Configuration method and related device

Abstract

The invention provides a configuration method and a related device, the method is applied to electronic equipment, and the method comprises the steps that the electronic equipment receives a first satellite signal of the same satellite by using n signal channels, for example, the method comprises the steps of capturing and tracking the first satellite signal by using the n signal channels, wherein each signal channel comprises m correlators, the distance between any two adjacent correlators is equal, and n and m are integers greater than 1; the electronic equipment obtains first code loop adjustment information and observed quantity of the first satellite signal according to the output values of the correlators of the n signal channels, the first code loop adjustment information is used for adjusting pseudo code phases of the n signal channels, and the observed quantity of the first satellite signal is used for obtaining position information of the electronic equipment. According to the invention, the output of the original correlator can be spliced into the required data, so that the configuration of the correlator can be flexibly adjusted on the premise of not changing the hardware structure of the electronic equipment.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular, to a configuration method and related devices. Background Art

[0002] A global navigation satellite system (GNSS) receiver may include a radio frequency front end, a digital signal processor (DSP), and a positioning and navigation module. The DSP can capture and track signals of different satellites through a hardware circuit (including correlators, integrators, etc.) and a capture loop and a tracking loop in software form to implement the positioning and navigation function. Among them, the tracking loop is a closed-loop feedback, and the code tracking loop in it needs to obtain the outputs of multiple correlators each time to calculate the corresponding adjustment information. Since the signal qualities of different satellites are different, in order to achieve a better tracking effect, it may be necessary to adjust the configuration such as the spacing between correlators and the number of branches. However, the configuration of the correlators is currently fixed and cannot be flexibly adjusted. Summary of the Invention

[0003] This application discloses a configuration method and related devices, which can flexibly adjust the configuration of correlators without changing the hardware circuit of the digital signal processor.

[0004] In a first aspect, this application provides a configuration method, which is applied to an electronic device. The method includes: The electronic device can use n signal channels to receive a first satellite signal of the same satellite. For example, it includes capturing and tracking the first satellite signal using n signal channels. Each of these n signal channels includes m correlators, and the spacing between any two adjacent correlators is equal. It can be understood that the correlator spacing and the number of correlators of each signal channel are fixed, and n and m are integers greater than 1; The electronic device can obtain first code loop adjustment information (such as pseudo-code numerically controlled oscillator NCO adjustment amount) and observables of the first satellite signal (such as global navigation satellite system GNSS measurement values and navigation messages) according to the output values of the correlators of the above n signal channels. Among them, the first code loop adjustment information is used to adjust the pseudo-code phases of these n signal channels, so as to make the pseudo-code phases replicated by these n signal channels consistent with the pseudo-code phase of the received first satellite signal. The observables of the first satellite signal are used to obtain the position information of the electronic device. For example, the electronic device displays the obtained position information.

[0005] In some examples, the electronic device is a terminal device including a GNSS receiving module. In other examples, the electronic device is a GNSS receiver. In other examples, the electronic device is a digital signal processor DSP in a GNSS receiver.

[0006] In some examples, the above-mentioned n signal channels and 1 code tracking loop (in software form) can form 1 logical channel, which is used to track the first satellite signal. In some examples, the code tracking loop can receive the first satellite signal captured by these n signal channels, obtain the first code loop adjustment information according to the output values of the correlators of these n signal channels, and then, the code tracking loop can send the first code loop adjustment information to these n signal channels, and each of these n signal channels can adjust the pseudocode phase using the same first code loop adjustment information. Since the code tracking loop is a closed-loop feedback, the above process can be executed in multiple cycles (but the output values of the correlators of the n signal channels and the obtained code loop adjustment information can be different each time), so as to make the pseudocode phases replicated by these n signal channels consistent with the pseudocode phase of the received first satellite signal. In some examples, the code tracking loop can obtain the observables of the first satellite signal according to the output values of the correlators of the n signal channels in any one of the above multiple cycles, and send them to the positioning and solution module, so that the positioning and solution module can obtain the position information of the electronic device according to the observables of the first satellite signal. Among them, the positioning and solution module may or may not belong to the electronic device. For example, when the electronic device is a DSP, it does not include the positioning and solution module, and when the electronic device is a terminal device or a GNSS receiver, it includes the positioning and solution module.

[0007] In some examples, the electronic device includes N signal channels, and these N signal channels include the above-mentioned n signal channels and z signal channels. The above-mentioned n signal channels are used to track the satellite signal of the first satellite, and these z signal channels are used to track the satellite signal of the second satellite. N is a positive integer greater than 1, and both n and z are less than N, and n and z may be different or the same.

[0008] In the above method, the electronic device can use n signal channels to track the signals of the same satellite, and comprehensively use the output values of the correlators of these n signal channels, rather than only using one signal channel to track the signal of one satellite, so as to achieve the effect of adjusting the configuration of the correlator. For example, for different satellites, the number of signal channels used to track the satellite signal is different (such as the above-mentioned n and z are different), so as to achieve a differentiated correlator configuration for different satellites, so as to achieve a better tracking effect. It can be understood that the output results of the original correlators are spliced into the required data to achieve the effect of equivalent expansion, so as to flexibly adjust the configuration of the correlator without changing the hardware structure of the electronic device (such as the correlator spacing and the number of correlators in any one signal channel), making the tracking accuracy of the satellite signal higher, more adaptable to the changes of different scenarios, and not increasing the performance requirements, overall power consumption and cost of the processor, etc., and the usability is relatively high.

[0009] In a possible implementation, when the electronic device obtains the first code loop adjustment information and the observables of the first satellite signal according to the output values of the correlators of n signal channels, it may obtain the first code loop adjustment information and the observables of the first satellite signal according to the output values of m' correlators, where these m' correlators are some or all of the n×m correlators of the above n signal channels, and m' is an integer greater than 1 and less than or equal to n×m.

[0010] In some examples, the electronic device may determine the above m' correlators from the n×m correlators of n signal channels according to preset parameters. The preset parameters may include, for example, at least one of the following: the satellite constellation of the first satellite signal, the satellite frequency point of the first satellite signal, or the information of the environment where the electronic device is located. For example, the electronic device may determine the spacing between correlators according to the preset parameters, and according to the spacing between correlators, grab the output values of m' correlators from the output values of the n×m correlators of the above n signal channels. Alternatively, the electronic device may also determine the value of m' according to the preset parameters, and then grab the output values of m' correlators according to the value of m'.

[0011] In the above method, the electronic device may select m' correlators from the n×m correlators of n signal channels according to actual needs, and comprehensively use the output values of these m' correlators. It can be understood that the output results of the original correlators are spliced into the required data to achieve the effect of equivalent expansion, and the adjustment method of the correlator configuration is more flexible.

[0012] In a possible implementation, the above n signal channels include 1 main channel and n - 1 auxiliary channels, and the auxiliary channels may have offsets relative to the main channel. For example, the offsets of different auxiliary channels relative to the main channel are different.

[0013] In a possible implementation, the spacing between any two adjacent correlators in each signal channel of the electronic device is equal and is x. The electronic device can use the equal-spacing method to adjust the correlator configuration of the above n signal channels. At this time, the spacing between any two adjacent correlators in the above m' correlators is equal and is x', and in the above n signal channels (including 1 main channel and n - 1 auxiliary channels), the offset of the d-th auxiliary channel relative to the main channel is d×k, where d is a positive integer less than n, and k is the rational common factor of x and x', and where x = n×k.

[0014] In the above method, the m' correlators of the n signal channels and the m correlators of the original one signal channel may both be equally spaced, that is, the spacing between any two adjacent correlators is equal. Therefore, the granularity (both are x') of the adjustment based on the code loop adjustment information in the leading part and the lagging part remains consistent, and the implementation of the adjustment process is more convenient and stable.

[0015] Not limited to this, in another possible implementation, the electronic device can also adjust the correlator configurations of the above n signal channels in a non-uniform spacing manner. In this case, the spacing between adjacent correlators among the m' correlators can be unequal. For example, the spacing between the first correlator and the second correlator is different from the spacing between the second correlator and the third correlator, and the adjustment method is flexible and diverse.

[0016] In a possible implementation, among the above m' correlators, the instant correlator is the th correlator (i.e., located in the middle position), or the instant correlator is located after the th correlator (i.e., located in a position towards the back).

[0017] In the above method, the instant correlator can be set in the middle, or it can be not set in the middle but towards the back, and the implementation method is relatively flexible. Moreover, when the instant correlator is located towards the back, the proportion of the leading correlators is larger, which can be understood as paying more attention to the energy of the leading part. In this way, the problems existing in the multipath scenario can be effectively solved: tracking the non-line-of-sight (NLOS) received signal and being unable to switch to tracking the line-of-sight (LOS) received signal. That is to say, even if the tracking loop accidentally tracks the NLOS signal, if a peak is identified on the leading branch, that is, it is identified that there is a LOS peak in the leading part, the tracking loop can also be switched to track the LOS signal, thereby achieving a better anti-multipath effect.

[0018] In a possible implementation, the method further includes: the electronic device can obtain first carrier loop adjustment information (such as the carrier NCO adjustment amount) according to the output values of the correlators of the n signal channels, and the first carrier loop adjustment information is used to adjust the carrier phase or frequency offset of the n signal channels.

[0019] In the above method, the n signal channels for tracking the same satellite signal can share the same code loop adjustment information and carrier loop adjustment information, so as to ensure that the code tracking loops and carrier tracking loops of these n signal channels are updated completely synchronously, and improve the reliability of tracking the same satellite signal through the n signal channels.

[0020] In a possible implementation, the correlators of the above n signal channels are configured in a multi-channel mode (i.e., tracking the satellite signals of the same satellite through multiple signal channels). The above multi-channel mode may include a first mode or a second mode. Among them, the correlator span in the first mode is less than or equal to a first preset span, and the correlator span in the second mode is greater than a second preset span. The first preset span is less than or equal to the second preset span; and / or, the correlator spacing in the first mode is less than or equal to a first preset spacing, and the correlator spacing in the second mode is greater than a second preset spacing. The first preset spacing is less than or equal to the second preset spacing. Among them, the correlator span is the span between the correlator with the smallest chip and the correlator with the largest chip. For example, the first preset span and the second preset span are equal and are the correlator span of 1 signal channel of the electronic device (which can be understood as a single-channel mode), and the first preset spacing and the second preset spacing are equal and are the correlator spacing of 1 signal channel.

[0021] In the above method, the correlators in the first mode can search for correlation peaks in a smaller range and / or with finer granularity, and can identify more subtle correlator energy peak deviations (such as multipath errors). The correlators in the second mode can search for correlation peaks in a larger range and / or with coarser granularity, and can search for LOS peaks in a larger range. These two modes can be applied in different scenarios. For example, in a harsh environment, when the multipath signal and the main signal are relatively close, the first mode is used, and when the multipath signal and the main signal are relatively far apart, the second mode is used, thereby effectively improving the tracking resolution, and the tracking accuracy and robustness are higher.

[0022] In a possible implementation, the method further includes: the electronic device uses n signal channels to receive the first satellite signal of the same satellite. The electronic device can first determine whether the first condition is satisfied; when the first condition is satisfied, the correlator configuration mode of the n signal channels is configured as the first mode; when the first condition is not satisfied, the correlator configuration mode of the n signal channels is configured as the second mode; among them, the first condition is related to a first parameter, and the first parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency point of the first satellite signal, or the information of the environment where the electronic device is located. For example, the first condition is that the number of currently idle signal channels is greater than or equal to the first channel number.

[0023] In the above method, the electronic device can select to use the first mode or the second mode according to the first parameter, which can be understood as selecting the correlator configuration applicable to the current scenario according to the scenario. For example, when the number of currently idle signal channels is large, the first mode is used, and when the number is small, the second mode is used, effectively using the idle signal channels to improve the tracking accuracy. Therefore, the tracking method can better adapt to the changes in different scenarios, effectively improving the tracking resolution, and the tracking accuracy and robustness are higher.

[0024] In a possible implementation, the method further includes: after the electronic device obtains the first code loop adjustment information and the observables of the first satellite signal based on the output values of the correlators of n signal channels (for example, after the code tracking loop sends the observables of the first satellite signal to the positioning and resolution module), when the correlators of the n signal channels are configured in the first mode, the electronic device can determine whether the pseudorange residual is greater than or equal to a first threshold (for example, related to the length corresponding to the maximum offset chip phase of the current correlator); when the pseudorange residual is greater than or equal to the first threshold, the electronic device can configure the correlators of the n signal channels to the second mode. For example, the code tracking loop can send a first indication message to the n signal channels (the indication message in this application can also be referred to as control information) (for indicating that the correlators of the n signal channels are configured to the second mode); similarly, when the correlators of the n signal channels are configured in the second mode, the electronic device can determine whether the pseudorange residual is less than or equal to a second threshold (for example, related to the length corresponding to the minimum offset chip phase of the current correlator); when the pseudorange residual is less than or equal to the second threshold, the electronic device can configure the correlators of the n signal channels to the first mode. For example, the code tracking loop sends a second indication message to the n signal channels (for indicating that the correlators of the n signal channels are configured to the first mode).

