half-cycle compensation values ​​of the master and slave antenna satellites and the half-cycle situation of each satellite, the true detection threshold is found.

[0004] This calibration method requires recording data and performing double difference on carrier observations through software post-processing to obtain the half-cycle situation of each star. It is also necessary to list the half-cycle compensation value and half-cycle situation of the master and slave antennas of each star one by one, and find the time period and rules of the half-cycle to finally obtain the half-cycle compensation value of the anti-interference antenna. This method is cumbersome, time-consuming, and requires a good understanding of the core of the method before it can be used. However, most actual users do not understand this method, which is not conducive to practical use and promotion. Summary of the invention

[0005] In order to solve the technical problem that the existing anti-interference antenna real half-cycle detection threshold calibration method is too cumbersome, time-consuming and complicated, the embodiment of the present invention provides a carrier half-cycle detection threshold automatic calibration method, navigation receiver, system and storage medium.

[0006] The technical solution of the embodiment of the present invention is achieved as follows: An embodiment of the present invention provides a method for automatically calibrating a carrier half-cycle detection threshold, which is applied to a navigation receiver, wherein the master and slave antennas of the navigation receiver are connected to the same anti-interference antenna by a one-to-two signal power divider with a zero baseline, and the method comprises: Initialize the carrier half-cycle detection range to 0 to 0.5; perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Slide the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, and perform double difference on the carrier observations of the master and slave antennas, recording the number of satellites that appear in a half-cycle within the preset time period; Repeatedly move the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; The carrier half-cycle detection range with the smallest number of satellites is determined as the real half-cycle detection range of the anti-interference antenna.

[0007] In one embodiment, the preset time is 10 minutes.

[0008] In one embodiment, the preset value is 0.1.

[0009] The embodiment of the present invention further provides a navigation receiver, wherein the master and slave antennas of the navigation receiver are connected to the same anti-interference antenna by a one-to-two signal power splitter with a zero baseline, and the navigation receiver performs the following steps: Initialize the carrier half-cycle detection range to 0 to 0.5; perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Slide the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, perform double difference on the carrier observations of the master and slave antennas again, and record the number of satellites that appear in a half-cycle within the preset time period; Repeatedly move the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; The carrier half-cycle detection range with the smallest number of satellites is determined as the real half-cycle detection range of the anti-interference antenna.

[0010] In one embodiment, the preset time is 10 minutes.

[0011] In one embodiment, the preset value is 0.1.

[0012] An embodiment of the present invention also provides a carrier half-cycle detection threshold automatic calibration system, comprising: a processor and a memory for storing a computer program that can be run on the processor; wherein the processor executes the steps of the above-mentioned method when running the computer program.

[0013] An embodiment of the present invention further provides a storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0014] This embodiment has the following beneficial effects: 1. Able to automatically calibrate the real half-cycle detection threshold of the anti-interference antenna with one click; 2. Reduce the complexity of calibration, reduce the calibration time and the threshold for calibrators. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the process of the automatic calibration method of the carrier half-cycle detection threshold according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the automatic calibration process according to an embodiment of the present invention; Figure 3 It is a schematic diagram of a specific execution process of a navigation receiver according to an embodiment of the present invention; Figure 4 1 is a diagram showing the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0017] The embodiment of the present invention provides a method for automatically calibrating a carrier half-cycle detection threshold, which is applied to a navigation receiver, wherein the master and slave antennas of the navigation receiver are connected to the same anti-interference antenna by a one-to-two signal power divider with a zero baseline, such as Figure 1 As shown, the method includes: Step 101: Initialize the carrier half-cycle detection range to 0 to 0.5; perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Step 102: Slide the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Step 103: repeatedly moving the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, and performing double difference on the carrier observation quantities of the master and slave antennas, and recording the number of satellites that appear in a half-cycle within a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; Step 104: Determine the carrier half-cycle detection range with the smallest number of satellites as the real half-cycle detection range of the anti-interference antenna.