[0025] In the above method, the electronic device can adaptively switch between the first mode and the second mode according to the pseudorange residual. Among them, the magnitude of the pseudorange residual can characterize the deviation of the code tracking loop. Therefore, it can intelligently adjust the correlator configuration according to the tracking effect, the tracking method can better adapt to the changes in different scenarios, effectively improve the tracking resolution, and the tracking accuracy and robustness are higher.

[0026] In a possible implementation, before the electronic device uses n signal channels to receive the first satellite signal of the same satellite, it can first determine whether the second condition is met; the second condition is related to a second parameter, and the second parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment where the electronic device is located. For example, the second condition is that the frequency of the first satellite signal is L5, and the number of currently idle signal channels is greater than or equal to the number of channels in a preset proportion of the total number of channels; when the second condition is met, the electronic device can use n signal channels to receive the first satellite signal of the same satellite and use the output values of the correlators of these n signal channels; when the second condition is not met, the electronic device can use 1 signal channel to receive the first satellite signal and use the output value of the correlator of this 1 signal channel (for example, including obtaining code loop adjustment information, carrier loop adjustment information, and observables of the first satellite signal).

[0027] In the above method, the electronic device can select to use the single-channel mode (i.e., tracking the first satellite signal through 1 signal channel) or the multi-channel mode (i.e., tracking the first satellite signal through n signal channels) according to the first parameter. It can be understood that the correlator configuration suitable for the current scenario is selected according to the scenario. For example, when the number of currently idle signal channels is large, the multi-channel mode is used; when the number is small, the single-channel mode is used, effectively utilizing the idle signal channels to improve the tracking accuracy. Therefore, the tracking method can better adapt to the changes in different scenarios, effectively improving the tracking resolution, and having higher tracking accuracy and robustness.

[0028] In a possible implementation manner, the method further includes: after the electronic device obtains the first code loop adjustment information and the observed value of the first satellite signal according to the output values of the correlators of the n signal channels (for example, after the code tracking loop sends the observed value of the first satellite signal to the positioning and calculation module), the electronic device can determine whether the quality of the first satellite signal is higher than or equal to a preset quality threshold; when the quality of the first satellite signal is higher than or equal to the preset quality threshold, the electronic device can use 1 signal channel to receive the first satellite signal and use the output value of the correlator of this 1 signal channel. For example, the code tracking loop can send third indication information to the n signal channels (for indicating to track the first satellite signal through 1 signal channel).

[0029] In the above method, the electronic device can adaptively switch between the single-channel mode (i.e., tracking the first satellite signal through 1 signal channel) and the multi-channel mode (i.e., tracking the first satellite signal through n signal channels) according to the quality of the first satellite signal. When the quality of the first satellite signal is good, the single-channel mode is used. At this time, a good tracking effect can be achieved without the need for multi-channel mode tracking. Therefore, currently using the single-channel mode can, on the premise of ensuring the tracking effect, avoid occupying too many channel resources and reducing the total number of tracked satellites, and has higher usability.

[0030] In a possible implementation, the method further includes: after the electronic device obtains the first code loop adjustment information and the observation of the first satellite signal based on the output values of the correlators of n signal channels (for example, after the code tracking loop sends the observation of the first satellite signal to the positioning and calculation module), the electronic device may determine whether to adjust the correlator configuration of the n signal channels according to a third parameter, where the third parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the n signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, the pseudorange residual, the first code loop adjustment information, or the information about the environment where the electronic device is located; when it is determined to adjust the correlator configuration of the n signal channels, the electronic device adjusts the correlator configuration of these n signal channels, for example, adjusts at least one of the following correlator configurations: the number of signal channels for tracking the first satellite signal, the spacing of the correlators, the number of correlators, the position of the prompt correlator, or the span of the correlators. For example, the code tracking loop may send fourth indication information (the fourth indication information is used to instruct the n signal channels to adjust the correlator configuration) to the n signal channels.

[0031] In the above method, after obtaining the observation of the first satellite signal each time, the electronic device may determine whether to adjust the correlator configuration according to the actual scenario, so as to adaptively adjust the correlator configuration of the signal channels during the tracking of the satellite signal. For example, dynamic adjustment of the correlator configuration can be achieved under different satellites, different environments, and different time periods, further adapting to the changes in different scenarios and improving the tracking accuracy and robustness of the satellite signal. Moreover, the content of the adjustable correlator configuration is diverse, the adjustment is more flexible, and the application scenarios are more extensive.

[0032] In a possible implementation, the method further includes: The electronic device receives a second satellite signal using a first signal channel (1 signal channel). For example, it includes capturing and tracking the second satellite signal using the first signal channel, which can be understood as defaulting to or first using 1 signal channel to track the signal of 1 satellite; The electronic device obtains second code loop adjustment information and observables of the second satellite signal from the output value of the correlator of the first signal channel. Among them, the second code loop adjustment information is similar to the above-mentioned first code loop adjustment information and is used to adjust the pseudo-code phase of the first signal channel. The observables of the second satellite signal are similar to the above-mentioned observables of the first satellite signal and are used to obtain the position information of the electronic device; Then, the electronic device can determine whether to adjust the correlator configuration of the first signal channel according to a fourth parameter. The fourth parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the first signal channel, the satellite constellation of the second satellite signal, the satellite frequency point of the second satellite signal, the pseudo-range residual, the second code loop adjustment information, or information about the environment where the electronic device is located; When it is determined to adjust the correlator configuration of the first signal channel, the electronic device adjusts at least one of the following correlator configurations of the first signal channel: the number of signal channels for tracking the second satellite signal, the spacing of the correlators, the number of correlators, the position of the prompt correlator, or the span of the correlators. For example, the code tracking loop can send fifth indication information (for instructing the first signal channel to adjust the correlator configuration) to the first signal channel.

[0033] In a possible implementation, the second satellite signal and the first satellite signal belong to the signals of the same satellite. When the electronic device sets the correlator configuration of the first signal channel to the multi-channel mode according to the fourth parameter, the electronic device can use n signal channels to receive the first satellite signal and / or the second satellite signal of the same satellite.

[0034] In the above method, after performing a tracking and positioning process according to the initial configuration (i.e., tracking the second satellite signal through 1 signal channel), it is possible to select whether to adjust the correlator configuration according to the actual scenario. For example, it is possible to select to adjust to tracking the second satellite signal through n signal channels (i.e., using the multi-channel mode), which can be understood as determining the configuration of the multi-channel mode according to the actual tracking scenario. The configuration of the multi-channel mode determined in this way is more in line with the actual scenario and can avoid the situation that using the multi-channel mode at the beginning may occupy more signal channels and affect the tracking effect of other satellite signals, further improving the tracking accuracy and robustness of satellite signals.

[0035] In a possible implementation, the above n signal channels are part of the signal channels included in the electronic device. For example, the electronic device includes N signal channels, where N is a positive integer and N is much larger than n.

[0036] In the above method, currently the hardware configuration of electronic devices is usually relatively high, so the total number of signal channels included is usually large. If 1 signal channel is used to track the signal of 1 satellite, there will be many idle channels. Therefore, by using n signal channels to track the signal of the same satellite, not only can the flexible adjustment of the correlator configuration be achieved without modifying the hardware structure of the signal channels / correlators, but also the idle channels can be effectively utilized, and the availability of the product is higher.

[0037] In a second aspect, the present application provides an electronic device, including n signal channels, where n is a positive integer greater than 1, and this electronic device is used to execute the configuration method provided in the first aspect and any implementation manner of the first aspect.

[0038] In a third aspect, the present application provides an electronic device, including a transceiver, a processor, and a memory; the above-mentioned memory is used to store a computer program, and the above-mentioned processor calls the above-mentioned computer program for the above-mentioned electronic device to execute the configuration method provided in the first aspect and any implementation manner of the first aspect.

[0039] In a fourth aspect, the present application provides a computer storage medium, which stores a computer program, and when the computer program is executed by a processor, it is used to execute the configuration method provided in the first aspect and any implementation manner of the first aspect.

[0040] In a fifth aspect, the present application provides a computer program product, which when running on a device causes the device to execute the configuration method provided in the first aspect and any implementation manner of the first aspect.

[0041] In a sixth aspect, the present application provides an electronic device, which includes a method or device for executing any aspect or implementation manner introduced in the present application. The above-mentioned electronic device is, for example, a chip.

[0042] It should be understood that the description of technical features, technical solutions, beneficial effects or similar languages in the present application does not imply that all features and advantages can be achieved in any single implementation manner. On the contrary, it can be understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one implementation manner. Therefore, the description of technical features, technical solutions or beneficial effects in the present application does not necessarily refer to the same implementation manner. Furthermore, the technical features, technical solutions and beneficial effects described in the present application can be combined in any appropriate manner. Those skilled in the art will understand that the present application can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific implementation manner. In other implementation manners, additional technical features and beneficial effects can also be identified in specific implementation manners that do not embody all implementation manners. Brief Description of the Drawings

[0043] The following is an introduction to the drawings used in this application.

[0044] Figure 1 It is a schematic structural diagram of an electronic device provided by this application;

[0045] Figure 2 It is a schematic structural diagram of another electronic device provided by this application;

[0046] Figure 3 It is a schematic structural diagram of another electronic device provided by this application;

[0047] Figure 4 It is a schematic diagram of a signal channel provided by this application;

[0048] Figure 5A It is a schematic diagram of adjusting the correlator configuration provided by this application;

[0049] Figure 5B 、 Figure 5C They are schematic diagrams of some multi-channel modes provided by this application;

[0050] Figure 6A It is a schematic diagram of adjusting the correlator configuration provided by this application;

[0051] Figure 6B 、 Figure 6C They are schematic diagrams of some other multi-channel modes provided by this application;

[0052] Figure 7 It is a schematic diagram of another signal channel provided by this application;

[0053] Figure 8A 、 Figure 8B 、 Figure 8C They are schematic diagrams of some other multi-channel modes provided by this application;

[0054] Figure 9 It is a schematic flowchart of a configuration method provided by this application;

[0055] Figure 10 It is a schematic flowchart of a configuration method provided by this application;

[0056] Figure 11 It is a schematic flowchart of another configuration method provided by this application;

[0057] Figure 12 It is a schematic flowchart of another configuration method provided by this application;

[0058] Figure 13 It is a schematic diagram of the state transition of the correlator configuration provided by this application. Detailed implementation manners

[0059] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings. The terms used in the implementation manner part of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0060] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0061] In the description of the embodiments of the present application, when a certain definition is represented by a letter, the capital and lowercase forms of the same letter may respectively represent different definitions. For example, the following "N" and "n" represent different definitions.

[0062] Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more than two.

[0063] A global navigation satellite system (GNSS) receiver may include a radio frequency (RF) front end, a digital signal processor (DSP), and a positioning and navigation module. For specific examples, see below Figure 1 .

[0064] Figure 1 An exemplary structural diagram of an electronic device 100 is shown. As Figure 1 shown, the electronic device 100 may include a GNSS receiving module, which may specifically include one or more antennas, an RF front end 101, a DSP 102, and a positioning and solution module 103. Among them:

[0065] The RF front end 101 may include an amplifier (not shown), a filter (not shown), and an analog-to-digital (A / D) converter (not shown). The RF front end 101 may receive GNSS satellite signals through an antenna. After being processed by the amplifier, filter, etc., the GNSS satellite signals are mixed with a sine wave local oscillator signal and down-converted to an intermediate frequency (IF) / near baseband signal, and then the IF / near baseband signal is converted into a discrete-time digital IF signal by the A / D converter. The RF front end 101 may send the digital IF signal to the DSP 102 for processing.

[0066] The DSP 102 may be used to implement the acquisition and tracking of GNSS satellite signals. Acquisition can be understood as a coarse search, which only needs to determine the approximate chip position and frequency range. Tracking can be understood as a fine search, which needs to determine the precise chip position and frequency position. The DSP 102 may be used to strip the carrier (including Doppler frequency shift) in the digital IF signal through mixing, and strip the C / A code (also known as pseudo-code) therein through coarse acquisition (C / A) code correlation operations, and then demodulate the navigation message data to implement the acquisition and tracking of GNSS satellite signals. The processing process of the DSP 102 requires a large number of correlation operations, and directly processing the digital IF signal requires high requirements for the microprocessor. Therefore, the DSP 102 is generally implemented in a combination of software and hardware circuits. The DSP 102 may include an application-specific integrated circuit (ASIC) in hardware form, a signal acquisition loop (not shown) and a signal tracking loop in software form. Among them, the ASIC may include a correlator, an integrator, etc. In one implementation, the DSP 102 may process the digital IF signal through the correlator, integrator, etc. in the ASIC to obtain a digital signal with a lower frequency, and then send it to the signal acquisition loop and the signal tracking loop for processing.

[0067] The DSP 102 may send the obtained GNSS measurement values and navigation message to the positioning and solution module 103 (in software form) for processing. The positioning and solution module 103 may obtain a positioning result according to the GNSS measurement values and the navigation message, and display the positioning result on the display screen (not shown) of the electronic device 100, for example. Among them, the GNSS measurement values may include, but are not limited to, carrier phase, pseudorange (including pseudo-code phase), and Doppler frequency shift, etc. The navigation message may include, but is not limited to, time, satellite orbit, ionospheric delay, etc.

[0068] Understandably, the GNSS receiving module needs to separately perform independent acquisition, tracking, and other processing on the signals of multiple GNSS satellites (the types of codes of different satellites are different, and the types of codes of the same satellite corresponding to one or more frequency bands are the same). Therefore, the DSP102 usually adopts the form of signal channels, that is, each signal channel independently acquires, tracks, and processes the signal of one satellite. The GNSS receiving module often needs to provide dozens to hundreds of signal channels to meet the needs of tracking the signals of different systems and different satellites. For a specific example, refer to Figure 2 the electronic device 100 shown. Figure 2 the electronic device 100 shown and Figure 1 the electronic device 100 shown is similar. For the description of related modules, refer to Figure 1 the description.

[0069] As Figure 2 shown, the DSP102 may include N signal channels, where N is a positive integer. Each signal channel can independently occupy a hardware channel, and different hardware channels can operate in parallel at high speed. Each signal channel can include a corresponding ASIC and a signal tracking loop. For example, signal channel 1 includes ASIC 1 and signal tracking loop 1, and signal channel N includes ASIC N and signal tracking loop N. Each signal channel can include multiple correlators. For example, it can include an immediate (prompt, P) correlator, one or more early (E) correlators, and one or more late (L) correlators. The spacing between any two adjacent correlators in a signal channel is equal, for example, 1 / 2 chip. For a specific structural example, refer to the following Figure 4 . In the embodiments of the present application, the correlator can also be referred to as a branch.

[0070] Understandably, the carrier frequency and code phase of the GNSS satellite signal received by the electronic device 100 will change over time, and these changes are unpredictable. Therefore, the signal tracking loop in the DSP102 continuously operates periodically in the form of closed-loop feedback to achieve continuous locking of the GNSS satellite signal. For example Figure 1 shown, the signal tracking loop can send (also referred to as feedback) adjustment information to the DSP ASIC to make the replicated carrier, pseudocode, and the carrier and pseudocode in the received GNSS satellite signal consistent. For example Figure 2 shown, in signal channel 1 (assuming corresponding to satellite 1), the signal tracking loop 1 can feedback the corresponding adjustment information 1 to ASIC 1 to make the replicated carrier, pseudocode of the signal tracking loop 1 and the carrier and pseudocode of the received satellite 1 consistent. In signal channel N (assuming corresponding to satellite N), the signal tracking loop N can feedback the corresponding adjustment information N to ASIC N to make the replicated carrier, pseudocode of the signal tracking loop N and the carrier and pseudocode of the received satellite N consistent.

[0071] The signal tracking loop in the DSP102 may include a carrier tracking loop (which may be abbreviated as a carrier loop for short) and a code tracking loop (which may be abbreviated as a code loop for short). The carrier loop and the code loop are respectively used to track the carrier and the pseudo-code in the GNSS satellite signal. The embodiments of the present application mainly relate to the code loop. Therefore, for the convenience of description, the following embodiments default that the carrier has been stripped.

[0072] In any code loop, it is necessary to obtain the outputs of multiple correlators in the current signal channel each time (which can also be understood as the correlation values at different code phases) to calculate the adjustment information of the code loop. The adjustment information is, for example, the adjustment amount of a numerically controlled oscillator (NCO). The NCO can be used to replicate the carrier and / or the code stream. The NCO adjustment amount can include a frequency offset adjustment amount and / or a phase offset adjustment amount. The NCO adjustment amount can include a carrier NCO adjustment amount and a pseudo-code NCO adjustment amount. For example, Figure 2 After the satellite signal captured by the signal channel 1 as shown enters the code loop of the signal tracking loop 1, the output values of multiple correlators in the signal channel 1 can be transmitted to a code loop discriminator (not shown) for processing, and then after passing through a loop filter (not shown) for processing, a pseudo-code NCO adjustment amount is obtained. The pseudo-code NCO adjustment amount can be applied to the signal channel 1 again (such as adjusting the pseudo-code phase replicated by the current code loop) to make the instantaneous code replicated by the code loop consistent with the received pseudo-code. At the same time, the signal channel 1 will also output GNSS measurement values to the positioning and resolution module 103 for processing. It can be understood that the configuration of the correlator (such as the spacing, the number of branches, the position of the prompt branch, etc.) will affect the tracking effect of the GNSS satellite signal.

[0073] Since the signal qualities of different satellites are different, in order to achieve a better tracking effect, it may be necessary to adjust the configuration of the correlator. However, the current configuration of the correlator is fixed (such as Figure 2 the structure of each signal channel shown is the same, and they are all Figure 4 the structure shown), and it cannot be flexibly adjusted. Although some solutions have been proposed currently, there are still some problems, resulting in low usability. In one solution, the configuration options of the correlators that may be used subsequently are comprehensively considered at the initial stage of chip design, and the configuration option is implemented and a controllable instruction is added during the hardware design process. This method needs to be completed before the hardware design, the variable configuration is limited, and no additional variable configuration can be added subsequently, still lacking flexibility. In another solution, a software method is selected to process the digital signals of GNSS satellites. In the GNSS receiver, the ADC digitizes the signals as close as possible to the antenna part, and then the digital signals are processed by the software method. Specifically, Figure 1The correlator part in the DSPASIC shown is implemented by software, so the configuration adjustment of the correlator can be achieved through software. However, this requires high performance from the processor and will cause problems such as increased overall power consumption and cost.

[0074] The embodiment of the present application provides a configuration method, which is applied to the electronic device 100. The electronic device 100 may include a GNSS receiving module. The electronic device 100 can control and adjust the configuration of the correlator in the GNSS receiving module during the tracking stage of the GNSS satellite signal. As Figure 1 shown in the electronic device 100, when it is determined to adjust the configuration of the correlator, the signal tracking loop in the DSP102 can send control information (also referred to as indication information) to the DSPASIC, and this control information is used to indicate the adjustment of the configuration of the correlator. For example, differential correlator configurations can be implemented for different satellites to achieve better tracking effects.

[0075] In one implementation, when adjusting the configuration of the correlator, n signal channels can be configured to track the signals of the same GNSS satellite, and the outputs of the correlators of these n signal channels can be comprehensively used. It can be said that the configuration mode of the correlator is the multi-channel mode, rather than using 1 signal channel to track the signals of the GNSS satellite and only using the output of the correlator of this 1 signal channel (which can be said that the configuration mode of the correlator is the single-channel mode), so as to achieve the effect of adjusting the configuration of the correlator. n is a positive integer greater than 1 and less than or equal to N. Therefore, the embodiment of the present application can splice the output results of the original correlator into the required data, so as to achieve the adjustment of the correlator configuration without modifying the hardware circuit of the DSP, making the tracking accuracy of the satellite signal higher, more adaptable to the changes in different scenarios, the adjustment method more flexible, and not increasing the performance requirements for the processor, overall power consumption and cost, etc., and having high usability.

[0076] Among them, an example of the single-channel mode can be seen in Figure 2 any one signal channel of the electronic device 100 shown, and an example of the multi-channel mode can be seen in the following Figure 3 logical channel 1 of the electronic device 100 shown. The single-channel mode is the correlator configuration before any configuration modification, and can also be referred to as the original configuration mode.

[0077] Among them, the above-mentioned n signal channels can be regarded as a logical channel. The embodiments of the present application can be understood as using the correlators of n signal channels in the original configuration mode to combine and form the required logical channel to achieve a better tracking effect when tracking the signal of a certain satellite. The above-mentioned n signal channels can include a main channel and auxiliary channels, for example, one main channel and (n - 1) auxiliary channels. The correlators of the auxiliary channels are offset by a certain code phase relative to the correlator of the main channel. The n signal channels in the above-mentioned logical channel can share the same adjustment information (i.e., the carrier NCO adjustment amount and the pseudo-code NCO adjustment amount), so as to ensure that the updates of the tracking loops of these n signal channels are completely synchronized. The pseudo-code NCO adjustment amount can be used to adjust the pseudo-code phase of the current logical channel, and the carrier NCO adjustment amount can be used to adjust the carrier phase / frequency offset of the current logical channel.

[0078] Figure 3 Exemplarily shown is a schematic structural diagram of another electronic device 100. Figure 3 The shown electronic device 100 and Figure 1 the shown electronic device 100 are similar. For the description of related modules, reference can be made to Figure 1 the description.

[0079] As Figure 3 shown, the electronic device 100 can include N signal channels, where N is a positive integer. These N signal channels can form N' logical channels, where N' is a positive integer less than or equal to N. Any one logical channel can include one or more signal channels and a corresponding signal tracking loop. For example, the correlator of logical channel 1 is configured in a multi-channel mode. Logical channel 1 includes n signal channels (i.e., signal channel 1 to signal channel n) and a signal tracking loop. There is a code phase offset between the instantaneous correlators of any two of these n signal channels. The outputs of the correlators of these n signal channels constitute the output of the correlator of logical channel 1. For example, the correlator of logical channel N' is configured in a single-channel mode. Logical channel N' includes a signal channel N and a signal tracking loop. It can be understood that Figure 3 the shown logical channel N' is Figure 2 the shown signal channel N.

[0080] In one embodiment, in each logical channel, the signal tracking loop in the current logical channel can feed back the same adjustment information to the signal channels in the current logical channel. For example, in logical channel 1 in multi-channel mode, the signal tracking loop can feed back the same adjustment information to signal channels 1 to signal channels n. Therefore, each of the signal channels from signal channel 1 to signal channel n can adjust the pseudo-code phase and carrier phase / frequency offset according to this adjustment information. For example, in logical channel N' in single-channel mode, the signal tracking loop can feed back adjustment information to signal channel N. Therefore, signal channel N can adjust the pseudo-code phase and carrier phase / frequency offset according to this adjustment information.

[0081] In some examples, when the correlator of logical channel 1 is configured in multi-channel mode, logical channel 1 is used to track the signals of the same satellite. In the embodiments of the present application, the signals of the same satellite can be satellite signals with the same constellation, frequency point, and pseudo-code type. Specifically, in logical channel 1, n signal channels (i.e., signal channels 1 to signal channels n) are used to track the signals of the same satellite. The code tracking loop in the signal tracking loop is used to receive the first satellite signals captured by these n signal channels. The code tracking loop is also used to obtain the first code loop adjustment information (i.e., pseudo-code NCO adjustment amount) according to the output values of the correlators of these n signal channels, and feed back the first code loop adjustment information to these n signal channels. The code tracking loop is also used to output the observables of the first satellite signals to the positioning and resolution module 103, so that the positioning and resolution module can obtain the position information of the electronic device 100 according to the observables of the first satellite signals. For example, after the satellite signals captured by these n signal channels enter the code tracking loop of the signal tracking loop in logical channel 1, the output values of multiple correlators in these n signal channels can be transmitted to a code loop discriminator (not shown) for processing, and then obtained the pseudo-code NCO adjustment amount after processing by a loop filter (not shown). This pseudo-code NCO adjustment amount can be applied to these n signal channels again (such as adjusting the pseudo-code phase copied by the code tracking loop of logical channel 1), so that the instantaneous code copied by the code tracking loop of logical channel 1 is consistent with the received pseudo-code.

[0082] Moreover, the carrier tracking loop in the signal tracking loop receives the first satellite signals captured by these n signal channels, obtains the first carrier loop adjustment information (i.e., carrier NCO adjustment amount) according to the output values of the correlators of these n signal channels, and feeds back the first carrier loop adjustment information to these n signal channels. The carrier tracking loop is also used to output the observables of the first satellite signals to the positioning and resolution module 103, so that the positioning and resolution module 103 can obtain the position information of the electronic device 100 according to the observables of the first satellite signals.

[0083] In one embodiment, if it is necessary to implement multi-channel mode, for example, if it is necessary to Figure 2The n signal channels shown (i.e., signal channel 1 to signal channel n) are configured to Figure 3 For the logic channel 1 shown, the electronic device 100 may configure the tracking parameters of these n signal channels. Optionally, the tracking parameter includes the identifier of the satellite being tracked. The electronic device 100 may configure the tracking parameters of these n signal channels to all include the identifier of satellite 1, so that these n signal channels track the signals of the same satellite 1. Optionally, the tracking parameter includes the identifier of the signal tracking loop that receives the output value of the correlator. The electronic device 100 may configure the tracking parameters of these n signal channels to all include the identifier of the signal tracking loop in logic channel 1, so that these n signal channels input the output values of the correlator into the same signal tracking loop.