[0018] At present, the calibration method generally connects the anti-interference antenna to the main antenna and slave antenna ports of the navigation receiver with a one-to-two power splitter, records the carrier observation and half-cycle compensation values ​​of all satellites of the master and slave antennas for one hour, and then double-differences the carrier observations of the master and slave antennas to obtain the half-cycle situation of each satellite. This calibration method requires recording data and performing double-difference on the carrier observations through software post-processing to obtain the half-cycle situation of each star. It is also necessary to list the half-cycle compensation value and half-cycle situation of the master and slave antennas of each star one by one, and find the time period and rules of the half-cycle to finally obtain the half-cycle compensation value of the anti-interference antenna. This method is relatively cumbersome, time-consuming, and requires a good understanding of the core of the method before it can be used. However, most actual users do not understand this method, which is not conducive to practical use and promotion.

[0019] The method for automatically calibrating the carrier half-cycle detection threshold of the BOC signal of the navigation receiver implemented based on the method of this embodiment is automatically calibrated through the internal algorithm of the receiver, and does not require recording data for post-processing and finding rules, thereby reducing the calibration complexity, reducing the calibration time and the usage threshold of the calibrator.

[0020] Specifically, see Figure 2 , the method of this embodiment includes: Step 1: Connect the master and slave antennas of the navigation receiver to the same anti-interference antenna using a one-to-two signal power splitter with zero baseline; Step 2: Initialize the carrier half-cycle detection range to B[0]=[0,0.5]. After the master and slave antennas of the navigation receiver capture the signal, the receiver automatically performs double difference on the carrier observations of the master and slave antennas, records the number of satellites that appear in a half-cycle within 10 minutes, and records it in array A[0]. Step 3: The navigation receiver automatically slides the carrier half-cycle detection range to the right by 0.1, changing it to B[1]=[0.1, 0.6], and repeats step 2; Step 4: Repeat step 3 until the carrier half-cycle detection range reaches B[9]=[0.9,1.0]&[0,0.4], and obtain 10 sets of parameters from A[0] to A[9]; Step 5: Find the smallest subscript c in A[0]~A[9], and its corresponding carrier half-cycle detection range B[c] is the actual half-cycle detection range of the anti-interference antenna; Step 6: The automatic calibration process ends.

[0021] In summary, see Figure 3 , the specific execution process of the navigation receiver can be: 1. Initialize i=0, and initialize the carrier half-cycle detection range B[0] to [0,0.5]; 2. Count the number of satellite carrier half cycles within 10 minutes and record it as A[i]; 3. If i is less than 9, then i++, and continue the previous step until i is greater than or equal to 9; 4. Find the minimum subscript c from A[0] to A[9], and its corresponding carrier half-cycle detection range B[c] is the actual carrier half-cycle detection range; 5. End.

[0022] At present, the calibration method of the real half-cycle detection threshold of the anti-interference antenna is too cumbersome, time-consuming and complicated. The present embodiment can automatically calibrate the real half-cycle detection threshold of the anti-interference antenna, which has no threshold for users and is convenient for practical use and promotion.

[0023] The following describes the solution of this embodiment based on a specific scenario.

[0024] 1. Automatic calibration method of the real half-cycle detection threshold of the anti-interference antenna BOC signal through the internal algorithm of the navigation receiver: Connect the anti-interference antenna to the master and slave antennas of the navigation receiver through a one-to-two power splitter. Initialize the carrier half-cycle detection range to B[0]=[0,0.5]. After the master and slave antennas of the navigation receiver capture the signal, the receiver automatically performs double difference on the carrier observations of the master and slave antennas, records the number of satellites that appear in a half-cycle within 10 minutes, and records it in array A[0]. Slide the carrier half-cycle detection range to the right B[1]=[0.1,0.6], and similarly count the number of satellites that appear in a half-cycle within 10 minutes, and record it in array A[1]. Repeat this step until a total of 10 groups of parameters from A[0] to A[9] are obtained. The smallest parameter subscript c is obtained by counting, and its corresponding carrier half-cycle detection range B[c] is the actual carrier half-cycle detection range.

[0025] Table 1 below shows the values ​​automatically detected by the navigation receiver. It can be seen that when i=3, the number of satellite carrier half-cycles is zero, so B[3]=[0.3,0.8] is the actual half-cycle detection range of the anti-interference antenna.