[0084] In one implementation, in each logic channel, the signal tracking loop in the current logic channel may feed back control information to the signal channels in the current logic channel to adjust the correlator configuration of this logic channel. For example, in logic channel 1 in multi-channel mode, the signal tracking loop may feed back control information to signal channels 1 to signal channel n. Therefore, each of the signal channels 1 to signal channel n may adjust its own tracking parameters according to the received control information. For example, it adjusts the tracked satellite and the signal tracking loop that receives the output value of the correlator. For example, in logic channel N′ in single-channel mode, the signal tracking loop may feed back control information to signal channel N, so that signal channel N adjusts its own tracking parameters according to this control information. Among them, the control information received by any two signal channels in logic channel 1 may be the same or different, and the control information received by the signal channels in logic channel 1 and logic channel N may be the same or different. For example, after adjusting the correlator configuration, n1 signal channels in logic channel 1 and signal channel N are divided into one logic channel, and n2 signal channels in logic channel 1 are divided into one logic channel, n1 + n2 = n. The control information of these n1 signal channels and signal channel N may be the same, so that these n1 signal channels and signal channel N are configured to track the signals of the same satellite and input the output values of the correlator into the same signal tracking loop. Similarly, the control information of these n2 signal channels may be the same.

[0085] Next, the configuration and adjustment methods of the correlator involved in the embodiments of the present application are introduced exemplarily. For the convenience of description, the following embodiments are described by taking the spacing of the correlator as x and the number of branches as m in single-channel mode, and the spacing of the correlator as x′ and the number of branches as m′ in multi-channel mode as examples.

[0086] Figure 4 An exemplary schematic diagram of a signal channel 200 in single-channel mode is shown. Figure 4 Taking the number of branches m = 9 as an example for description. Figure 4The horizontal axis shown is the chip axis.

[0087] As Figure 4 shown, the signal channel 200 includes 9 branches (i.e., 9 correlators): 1 immediate branch, 4 early branches, and 4 late branches. Among them, the spacing between any two adjacent branches is x chips. Therefore, Figure 4 the spacing of the correlators shown can be simply referred to as equal spacing x. The immediate branch is located in the middle of these 9 branches, with a chip of 0. The early branches have an early offset compared to the immediate branch. In order of the magnitude of the early offset, they can be: the early branch with a chip of -x, the early branch with a chip of -2x, the early branch with a chip of -3x, and the early branch with a chip of -4x. The late branches have a late offset compared to the immediate branch. In order of the magnitude of the late offset, they can be: the late branch with a chip of x, the late branch with a chip of 2x, the late branch with a chip of 3x, and the late branch with a chip of 4x.

[0088] It should be noted that the chips of the correlators / branches in the embodiments of the present application are not the actual code phases, but the relative chips / chip offsets obtained by comparing with the pseudo-code phase replicated by the current code tracking loop. For example, the chip of the immediate branch is 0, indicating that there is no offset between the code phase of this immediate branch and the pseudo-code phase replicated by the current code tracking loop. That is to say, the pseudo-code phase replicated by the current code tracking loop is the code phase of this immediate branch. For example, the chip of the early branch is -x, indicating that the code phase of this early branch has an early offset of -x compared to the pseudo-code phase replicated by the current code tracking loop.

[0089] In the embodiments of the present application, the Figure 4 correlator configuration in the single-channel mode shown can be adjusted to a multi-channel mode, for example, as Figures 5A - 5C shown in equal-spacing adjustment, or for another example, as Figures 6A - 6C shown in non-equal-spacing adjustment.

[0090] First, introduce the relevant definitions involved in the adjustment process of the correlator configuration. If the rational factor of a rational number s is t, then there exists an integer o such that o×t = s. The greatest common rational factor of a rational number s and a rational number r is denoted as GCD(s,r) = t, then there exist the smallest integers u and v such that u×t = s and v×t = r. For example,

[0091] Figure 5A An exemplary schematic diagram of adjusting the correlator configuration in an equal-spacing manner is shown.

[0092] Suppose it is necessary to adjust the mode of the correlator configuration from the single-channel mode (1 signal channel, equal spacing x, number of branches m = 9) to the multi-channel mode (multiple signal channels, equal spacing x′, number of branches m′). The adjustment process may include but is not limited to the following steps:

[0093] First, obtain the greatest common rational divisor GCD(x, x′) = k of x and x′. Then there exist integers a and b such that a×k = x and b×k = x ′ ;

[0094] Second, take 1 signal channel as the main channel and (a - 1) signal channels as the auxiliary channels. These a (at this time n = a) channels track the same satellite signal. The structure of each signal channel can be referred to the structure shown in Figure 4 . Among them, the main channel has no offset, and the d-th auxiliary channel among the (a - 1) auxiliary channels is offset by d×k chips, where d is a positive integer less than a. As shown in Figure 5A , auxiliary channel 1 is offset by 1×k compared to the main channel, auxiliary channel 2 (not shown) is offset by 2×k compared to the main channel, and they are offset in this pattern in sequence. Auxiliary channel (a - 1) is offset by (a - 1)×k compared to the main channel.

[0095] Third, grab the values of the required correlators according to the spacing x′, and up to channels with equal spacing x′ correlators can be formed, where represents rounding down.

[0096] Figure 5B and Figure 5C Exemplarily show some schematic diagrams of the correlator configuration in the multi-channel mode, Figure 5B and Figure 5C Take the adjustment to the multi-channel mode by the equal-spacing method shown in Figure 5A as an example for illustration. Figure 5B and Figure 5C Take n = a = 4, that is, there are 4 signal channels in the multi-channel mode as an example for illustration.

[0097] Figure 5B Take x′ = k as an example for illustration. As shown in Figure 5B , in the multi-channel mode, there may be m′ = 36 branches (i.e., 36-channel correlators), among which there are: 1 immediate branch (chip is 0), 16 early branches (chips are from -x′ to -16x′ in sequence), 19 late branches (chips are from x′ to 19x′ in sequence), and the spacing between any two adjacent branches is x′.

[0098] Figure 5C Take x′ = 3×k as an example for illustration. As shown in Figure 5CAs shown, in the multi-channel mode, there can be m' = 12 branches (i.e., 12 correlators), among which there are: 1 immediate branch (chip is 0), 5 early branches (chips are from -x' to -5x' in sequence), 6 late branches (chips are from x' to 6x' in sequence), and the spacing between any two adjacent branches is x'.

[0099] It can be seen that Figure 5B the spacing of the correlator configuration shown is smaller, that is, the granularity is finer. Figure 5C the spacing of the correlator configuration shown is larger, that is, the granularity is coarser.

[0100] Figure 6A An exemplary schematic diagram showing the adjustment of the correlator configuration in a non-uniform spacing manner is shown.

[0101] Assume that it is necessary to adjust the mode of the correlator configuration from the single-channel mode (1 signal channel, uniform spacing x, number of branches m = 9) to the multi-channel mode (n signal channels, spacing number of branches m'), these n signal channels track the same satellite signal, and the structure of each signal channel can be referred to Figure 4 the structure shown.

[0102] As Figure 6A shown, the numbers of these n signal channels are 0, 1, …, (n - 1) in sequence, where the channel numbered 0 is the main channel, and the channels numbered positive integers less than n (i.e., integers within the range of 1 to (n - 1)) are auxiliary channels. The offsets of these n signal channels relative to the main channel are expressed as follows:

[0103]

[0104] where i is an integer greater than or equal to 0 and less than n, Δ i is the offset of the signal channel numbered i (abbreviated as channel i) relative to the main channel (numbered 0), and Δ0 = 0.

[0105] As Figure 6A shown, the offset of channel 1 relative to the main channel is Δ1, the offset of channel 2 (not shown) relative to the main channel is Δ2, and so on, the offset of channel (n - 1) relative to the main channel is Δ n-1 , therefore, it can also be expressed as the following formula:

[0106]

[0107] Then, the values of the required correlators can be fetched according to the target spacing , that is, extract the required m' correlator values from the (n × m) correlator values. The expression is as follows:

[0108]

[0109] where x′ j is the chip spacing between the j-th correlator and the (j + 1)-th correlator. For example, the chip spacing between the 1st correlator and the 2nd correlator is x′1, the chip spacing between the 2nd correlator and the 3rd correlator is x′2, and so on. The chip spacing between the (m′ - 1)-th correlator and the m′-th correlator is x′ m′-1 , therefore, can also be expressed as the following formula:

[0110]

[0111] Figure 6B and Figure 6C Exemplarily shown are schematic diagrams of correlator configurations in some multi-channel modes, Figure 6B and Figure 6C Taking the example of adjusting to a multi-channel mode in the non-uniform spacing manner shown by Figure 6A for illustration. Figure 6B and Figure 6C Taking x = 1 / 2, m = 5, n = 2 as an example for illustration, that is, there are 2 signal channels in the multi-channel mode, and in each signal channel, the correlator spacing is 1 / 2 chip and the number of branches is 5.

[0112] Figure 6B Taking as an example for illustration. As shown in Figure 6B , in the multi-channel mode, there can be m′ = 10 branches (i.e., 10 correlators), among which there are: 1 immediate branch (chip is 0), 4 early branches (chips are successively from large to small: -3 / 8, -1 / 2, -7 / 8, -1), and 5 late branches (chips are successively from small to large: 1 / 8, 1 / 2, 5 / 8, 1, 9 / 8). The span (also called the range) of the current correlator is from -1 to 9 / 8. The current spacing (when j is 9) has the following expression:

[0113]

[0114] Figure 6C Taking as an example for illustration. As shown in Figure 6CAs shown, in the multi-channel mode, there can be m' = 10 branches (i.e., 10 correlators), among which there are: 1 immediate branch (chip is 0), 2 early branches (chips are -1 / 2 and -1), and 7 late branches (chips are in ascending order: 1 / 2, 3 / 4, 1, 5 / 4, 7 / 4, 9 / 4, 11 / 4). The span of the current correlator is from -1 to 11 / 4. The current spacing (where j is 9) is expressed as follows:

[0115]

[0116] It can be seen that Figure 6B the correlator configuration shown has a smaller span, which can also be called a smaller range of the correlator, Figure 6C and the correlator configuration shown has a larger span, which can also be called a larger range of the correlator.

[0117] In one implementation, when adjusting the correlator configuration, the position of the immediate branch can also be adjusted. For example, after adjusting to the multi-channel mode in the manner shown above Figure 5A or Figure 6A , then adjust the position of the immediate branch. Another example is to select n signal channels to track the same satellite signal (the auxiliary channels can be non-offset), and then adjust the position of the immediate branch.

[0118] For the convenience of explanation, the offset of each chip in the single-channel mode / multi-channel mode is expressed as follows:

[0119]

[0120] where c y is the offset value (such as early offset, late offset) of the y-th correlator (i.e., the y-th branch), in units of chips. The offset value of the immediate branch can be characterized as c p .

[0121] In some examples, the position of the immediate branch can be in the middle, then the offset value of the immediate branch can be understood as being symmetrically distributed. For example Figure 4 as shown, the offset of signal channel 200 where the immediate branch is in the middle, the offset value c p = c5 = 0, the branches with negative offsets are early branches (a total of 4), and the branches with positive offsets are late branches (a total of 4).

[0122] In some other examples, the position of the immediate branch may not be in the middle, that is, the offset value of the immediate branch can be understood as being asymmetrically distributed. For example Figure 7Exemplarily shows the signal channel 200 after adjusting the position of the immediate branch, Figure 7 The offset of the shown signal channel 200 wherein the immediate branch is not in the middle but at the rear side, with an offset value c p = c7 = 0. The branches with negative offsets are leading branches (a total of 6), and the branches with positive offsets are lagging branches (a total of 2).

[0123] It can be seen that compared with Figure 4 the correlator configuration shown, Figure 7 in the shown correlator configuration, more branches are arranged at the offset of the leading chip (i.e., the proportion of leading branches is larger), which can be understood as paying more attention to the energy of the leading part. This can effectively solve the problems existing in the multipath scenario: tracking the non-line-of-sight (NLOS) signal and being unable to switch to tracking the line-of-sight (LOS) signal. That is to say, even if the tracking loop accidentally tracks the NLOS signal, if a peak is identified on the leading branch, that is, if a LOS peak is identified in the leading part, the tracking loop can be switched to tracking the LOS signal, thus achieving a better anti-multipath effect.

[0124] Among them, the LOS signal is the signal that is not blocked and directly propagates from the satellite to the GNSS receiver / GNSS receiving module. However, in some environments (such as in a dense urban environment with buildings), the GNSS satellite signal is severely affected by the multipath effect, and the GNSS receiver / GNSS receiving module may receive the GNSS satellite signal affected by reflection, etc. Such a signal can be called an NLOS signal, and such a scenario can be called a multipath scenario. Therefore, in order to improve the accuracy of GNSS positioning, it is necessary to process NLOS signals and other anti-multipath interference methods.

[0125] In one embodiment, the multi-channel mode may include a first mode and a second mode, wherein the correlator span (also referred to as the correlator range) of the first mode is less than that of the second mode, and / or the correlator spacing of the first mode is less than that of the second mode. In some examples, the correlator span of the first mode is less than or equal to a preset span 1, the correlator span of the second mode is greater than a preset span 2, and / or the correlator spacing of the first mode is less than or equal to a preset spacing 1, the correlator spacing of the second mode is greater than a preset spacing 2, wherein the preset span 1 is less than or equal to the preset span 2, and the preset spacing 1 is less than or equal to the preset spacing 2. For example, the preset span 1 and the preset span 2 are equal and are the correlator span in the single-channel mode, and the preset spacing 1 and the preset spacing 2 are equal and are the correlator spacing in the single-channel mode. The correlator in the first mode can search for correlation peaks in a smaller range and / or with finer granularity, can identify more subtle deviations of the correlator energy peak (such as multipath error), and the correlator in the second mode can search for correlation peaks in a larger range and / or with coarser granularity and can search for LOS peaks in a larger range. These two modes can be applied in different scenarios to effectively improve the tracking resolution, and the tracking accuracy and robustness are higher. For example, in a harsh environment, the first mode is used when the multipath signal is close to the main signal, and the second mode is used when the multipath signal is far from the main signal.

[0126] In some examples, the first mode and the second mode can be achieved by adjusting Figure 5A the x' shown, and the correlator of the first mode is configured as Figure 5B the configuration shown, and the correlator of the second mode is configured as Figure 5C the configuration shown. In still some other examples, the first mode and the second mode can be achieved by adjusting Figure 6A the shown, and the correlator of the first mode is configured as Figure 6B the configuration shown, and the correlator of the second mode is configured as Figure 6C the configuration shown. The above examples are illustrated by taking the first mode and the second mode as being achieved by the same adjustment method. In specific implementations, the first mode and the second mode can also be achieved by different adjustment methods. For examples of the first mode and the second mode, see Figure 8A and Figure 8B .

[0127] Figure 8A and Figure 8B Exemplarily show schematic diagrams of the correlator configurations in some multi-channel modes. Figure 8A and Figure 8B Take x = 1 / 2, m = 9, n = 2 as an example for illustration, that is, the multi-channel mode includes 2 signal channels (i.e., the main channel and the auxiliary channel), and in each signal channel, the correlator spacing is 1 / 2 and the number of branches is 9.

[0128] Figure 8A Schematic diagram exemplarily showing a correlator configuration in a first mode.

[0129] Figure 8A Taking the adjustment in the equally spaced manner shown to obtain a multi-channel mode as an example for illustration, as Figure 5A shown, the overall code phase offset of the secondary channel relative to the primary channel is k = 1 / 4 chip. Currently, there are m' = 18 branches, among which there are: 1 immediate branch (chip is 0), 8 early branches (chips are from -2 to -1 / 4 in sequence), 9 late branches (chips are from 1 / 4 to 9 / 4 in sequence), and the spacing between any adjacent 2 branches is x' = 1 / 4. The span of the current correlator is from -2 to 9 / 4. Figure 8A shown, the overall code phase offset of the secondary channel relative to the primary channel is k = 1 / 4 chip. Currently, there are m' = 18 branches, among which there are: 1 immediate branch (chip is 0), 8 early branches (chips are from -2 to -1 / 4 in sequence), 9 late branches (chips are from 1 / 4 to 9 / 4 in sequence), and the spacing between any adjacent 2 branches is x' = 1 / 4. The span of the current correlator is from -2 to 9 / 4.

[0130] Figure 8B Schematic diagram exemplarily showing a correlator configuration in a second mode.

[0131] Figure 8B Taking the adjustment of the position of the immediate branch in the correlator configuration to obtain a multi-channel mode as an example for illustration, as Figure 8B shown, the overall code phase offset of the immediate branch of the primary channel is -2 chips, and the overall code phase offset of the immediate branch of the secondary channel is 9 / 4 chips. Currently, there are m' = 18 branches, among which there are: 1 immediate branch (chip is 0), 8 early branches (chips are from -4 to -1 / 2 in sequence), 9 late branches (chips are from 1 / 2 to 9 / 2 in sequence), and the spacing between any adjacent 2 branches is x' = 1 / 2. The span of the current correlator is from -4 to 9 / 2.

[0132] In Figure 8A and Figure 8B the correlator configurations shown, Figure 8A the correlator shown has a smaller span, Figure 8B the correlator shown has a larger span, Figure 8A the correlator shown has a smaller spacing, Figure 8B the correlator shown has a smaller spacing.

[0133] In one implementation, the multi-channel mode may include a third mode and a fourth mode. Among them, the proportion of early branches in the third mode is less than the proportion of early branches in the fourth mode. It can be understood that the fourth mode pays more attention to the energy of the early part.

[0134] In some examples, taking the correlator configuration of the above second mode as an example for illustration. The correlator configuration in the third mode can be referred to Figure 8B (at this time, the third mode is the second mode), and the correlator configuration in the fourth mode can be referred to Figure 8C . Figure 8BThe description has been provided above. As Figure 8C shown, the overall code phase of the prompt branch of the main channel is offset by -9 / 2 chips, the code phase of the prompt branch of the auxiliary channel is not offset, and currently there are m' = 18 branches, among which there are: 1 prompt branch (chip is 0), 13 early branches (chips range from -13 / 2 to -1 / 2 in sequence), 4 late branches (chips range from 1 / 2 to 2 in sequence), and the spacing between any two adjacent branches is x' = 1 / 2. The span of the current correlator is from -13 / 2 to 2. Figure 8B and Figure 8C In the correlator configurations shown, the number of branches m' is equal, the spacing x' is equal, and the absolute values of the correlator spans are also equal (both are 17 / 2), but the position of the prompt branch is different. Correspondingly, the number of early branches and late branches is also different. Figure 8B In the correlator configuration shown, the position of the prompt branch is in the middle, then the offset value c p = c9 = 0. Correspondingly, the proportion of early branches is smaller. Figure 8C In the correlator configuration shown, the position of the prompt branch is not in the middle, but in the relatively rear side. Figure 8C Taking the offset value c p = c 14 = 0 as an example for illustration. Correspondingly, the proportion of early branches is larger, that is, more attention is paid to the energy of the early part.

[0135] The above embodiments illustrate the first mode, the second mode (i.e., the third mode), and the fourth mode. In specific implementations, there can also be other multi-channel modes. For example, the third mode and the fourth mode can also be obtained based on the correlator configuration of the first mode. At this time, the third mode can be the first mode (the position of the prompt branch is in the middle). Compared with the position of the prompt branch in the first mode, the position of the prompt branch in the fourth mode is more rearward. The embodiments of the present application do not limit the specific types of multi-channel modes.

[0136] Next, the configuration method involved in the embodiments of the present application is introduced. This method can be applied to Figure 1 the electronic device 100 / DSP102 shown. This method can also be applied to Figure 2 the electronic device 100 / DSP102 shown. This method can be applied to Figure 3 the electronic device 100 / DSP102 shown. The electronic device 100 / DSP102 for executing the configuration method involved in the embodiments of the present application can include N signal channels and a code tracking loop.

[0137] Please refer to Figure 9 , Figure 9 which is a schematic flowchart of a configuration method provided by the embodiments of the present application. This method can include but is not limited to the following steps:

[0138] S101: The code tracking loop receives the first satellite signal captured by n signal channels.

[0139] In one implementation, the above N signal channels include the above n signal channels, and the signals of the same satellite can be tracked through these n signal channels, that is, the correlators of these n signal channels are configured in the above multi-channel mode.

[0140] In one implementation, the code tracking loop and the above n signal channels can form a logical channel. For example Figure 3 The shown logical channel 1 includes n signal channels and 1 signal tracking loop (including the code tracking loop). This logical channel can be used to track the signals of the same satellite.

[0141] S102: The code tracking loop obtains the first code loop adjustment information according to the output values of the correlators of the above n signal channels.

[0142] Based on the above description, it can be obtained that any one signal channel can include m correlators (that is, the number of branches is m), and the spacing is x. For a specific structural example, see Figure 4 The shown signal channel 200. When the correlators of the above n signal channels are configured in the multi-channel mode, the number of correlators (that is, the number of branches) is m′, and the spacing is x′ / x′ j (when equally spaced, it is x′, when not equally spaced, it is x′ j ). For a configuration example of these n signal channels in the multi-channel mode, see Figure 5B , Figure 5C , Figure 8A , Figure 8B , Figure 8C The shown equally spaced multi-channel mode, Figure 6B and Figure 6C The shown non-equally spaced multi-channel mode.

[0143] In one implementation, the output values of the correlators of the above n signal channels used by the code tracking loop can be: the output values of some or all of the n×m correlators of these n signal channels, that is, the output values of the above m′ correlators. In some examples, the correlators of these n signal channels are configured as Figure 8A The shown multi-channel mode. At this time, n = 2, the number of branches m′ = 18, and the code tracking loop can obtain the first code loop adjustment information according to Figure 8A The output values of the 18 correlators shown.

[0144] In one embodiment, the first code loop adjustment information may include: the estimated pseudocode phase of the first satellite signal (which may be simply referred to as the estimated peak), and the difference between the pseudocode phase of the current logical channel and the estimated peak (which may be simply referred to as the estimated difference). Among them, the code tracking loop may estimate the pseudocode phase of the first satellite signal according to the output values of the correlators of the above n signal channels, and optionally historical information. For an example of the historical information, refer to the description of the historical information in S205.

[0145] In one embodiment, the code tracking loop may use a preset discriminator, take the output values of the correlators of the above n signal channels as the input of the discriminator, and obtain the output of the discriminator (i.e., the first code loop adjustment information). For example, the preset discriminator is a double-difference discriminator.

[0146] S103: The code tracking loop sends the first code loop adjustment information to the above n signal channels.

[0147] In one embodiment, the first code loop adjustment information is the pseudocode NCO adjustment amount, and the pseudocode NCO adjustment amount is used to adjust the pseudocode phase of the current logical channel (including the above n signal channels) (for example, including adjusting the phase of the pseudocode on the prompt branch). For example, take the estimated difference in the first code loop adjustment information as the adjustment amount of the pseudocode phase of the current logical channel, so as to make the phase of the pseudocode on the prompt branch consistent with the pseudocode phase of the received first satellite signal. In some examples, each of the above n signal channels may use the same first code loop adjustment information, that is, each signal channel may adjust the pseudocode phase of its own signal channel according to the first code loop adjustment information.

[0148] In one embodiment, the electronic device further includes a carrier tracking loop. The carrier tracking loop may also receive the first satellite signals captured by the n signal channels, obtain the first carrier loop adjustment information according to the output values of the correlators of the above n signal channels, and send the first carrier loop adjustment information to the above n signal channels. Among them, the first carrier loop adjustment information is the carrier NCO adjustment amount, and the carrier NCO adjustment amount is used to adjust the carrier phase / frequency offset of the current logical channel. In some examples, each of the above n signal channels may use the same first carrier loop adjustment information, that is, each signal channel may adjust the carrier phase / frequency offset of its own signal channel according to the first carrier loop adjustment information.

[0149] S104: The code tracking loop outputs the observables of the first satellite signal to the positioning and solution module.

[0150] In one embodiment, the code tracking loop may obtain the observables of the first satellite signal according to the output values of the correlators of the above-mentioned n signal channels. The observables of the first satellite signal are used to obtain the position information of the electronic device 100 / DSP102 according to the positioning and calculation module.

[0151] It can be understood that the code tracking loop is a closed-loop feedback. Therefore, S102 - S103 can be executed in multiple cycles, but the first code loop adjustment information obtained each time S102 - S103 is executed may be different. S104 can be understood as a branch operation derived from the loop of S102 - S103, and the first code loop adjustment information used by S104 may be the first code loop adjustment information obtained in one execution during the above-mentioned multiple cycles. Exemplarily, Figure 9 The method shown is applied to Figure 3 the electronic device 100 / DSP102 shown, Figure 9 the above-mentioned n signal channels belong to logical channel 1, Figure 9 the code tracking loop belongs to the signal tracking loop in logical channel 1, Figure 9 the first code loop adjustment information shown corresponds to the adjustment information sent by the signal tracking loop in logical channel 1 to the n signal channels.

[0152] In Figure 9 the method shown, the signal tracking loop in software form can track the signals of the same satellite through n signal channels and comprehensively use the output values of the correlators of these n signal channels, rather than only using 1 signal channel to track the signal of 1 satellite, so as to achieve the effect of adjusting the configuration of the correlator. For example, for different satellites, n can be different, so as to achieve different correlator configurations for different satellites to achieve better tracking effects. It can be understood that the output results of the original correlators are spliced into the required data to achieve the effect of equivalent expansion. Therefore, the adjustment of the correlator configuration can be achieved without modifying the hardware configuration of the correlator (such as Figure 4 the correlator spacing and the number of branches of the signal channel 200 shown), making the tracking accuracy of satellite signals higher, more adaptable to changes in different scenarios, the adjustment method more flexible, and not increasing the performance requirements, overall power consumption, and cost of the processor, etc., with high availability.