[0026] This embodiment can realize automatic calibration of the anti-interference antenna BOC signal carrier half-cycle detection threshold by the navigation receiver.

[0027] The present embodiment also provides a navigation receiver, wherein the master and slave antennas of the navigation receiver are connected to the same anti-interference antenna with a zero baseline of a one-to-two signal power divider, and the navigation receiver performs the following steps: initializing the carrier half-cycle detection range to 0 to 0.5; performing double difference on the carrier observation quantities of the master and slave antennas, and recording the number of satellites that appear in the half cycle within a preset time period; sliding the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, and performing double difference on the carrier observation quantities of the master and slave antennas again, and recording the number of satellites that appear in the half cycle within the preset time period; repeatedly moving the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, and performing double difference on the carrier observation quantities of the master and slave antennas, and recording the number of satellites that appear in the half cycle within the preset time period; until the moved carrier half-cycle detection range returns to the initialized range; determining the carrier half-cycle detection range with the smallest number of satellites as the true half-cycle detection range of the anti-interference antenna.

[0028] In one embodiment, the preset time is 10 minutes.

[0029] In one embodiment, the preset value is 0.1.

[0030] In order to implement the method of an embodiment of the present invention, an embodiment of the present invention also provides a carrier half-cycle detection threshold automatic calibration system, including: a processor and a memory for storing a computer program that can be run on the processor; wherein, when the processor is used to run the computer program, it executes the steps of the above-mentioned method.

[0031] The above-mentioned system provided in this embodiment belongs to the same concept as the above-mentioned method embodiment. The specific implementation process thereof is detailed in the method embodiment and will not be repeated here.

[0032] In order to implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the above method.

[0033] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, the method of any one of the above embodiments is implemented. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0034] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0035] The device provided by the embodiment of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method of any one of the above embodiments is implemented.

[0036] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt 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 codes.

[0037] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0038] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0040] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0041] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0042] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0043] It can be understood that the memory of the embodiment of the present invention can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0044] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0045] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for automatically calibrating a carrier half-cycle detection threshold, characterized in that: Applied to a navigation receiver, the master and slave antennas of the navigation receiver are connected to the same anti-interference antenna by a one-to-two signal power splitter with a zero baseline, and the method comprises: Initialize the carrier half-cycle detection range to 0 to 0.5; perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Slide the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, and perform double difference on the carrier observations of the master and slave antennas, recording the number of satellites that appear in a half-cycle within the preset time period; Repeatedly move the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; The carrier half-cycle detection range with the smallest number of satellites is determined as the real half-cycle detection range of the anti-interference antenna.

2. The method for automatically calibrating the carrier half-cycle detection threshold according to claim 1, characterized in that: The preset time is 10 minutes.

3. The method for automatic calibration of carrier half-cycle detection threshold according to claim 1, characterized in that: The preset value is 0.

1.

4. A navigation receiver, characterized in that: The master and slave antennas of the navigation receiver are connected to the same anti-interference antenna by a one-to-two signal power splitter with a zero baseline, and the navigation receiver performs the following steps: Initialize the carrier half-cycle detection range to 0 to 0.5; perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; Slide the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1, perform double difference on the carrier observations of the master and slave antennas again, and record the number of satellites that appear in a half-cycle within the preset time period; Repeatedly move the carrier half-cycle detection range to the right by a preset value within the range of 0 to 1.0, perform double difference on the carrier observations of the master and slave antennas, and record the number of satellites that appear in a half-cycle within a preset time period; until the moved carrier half-cycle detection range returns to the initialized range; The carrier half-cycle detection range with the smallest number of satellites is determined as the real half-cycle detection range of the anti-interference antenna.

5. The navigation receiver according to claim 4, characterized in that: The preset time is 10 minutes.

6. The navigation receiver according to claim 4, characterized in that: The preset value is 0.

1.

7. A carrier half-cycle detection threshold automatic calibration system, characterized in that: include: A processor and a memory for storing a computer program that can be run on the processor; wherein, when the processor is used to run the computer program, the steps of the method according to any one of claims 1 to 3 are executed.

8. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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