[0153] It can be understood that currently, the hardware configuration of the electronic device 100 is relatively high, and the total number N of signal channels is relatively large. If 1 signal channel is used to track the signal of 1 satellite, there will be many idle channels. Therefore, in the embodiments of the present application, tracking the signals of the same satellite through n signal channels can not only achieve the adjustment of the correlator configuration (improving the tracking accuracy) without modifying the hardware configuration of the correlator, but also effectively utilize the idle channels, and the availability of the product is higher.

[0154] In one embodiment, the electronic device 100 / DSP 102 can also determine in real time whether to adjust the configuration mode of the correlator during the tracking process of satellite signals. The specific implementation process can be referred to as follows Figure 10 .

[0155] Please refer to Figure 10 , Figure 10 , which is a schematic flowchart of another configuration method provided by an embodiment of the present application. The method may include but is not limited to the following steps:

[0156] S201: The code tracking loop receives the second satellite signal captured by the first signal channel.

[0157] In one embodiment, the above N signal channels include the first signal channel, and the first signal channel may include one or more signal channels. When the correlator of the first signal channel is configured in the above single-channel mode, the first signal channel includes only 1 signal channel. For specific examples, please refer to Figure 2 any one of the signal channels shown, or Figure 3 the logical channel N′ (including signal channel N) shown. When the correlator of the first signal channel is configured in the above multi-channel mode, the first signal channel includes multiple signal channels. For specific examples, please refer to Figure 3 the logical channel 1 (including signal channels 1 to signal channels n) shown. In some examples, the correlator configuration of the first signal channel is defaulted to the single-channel mode.

[0158] S202: The code tracking loop obtains the second code loop adjustment information according to the output value of the correlator of the first signal channel.

[0159] In one embodiment, in combination with the above descriptions of the single-channel mode and the multi-channel mode, when the correlator of the first signal channel is configured in the above single-channel mode, the code tracking loop can obtain the second code loop adjustment information according to the output values of the m correlators of the first signal channel; when the correlator of the first signal channel is configured in the above multi-channel mode, the code tracking loop can obtain the second code loop adjustment information according to the output values of the m′ correlators of the first signal channel. Other descriptions and Figure 9 the description of S102 in Figure 9 are similar. For details, please refer to

[0160] S203: The code tracking loop sends the second code loop adjustment information to the first signal channel.

[0161] The description of S203 and Figure 9 the description of S103 in Figure 9 are similar. The difference is that the first signal channel may include multiple signal channels or one signal channel. For details, please refer to

[0162] S204: The code tracking loop outputs the observables of the second satellite signal to the positioning and calculation module.

[0163] In one implementation, the code tracking loop can obtain the observables of the second satellite signal according to the output value of the correlator of the first signal channel. The observables of the second satellite signal are used to obtain the position information of the electronic device 100 / DSP102 according to the positioning and calculation module.

[0164] It can be understood that the code tracking loop is a closed-loop feedback. Therefore, S202 - S203 can be executed in multiple cycles, but the second code loop adjustment information obtained each time S202 - S203 is executed can be different. S204 can be understood as a branch operation led out from the loop of S202 - S203, and the second code loop adjustment information used by S204 can be the second code loop adjustment information obtained in one execution of the above multiple cycles.

[0165] Among them, when the correlator of the first signal channel is configured in a multi-channel mode, S201 - S204 and Figure 9 S101 - S104 are the same.

[0166] S205: The code tracking loop determines whether to adjust the correlator configuration of the first signal channel.

[0167] In one implementation, when the code tracking loop determines to adjust the correlator configuration of the first signal channel, S206 can be executed. When the code tracking loop determines not to adjust the correlator configuration of the first signal channel, it can continue to capture and track the second satellite signal through the unadjusted first signal channel, for example, execute S201 - S204 again.

[0168] In one implementation, the correlator configuration of the first signal channel can include but is not limited to at least one of the following: the number of signal channels in the first signal channel (since the first signal channel is used to track the second satellite signal, it can also be referred to as the number of signal channels used to track the second satellite signal), the spacing of the correlators, the number of correlators, the position of the prompt correlator, the span of the correlators, or the offset of the auxiliary channel relative to the main channel.

[0169] In one embodiment, the code tracking loop can determine whether to adjust the correlator configuration of the first signal channel according to a first parameter, which may include but is not limited to at least one of the following: the number of currently idle channels, the modification time interval, the satellite constellation, the satellite frequency point, the pseudorange residual, the pseudo-code NCO adjustment amount, or the environmental information of the environment where the electronic device 100 is located, etc. Among them, the currently idle channel is a signal channel that is not currently in use, for example, a signal channel not used for capturing and tracking satellite signals. The modification time interval is the epoch distance from the most recent adjustment of the correlator configuration to the current judgment, that is, the difference between the time of the most recent adjustment of the correlator configuration and the current time. The pseudorange residual is obtained, for example, by the position velocity time (PVT) module in the electronic device 100 after the positioning solution module performs positioning solution. The pseudorange residual can be used to judge the code loop tracking effect. The pseudo-code NCO adjustment amount is, for example, the second code loop adjustment information obtained in S202. The environmental information can characterize the type of the environment where the current electronic device 100 / DSP102 is located, for example, an open environment or a harsh environment. The environmental information is obtained, for example, but not limited to, at least one of the following: historical information, the carrier-to-noise ratio of the observables of the second satellite signal, the pseudorange residual, the dilution of precision (DOP). The historical information includes, for example, but is not limited to at least one of the following: the carrier-to-noise ratio of the observables of the satellite signal in the previous epoch (the previous second), the pseudorange residual in the previous epoch, or the historical average measurement information (examples of measurement information can refer to the above-mentioned parameters such as the pseudorange residual). The specific judgment example is as follows:

[0170] Example 1, the code tracking loop can make a judgment according to the number of currently idle channels. In one case, assuming that the correlator configuration of the first signal channel is in the single-channel mode, if the number of currently idle channels is less than or equal to a preset threshold 1, the correlator configuration of the first signal channel may not be adjusted to save channel resources. Optionally, if the number of currently idle channels is greater than a preset threshold 2, the correlator configuration of the first signal channel can be adjusted to the multi-channel mode to effectively utilize the idle channel resources. In another case, assuming that the correlator configuration of the first signal channel is in the multi-channel mode, if the number of currently idle channels is less than or equal to a preset threshold 3, the correlator configuration of the first signal channel can be adjusted to the single-channel mode, or the number of signal channels included in the first signal channel (i.e., the above n) can be reduced (n is still greater than 1, that is, still in the multi-channel mode) to save channel resources. Optionally, if the number of currently idle channels is greater than a preset threshold 4, the correlator configuration of the first signal channel may not be adjusted, or the number of signal channels included in the first signal channel (i.e., the above n) can be increased to effectively utilize the idle channel resources. The preset threshold 2 is greater than or equal to the preset threshold 1, and the preset threshold 4 is greater than or equal to the preset threshold 3.

[0171] Example 2: The code tracking loop can make a judgment based on the modification time interval. If the modification time interval is less than or equal to the preset threshold 5, the correlator configuration of the first signal channel can be not adjusted, which can avoid frequent adjustment of the code loop correlator and increase stability.

[0172] Example 3: The code tracking loop can make a judgment based on the satellite constellation. Assume that the visibility of the satellite signals of constellation 1 is generally good in a certain area, while that of constellation 2 is relatively poor. When the second satellite signal changes from the satellite signal of constellation 1 to that of constellation 2, it can be switched from the multi-channel mode to the single-channel mode as shown above for tracking. When the second satellite signal changes from the satellite signal of constellation 2 to that of constellation 1, the multi-channel mode can be used for tracking. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to perform more detailed tracking on the high-quality signal. Figure 4 Example 4: The code tracking loop can make a judgment based on the satellite frequency point. In the pseudo-codes of satellite signals with different frequency points, the length of a single chip may be different. For example, the chip length of the global positioning system (GPS) L1 signal is about 294 meters (m), and the chip length of the GPS L5 signal is about 29.4 m. The L5 signal with a shorter chip length has better anti-multipath effect. When the second satellite signal changes from the L1 signal to the L5 signal, the number of branches of the first signal channel can be increased. For example, the correlator configuration of the first signal channel can be adjusted to the second mode in the above multi-channel mode to search for the correlation peak in a larger range. Or, when the second satellite signal changes from the L1 signal to the L5 signal, the correlator spacing of the first signal channel can also be reduced. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to identify more subtle correlator energy peak deviations. It can be understood that when the second satellite signal is the L5 signal, the first mode or the second mode can be selected according to the current environment. Specific examples can be seen in Example 7 below.

[0173] Example 5: The code tracking loop can make a judgment based on the satellite frequency point. In the pseudo-codes of satellite signals with different frequency points, the length of a single chip may be different. For example, the chip length of the global positioning system (GPS) L1 signal is about 294 meters (m), and the chip length of the GPS L5 signal is about 29.4 m. The L5 signal with a shorter chip length has better anti-multipath effect. When the second satellite signal changes from the L1 signal to the L5 signal, the number of branches of the first signal channel can be increased. For example, the correlator configuration of the first signal channel can be adjusted to the second mode in the above multi-channel mode to search for the correlation peak in a larger range. Or, when the second satellite signal changes from the L1 signal to the L5 signal, the correlator spacing of the first signal channel can also be reduced. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to identify more subtle correlator energy peak deviations. It can be understood that when the second satellite signal is the L5 signal, the first mode or the second mode can be selected according to the current environment. Specific examples can be seen in Example 7 below.

[0174] Example 5: The code tracking loop can make a judgment based on the pseudorange residual. When the pseudorange residual is greater than or equal to the preset threshold 6, it indicates that the code loop tracking deviation is relatively large. The correlator span and / or correlator spacing of the first signal channel can be increased. For example, the correlator configuration of the first signal channel can be adjusted to the second mode in the above multi-channel mode to search for the correlation peak at a coarser granularity and / or in a larger range. When the pseudorange residual is less than the preset threshold 7, it indicates that the code loop tracking deviation is relatively small. The correlator spacing and / or correlator span of the first signal channel can be decreased. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to search for the correlation peak at a finer granularity and / or in a smaller range. The preset threshold 6 is greater than or equal to the preset threshold 7.

[0175] Example 6: The code tracking loop can make a judgment based on the PN code NCO adjustment amount. When the PN code NCO adjustment amount is greater than or equal to the preset threshold 8 within the preset time period 1, the correlator span of the first signal channel can be increased. For example, the correlator configuration of the first signal channel can be adjusted to the second mode in the above multi-channel mode to search for the correlation peak in a larger range. When the PN code NCO adjustment amount is less than the preset threshold 9 within the preset time period 2, the correlator spacing of the first signal channel can be decreased. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to search for the correlation peak at a finer granularity. The preset threshold 8 is greater than or equal to the preset threshold 9.

[0176] Example 7: The code tracking loop can make a judgment based on the environmental information. When the environmental information indicates that the current is an open scene (the code loop tracking effect is generally better), the correlator configuration of the first signal channel can be adjusted to the single-channel mode, or the number of signal channels included in the first signal channel (i.e., the above n) can be reduced (n is still greater than 1, that is, the multi-channel mode is still maintained) to save channel resources. When the environmental information indicates that the current is a harsh scene (the code loop tracking effect is generally poor), the distance between the multipath signal and the main signal is judged. If the distance is greater than or equal to the preset threshold 10, the correlator span of the first signal channel can be increased. For example, the correlator configuration of the first signal channel can be adjusted to the second mode in the above multi-channel mode to search for the correlation peak in a larger range. If the distance is less than the preset threshold 11, the correlator spacing of the first signal channel can be decreased. For example, the correlator configuration of the first signal channel can be adjusted to the first mode in the above multi-channel mode to search for the correlation peak at a finer granularity. The preset threshold 10 is greater than or equal to the preset threshold 11.

[0177] S206: The code tracking loop sends the first control information to the first signal channel so that the first signal channel adjusts the correlator configuration according to the first control information.

[0178] In one embodiment, the first control information indicates an adjustment to the correlator configuration of the first signal channel. For example, the first control information may include information on the adjusted correlator configuration. After the correlator configuration of the first signal channel is adjusted, the adjusted first signal channel can capture and track the second satellite signal by adjusting the correlator configuration, for example, by performing S201 - S204 again (where the first signal channel is the first signal channel with the adjusted correlator configuration). In some examples, the first control information may include the tracking parameters of the first signal channel to be adjusted / adjusted. For example, the tracking parameters include the identification of the satellite being tracked, the identification of the signal tracking loop that receives the correlator output value, etc. In some examples, when the first signal channel includes multiple signal channels, the first control information may include the control information for these multiple signal channels, and each signal channel in the first signal channel can adjust its own tracking parameters according to the corresponding control information, such as adjusting the tracked satellite and the signal tracking loop that receives the correlator output value, so as to realize the adjustment of the correlator configuration of the first signal channel. For specific examples, see the above Figure 3 description. Optionally, multiple signal channels in the first signal channel after adjusting the correlator configuration can use the same control information, so that these multiple signal channels can track the information of the same satellite and input the correlator output values into the same signal tracking loop.

[0179] In one embodiment, when the first signal channel is in single-channel mode and the first control information indicates that the correlator configuration of the first signal channel is in multi-channel mode, the adjustment method of the correlator configuration of the first signal channel may include, but is not limited to: the Figure 5A equidistant method shown above or the Figure 6A non-equidistant method shown above. Optionally, it may also include adjusting the position of the instant branch shown above.

[0180] Exemplarily, Figure 10 the method shown above is applied to Figure 2 / Figure 3 the electronic device 100 / DSP102 shown above. When the correlator configuration of the first signal channel is in single-channel mode, the first signal channel is Figure 2 any one of the signal channels shown above (assumed to be signal channel 1), and the code tracking loop belongs to Figure 2 the signal tracking loop 1 shown above. The second code loop adjustment information corresponds to Figure 2 the adjustment information 1 shown above. When the correlator configuration of the first signal channel is in multi-channel mode, the first signal channel belongs to Figure 3 the logical channel 1 shown above, the code tracking loop belongs to Figure 3 the signal tracking loop in the logical channel 1 shown above, and the second code loop adjustment information corresponds to Figure 3 the adjustment information sent by the signal tracking loop in the logical channel 1 to n signal channels shown above.

[0181] In one embodiment, the electronic device 100 / DSP 102 may also adaptively switch the multi-channel mode of the signal channel during the tracking process of the satellite signal. The specific implementation process can be referred to as follows Figure 11 .

[0182] Please refer to Figure 11 , Figure 11 which is a schematic flowchart of another configuration method provided by an embodiment of the present application. The method may include but is not limited to the following steps:

[0183] S301: The code tracking loop determines whether the first condition is satisfied.

[0184] In one embodiment, after the electronic device 100 / DSP 102 is initialized, the code tracking loop determines whether the first condition is satisfied to determine the correlator configuration of the second signal channel, which can be understood as determining the initial correlator configuration of the second signal channel. The N signal channels of the electronic device 100 / DSP 102 include the second signal channel.

[0185] In one embodiment, when the code tracking loop determines that the first condition is satisfied, it may send control information indicating that the correlator configuration is set to the first mode to the second signal channel. For example, the second signal channel executes S302. When the code tracking loop determines that the first condition is not satisfied, it may send control information indicating that the correlator configuration is set to the second mode to the second signal channel. For example, the second signal channel executes S303.

[0186] In one embodiment, the judgment idea of S301 is similar to that of Figure 10 S205, and the first condition may be related to the first parameter in S205 (such as the current number of idle channels, satellite constellation, satellite frequency point, or environmental information, etc.). In some examples, the first condition is that the current number of idle channels is greater than or equal to the preset threshold 12. In some other examples, the first condition is that the constellation of the current third satellite signal is constellation 1. In some other examples, the first condition is that the environmental information indicates that the current is in a severe scenario.

[0187] S302: The correlator configuration of the second signal channel is set to the first mode in the multi-channel mode.

[0188] In one embodiment, when the first condition is satisfied, the second signal channel may set the correlator configuration to the first mode in the multi-channel mode according to the control information indicating that the correlator configuration is set to the first mode sent by the code tracking loop.

[0189] S303: The correlator configuration of the second signal channel is set to the second mode in the multi-channel mode.

[0190] In one embodiment, when the first condition is not satisfied, the second signal channel can set the correlator configuration to the second mode according to the control information indicating the correlator configuration sent by the code tracking loop, and set the correlator configuration to the second mode in the multi-channel mode.

[0191] For example, the correlator configurations of the first mode and the second mode can be referred to respectively in Figure 8A and Figure 8B . For another example, the correlator configurations of the first mode and the second mode can be referred to respectively in Figure 8A and Figure 8C .

[0192] S304: The code tracking loop receives the third satellite signal captured by the second signal channel and outputs the observables of the third satellite signal to the positioning and solution module.

[0193] S304 is similar to Figure 9 S101 - S104 of Figure 9 and the description of S101 - S104 of

[0194] S305: The code tracking loop determines whether to adjust the multi-channel mode of the second signal channel.

[0195] In one embodiment, when the code tracking loop determines to adjust the multi-channel mode of the second signal channel, S306 can be executed. When the code tracking loop determines not to adjust the multi-channel mode of the second signal channel, it can continue to capture and track the third satellite signal through the unadjusted second signal channel, for example, execute S304 again.

[0196] In one embodiment, the judgment idea of S305 is similar to Figure 10 the judgment idea of S205 of

[0197] In one embodiment, threshold A is related to the length L1 corresponding to the maximum offset chip phase of the current correlator. For example, threshold A = L1. Exemplarily, the correlator of the second signal channel is configured as Figure 8A the first mode shown, Figure 8A the maximum offset chip phase of the correlator shown is: the chip of the leftmost correlator (i.e., -2 chips), or the chip of the rightmost correlator (i.e., 9 / 4 chips). The smaller -2 chips can be taken as the maximum offset chip phase. Assuming threshold A = L1, then threshold A is the length of 2 chips. In one embodiment, threshold B is related to the length L2 corresponding to the minimum offset chip phase of the current correlator. For example, threshold B = 2×L1. Exemplarily, the correlator of the second signal channel is configured as Figure 8B the second mode shown, Figure 8B the minimum offset chip phase of the correlator shown is the correlator spacing, i.e., 1 / 2 chip. Assuming threshold B = 2×L1, then threshold B is the length of 1 chip. In some examples, assuming threshold A is the length of 2 chips and threshold B is the length of 1 chip, since the chip length l chip of the GPS L5 signal = 29.4m, then threshold A = 2×l chip = 58.8m, and threshold B = l chip = 29.4m.

[0198] S306: The code tracking loop sends second control information to the second signal channel so that the second signal channel adjusts the multi-channel mode according to the second control information.

[0199] In one embodiment, the second control information instructs to adjust the multi-channel mode of the second signal channel. For example, the second control information may include information on the adjusted multi-channel mode. After the multi-channel mode of the second signal channel is adjusted, the third satellite signal can be captured and tracked through the second signal channel with the adjusted multi-channel mode. For example, S304 is executed again (where the second signal channel is the second signal channel with the adjusted multi-channel mode). The description of the second control information is Figure 10 similar to the description of the first control information in S206 and will not be elaborated here.

[0200] Figure 11 Taking the determination of the initial correlator configuration of the second signal channel through S301 as an example for illustration, in another embodiment, the initial correlator configuration of the second signal channel can also be defaulted to the first mode or the second mode, that is, S301 is not executed and S302 or S303 is directly executed.

[0201] Figure 11 Taking the adaptive switching between the first mode and the second mode in the multi-channel mode as an example for illustration, in specific implementation, any two multi-channel modes can be adaptively switched. For example, adaptive switchingFigure 8B the third mode shown and Figure 8C the fourth mode shown, the specific process and Figure 11 the process shown are similar. The difference is that the specific judgment methods of S301 and S305 are different. Without limitation, it is also possible to adaptively switch between three or more multi-channel modes. For example, adaptively switch between Figure 8A the first mode shown, Figure 8B the second mode (i.e., the third mode) shown and Figure 8C the fourth mode shown. The embodiments of the present application do not limit the types and quantities of the adaptively switched multi-channel modes.

[0202] In one embodiment, the signal channels in the electronic device 100 / DSP 102 can also be adaptively switched between a single-channel mode and multi-channel modes, and between multiple multi-channel modes during the tracking process of satellite signals. The specific implementation process can be referred to below Figure 12 .

[0203] Please refer to Figure 12 , Figure 12 which is a schematic flowchart of another configuration method provided by the embodiments of the present application. The method may include but is not limited to the following steps:

[0204] S401: The code tracking loop determines whether the second condition is satisfied.

[0205] In one embodiment, after the electronic device 100 / DSP 102 is initialized, the code tracking loop determines whether the second condition is satisfied to determine the correlator configuration of the third signal channel, which can be understood as determining the initial correlator configuration of the third signal channel. The N signal channels of the electronic device 100 / DSP 102 include the third signal channel.

[0206] In one embodiment, when the code tracking loop determines that the second condition is not satisfied, the correlator configuration of the third signal channel can be the control information of the single-channel mode, such as S402. When the code tracking loop determines that the second condition is satisfied, it can send control information indicating that the correlator configuration is set to the multi-channel mode to the third signal channel, such as the third signal channel executes S403.

[0207] In one embodiment, the judgment idea of S401 and Figure 10The determination idea of S205 is similar. The second condition can be related to the first parameter in S205 (such as the number of current idle channels, satellite constellation, satellite frequency band, or environmental information, etc.). In some examples, the second condition is that the frequency band of the current fourth satellite signal is L5, and the number of current idle channels is greater than or equal to the total number of channels N multiplied by a preset ratio (the preset ratio is greater than 0 and less than 1, for example, 0.35). In other examples, the second condition is that the environmental information indicates that the current is in a harsh scenario.

[0208] S402: The correlator configuration of the third signal channel is set to the single-channel mode.

[0209] In one implementation, when the second condition is not met, the correlator configuration of the third signal channel can use the single-channel mode. In some examples, after the electronic device 100 / DSP 102 is initialized, when the code tracking loop determines that the second condition is not met, it does not send control information indicating adjustment / setting of the correlator configuration to the third signal channel, and the third signal channel can default to the single-channel mode.

[0210] S403: The correlator configuration of the third signal channel is set to the multi-channel mode.

[0211] In one implementation, when the second condition is met, the third signal channel can set the correlator configuration to the multi-channel mode according to the control information indicating the correlator configuration setting to the multi-channel mode sent by the code tracking loop.

[0212] For example, the correlator configuration of the single-channel mode can be referred to Figure 4 , and the correlator configuration of the multi-channel mode can be referred to Figure 5B , Figure 5C , Figure 6B , Figure 6C , Figure 8A , Figure 8B or Figure 8C .

[0213] S404: The code tracking loop receives the fourth satellite signal captured by the third signal channel in the single-channel mode, and outputs the observables of the fourth satellite signal to the positioning and solution module.

[0214] In one implementation, the third signal channel in the single-channel mode can be used to capture and track the fourth satellite signal, that is, execute S404. S404 is similar to the case where the correlator configuration of the first signal channel in S201 - S204 Figure 10 is in the single-channel mode. For details, refer to the description of S201 - S204 in Figure 10 .

[0215] In one embodiment, after S404, the code tracking loop can determine again whether the second condition is satisfied (i.e., execute S401) to determine whether the correlator configuration of the third signal channel remains in the single-channel mode or is adjusted to the multi-channel mode.

[0216] S405: The code tracking loop receives the fourth satellite signal captured by the third signal channel in the multi-channel mode and outputs the observables of the fourth satellite signal to the positioning and solution module.

[0217] S405 and Figure 10 The case where the correlator configuration of the first signal channel in S201 - S204 is in the multi-channel mode is similar. For details, refer to Figure 10 the description of S201 - S204.

[0218] In one embodiment, after S405, the code tracking loop can execute S406 to determine whether the correlator configuration of the third signal channel is adjusted to the single-channel mode or remains in the multi-channel mode.

[0219] S406: The code tracking loop determines whether to adjust the correlator configuration of the third signal channel to the single-channel mode.

[0220] In one embodiment, when the code tracking loop determines to adjust the correlator configuration of the third signal channel to the single-channel mode, it can send control information indicating that the correlator configuration is set to the single-channel mode to the third signal channel, so that the third signal channel sets the correlator configuration to the single-channel mode according to this control information, such as S402. When the code tracking loop determines that the correlator configuration of the third signal channel remains in the multi-channel mode, it can determine whether to adjust the type of the multi-channel mode of the third signal channel, that is, execute S407.

[0221] In one embodiment, the code tracking loop can determine whether to adjust the correlator configuration of the third signal channel to the single-channel mode according to the current quality of the fourth satellite signal. When the quality is higher than or equal to the first quality threshold (which can be understood as good quality), the correlator configuration of the third signal channel is adjusted to the single-channel mode. When the quality is lower than the second quality threshold (which can be understood as poor quality), it is determined that the correlator configuration of the third signal channel remains in the multi-channel mode. The first quality threshold is greater than or equal to the second quality threshold.

[0222] In some examples, the elevation angle of a satellite signal can characterize the quality of the satellite signal. When the elevation angle of the current fourth satellite signal is greater than or equal to a preset elevation angle threshold, it indicates that the satellite to which the fourth satellite signal belongs is a high-elevation satellite (generally there is no multipath interference), and it can be considered that the quality is higher than or equal to the first quality threshold. Then the code tracking loop can determine to adjust the correlator configuration of the third signal channel to the single-channel mode to release channel resources. When the elevation angle of the current fourth satellite signal is less than the preset elevation angle threshold, it can be considered that the quality is lower than the second quality threshold. Then the code tracking loop can determine that the correlator configuration of the third signal channel remains in the multi-channel mode. In some other examples, when the correlator configuration of the third signal channel is in the first mode of the multi-channel mode, the code tracking loop can determine whether the elevation angle of the current fourth satellite signal is greater than or equal to threshold C. If it is greater than or equal to threshold C, it is determined to adjust the correlator configuration of the third signal channel to the single-channel mode. If it is less than threshold C, it is determined that the correlator configuration of the third signal channel remains in the multi-channel mode. When the correlator configuration of the third signal channel is in the second mode of the multi-channel mode, the tracking loop can determine whether the elevation angle of the current fourth satellite signal is greater than or equal to threshold D. If it is greater than or equal to threshold D, it is determined to adjust the correlator configuration of the third signal channel to the single-channel mode. If it is less than threshold D, it is determined that the correlator configuration of the third signal channel remains in the multi-channel mode. Optionally, threshold C is greater than threshold D. For example, threshold C is 60 degrees and threshold D is 55 degrees. Without being limited to the above examples, in some other examples, it is also possible to determine whether to adjust the correlator configuration of the third signal channel to the single-channel mode according to other parameters that can characterize the quality. For example, when parameter 1 is less than or equal to the preset threshold, it indicates that the quality is higher than or equal to the first quality threshold. When parameter 1 is greater than the preset threshold, it indicates that the quality is lower than the second quality threshold. The embodiments of the present application do not limit the specific type of parameters.

[0223] S407: The code tracking loop determines whether to adjust the multi-channel mode of the third signal channel.

[0224] In one implementation, when the code tracking loop determines to adjust the multi-channel mode of the third signal channel, S408 can be executed. When the code tracking loop determines not to adjust the multi-channel mode of the third signal channel, it can continue to capture and track the fourth satellite signal through the unadjusted third signal channel, for example, execute S405 again. The judgment method of S407 is similar to that of Figure 11 S305 of Figure 11 For the description of S305 of

[0225] S408: The code tracking loop sends the third control information to the third signal channel so that the third signal channel adjusts the multi-channel mode according to the third control information.

[0226] In one embodiment, the third control information instructs to adjust the multi-channel mode of the third signal channel. For example, the third control information may include information on the adjusted multi-channel mode. After the multi-channel mode of the third signal channel is adjusted, the fourth satellite signal can be captured and tracked through the third signal channel with the adjusted multi-channel mode. For example, S405 is executed again (where the third signal channel therein is the third signal channel with the adjusted multi-channel mode). The description of the third control information is similar to that of the first control information in Figure 10 S206 and will not be elaborated here.

[0227] Figure 12 Taking the determination of the initial correlator configuration of the third signal channel through S401 as an example for illustration, in another embodiment, the initial correlator configuration of the third signal channel may also default to the single-channel mode or the multi-channel mode, that is, after the electronic device 100 / DSP 102 is initialized, S401 is not executed, but S402 or S403 is directly executed.

[0228] Figure 13 An exemplary schematic diagram of the state transition of the correlator configuration of a fourth signal channel is shown.

[0229] As Figure 13 shown, when the correlator configuration of the fourth signal channel is in the single-channel mode, if condition 1 is satisfied, it can be switched to the multi-channel mode. When the correlator configuration of the fourth signal channel is in the multi-channel mode, if condition 2 is satisfied, it can be switched to the single-channel mode. In some examples, the fourth signal channel is the Figure 12 third signal channel in

[0230] As Figure 13 shown, when the correlator configuration of the fourth signal channel is in the first mode of the multi-channel mode, if condition 3 is satisfied, it can be switched to the second mode of the multi-channel mode. When the correlator configuration of the fourth signal channel is in the second mode of the multi-channel mode, if condition 4 is satisfied, it can be switched to the first mode of the multi-channel mode. In some examples, the fourth signal channel is the Figure 11 second signal channel in Figure 12 / the third signal channel in

[0231] In Figures 10 - 12In the method shown, the electronic device 100 / DSP 102 can adaptively adjust the correlator configuration of the signal channel during the tracking process of satellite signals. For example, it can dynamically adjust the correlator configuration under different satellites, different environments, and different time periods, further adapting to the changes in different scenarios and improving the tracking accuracy and robustness of satellite signals. Moreover, the multi-channel mode is only used when specific conditions are met. For example Figure 12 in S406 of Figure 12 , when the quality of the satellite signal is good, the single-channel mode is used. At this time, a good tracking effect can be achieved without using the multi-channel mode for tracking. Therefore, currently using the single-channel mode can avoid occupying too many channel resources and reducing the total number of tracked satellites while ensuring the tracking effect, and it has higher usability.

[0232] In the methods provided by the embodiments of the present application, they can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, a computer, a server, or a data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DWD)), or a semiconductor medium (such as a solid state disk (SSD), etc.). As described above, the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A configuration method, characterized in that, Applied to an electronic device, the method includes: The electronic device receives a first satellite signal of the same satellite using n signal channels, and each of the n signal channels includes m correlators, where n and m are integers greater than 1; The electronic device obtains first code loop adjustment information and an observation value of the first satellite signal according to output values of the correlators of the n signal channels. The first code loop adjustment information is used to adjust the pseudo-code phases of the n signal channels, and the observation value of the first satellite signal is used to obtain the position information of the electronic device.

2. The method according to claim 1, characterized in that, The electronic device obtaining the first code loop adjustment information and the observation value of the first satellite signal according to the output values of the correlators of the n signal channels includes: The electronic device obtains the first code loop adjustment information and the observation value of the first satellite signal according to output values of m' correlators, where the m' correlators are some or all of the n×m correlators of the n signal channels, and m' is an integer greater than 1 and less than or equal to n×m; The n signal channels include 1 main channel and n - 1 auxiliary channels, and there is an offset of the auxiliary channels relative to the main channel; The spacing between any two adjacent correlators in one signal channel is equal and is x.

3. The method according to claim 2, characterized in that, The spacing between any two adjacent correlators in the m' correlators is equal and is x', and the offset of the d-th auxiliary channel relative to the main channel is d×k, where d is a positive integer less than n, and k is a rational common factor of x and x', and where x = n×k.

4. The method according to claim 2 or 3, characterized in that, Among the m' correlators, the instantaneous correlator is the th correlator, or the instantaneous correlator is located after the th correlator.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The electronic device obtains first carrier loop adjustment information according to output values of the correlators of the n signal channels, and the first carrier loop adjustment information is used to adjust the carrier phases or frequency offsets of the n signal channels.

6. The method according to any one of claims 1-5, characterized in that, The correlators of the n signal channels are configured in a multi-channel mode, and the multi-channel mode includes a first mode or a second mode, where The correlator span in the first mode is less than or equal to a first preset span, the correlator span in the second mode is greater than a second preset span, and the first preset span is less than or equal to the second preset span; and / or, The correlator spacing in the first mode is less than or equal to a first preset spacing, the correlator spacing in the second mode is greater than a second preset spacing, and the first preset spacing is less than or equal to the second preset spacing.

7. The method according to claim 6, characterized in that, The method further includes: Before the electronic device receives the first satellite signal of the same satellite using n signal channels, it determines whether a first condition is met; When the first condition is met, the electronic device configures the correlator configuration mode of the n signal channels as the first mode; When the first condition is not met, the electronic device configures the correlator configuration mode of the n signal channels as the second mode; where the first condition is related to a first parameter, and the first parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency point of the first satellite signal, or information about the environment where the electronic device is located.

8. The method according to claim 7, characterized in that, The first condition is that the number of currently idle signal channels is greater than or equal to the first number of channels.

9. The method according to any one of claims 6-8, characterized in that, The method further includes: After the electronic device obtains the first code loop adjustment information and the observation of the first satellite signal according to the output values of the correlators of the n signal channels, when the correlators of the n signal channels are configured in the first mode, the electronic device determines whether the pseudorange residual is greater than or equal to a first threshold; when the pseudorange residual is greater than or equal to the first threshold, the electronic device configures the correlators of the n signal channels to the second mode; After the electronic device obtains the first code loop adjustment information and the observation of the first satellite signal according to the output values of the correlators of the n signal channels, when the correlators of the n signal channels are configured in the second mode, the electronic device determines whether the pseudorange residual is less than or equal to a second threshold; when the pseudorange residual is less than or equal to the second threshold, the electronic device configures the correlators of the n signal channels to the first mode.

10. The method according to any one of claims 1-9, characterized in that, The electronic device uses n signal channels to receive the first satellite signal of the same satellite, including: When the second condition is satisfied, the electronic device uses the n signal channels to receive the first satellite signal; The method further includes: Before the electronic device uses n signal channels to receive the first satellite signal of the same satellite, the electronic device determines whether the second condition is satisfied; the second condition is related to a second parameter, and the second parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency point of the first satellite signal, or information about the environment where the electronic device is located; When the second condition is not satisfied, the electronic device uses 1 signal channel to receive the first satellite signal, and obtains code loop adjustment information and observation according to the output value of the correlator of the 1 signal channel.

11. The method according to claim 10, characterized in that, The second condition is that the frequency point of the first satellite signal is L5, and the number of currently idle signal channels is greater than or equal to the number of channels that is a preset proportion of the total number of channels.

12. The method according to any one of claims 1-11, characterized in that,The method further includes: After the electronic device obtains the first code loop adjustment information and the observation of the first satellite signal according to the output values of the correlators of the n signal channels, the electronic device determines whether the quality of the first satellite signal is higher than or equal to a preset quality threshold; When the quality of the first satellite signal is higher than or equal to the preset quality threshold, the electronic device uses 1 signal channel to receive the first satellite signal.

13. The method according to any one of claims 1-12, characterized in that, The method further includes: After the electronic device obtains the first code loop adjustment information and the observables of the first satellite signal according to the output values of the correlators of the n signal channels, the electronic device determines whether to adjust the correlator configuration of the n signal channels according to a third parameter, where the third parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the n signal channels, the satellite constellation of the first satellite signal, the satellite frequency point of the first satellite signal, the pseudorange residual, the first code loop adjustment information, or information about the environment where the electronic device is located; When it is determined to adjust the correlator configuration of the n signal channels, the electronic device adjusts the correlator configuration of the n signal channels.

14. The method according to claim 13, characterized in that, The electronic device adjusting the correlator configuration of the n signal channels includes: The electronic device adjusts at least one of the following correlator configurations of the n signal channels: the number of signal channels for tracking the first satellite signal, the spacing of the correlators, the number of correlators, the position of the prompt correlator, or the span of the correlators.

15. The method according to any one of claims 1-14, characterized in that, The method further includes: The electronic device receives a second satellite signal using a first signal channel, and the first signal channel is one signal channel; The electronic device obtains second code loop adjustment information and the observables of the second satellite signal according to the output value of the correlator of the first signal channel, where the second code loop adjustment information is used to adjust the pseudocode phase of the first signal channel, and the observables of the second satellite signal are used to obtain the position information of the electronic device; The electronic device determines whether to adjust the correlator configuration of the first signal channel according to a fourth parameter, where the fourth parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the first signal channel, the satellite constellation of the second satellite signal, the satellite frequency point of the second satellite signal, the pseudorange residual, the second code loop adjustment information, or information about the environment where the electronic device is located; When it is determined to adjust the correlator configuration of the first signal channel, the electronic device adjusts the correlator configuration of the first signal channel, and the correlator configuration of the first signal channel adjusted by the electronic device includes at least one of the following: the number of signal channels for tracking the second satellite signal, the spacing of the correlators, the number of correlators, the position of the prompt correlator, or the span of the correlators.

16. The method according to claim 15, characterized in that, The second satellite signal and the first satellite signal belong to the signals of the same satellite, and the electronic device adjusting the correlator configuration of the first signal channel includes: The electronic device sets the correlator configuration of the first signal channel to a multi-channel mode; The electronic device receiving the first satellite signal of the same satellite using n signal channels includes: After the electronic device sets the correlator configuration of the first signal channel to a multi-channel mode, the electronic device receives the first satellite signal of the same satellite using the n signal channels.

17. The method according to any one of claims 1-16, characterized in that, The n signal channels are part of the signal channels included in the electronic device.

18. An electronic device, characterized in that, It includes n signal channels, where n is a positive integer greater than 1, and the electronic device is used to execute the method according to any one of claims 1-17.

19. An electronic device, characterized in that, It includes a transceiver, a processor, and a memory. The memory is used to store a computer program, and the processor calls the computer program to execute the method according to any one of claims 1-17.

20. A computer storage medium, characterized in that, The computer storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-17 is implemented.

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