Receiver, navigation message acquisition method and device, electronic equipment and chip

Abstract

The invention provides a receiver, a navigation message obtaining method and device, electronic equipment and a chip, the receiver comprises a radio frequency analog circuit and a digital processing circuit, the radio frequency analog circuit is configured to receive a first satellite signal from a first antenna through a first channel and convert the first satellite signal into a first digital signal, and receiving at least one second satellite signal from the second antenna through at least one second channel and converting the at least one second satellite signal into a second digital signal, wherein at least one of the at least one second channel and the first channel are suitable for the first frequency band; the digital processing circuit is configured to combine the first digital signal and the second digital signal to obtain a navigation message, and the navigation message is used for positioning. The receiving performance of the receiver can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of chip technology, and in particular, to a receiver, a method for obtaining navigation messages, a device, an electronic device, and a chip. Background Art

[0002] The Global Navigation Satellite System (GNSS) is widely used in the field of positioning and navigation in life. In some extreme scenarios, the satellite signal is poor. Improving the receiving sensitivity of the GNSS receiver can help the receiver better obtain satellite information. Summary of the Invention

[0003] The present disclosure provides a receiver, a method for obtaining navigation messages, a device, an electronic device, a chip, and a storage medium to solve the problems in the related art.

[0004] In a first aspect embodiment of the present disclosure, a receiver is proposed, which includes a radio frequency analog circuit and a digital processing circuit. The radio frequency analog circuit is configured to: receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through at least one second channel and convert it into a second digital signal. At least one channel in the at least one second channel and the first channel are applicable to a first frequency band; the digital processing circuit is configured to: perform a merging process on the first digital signal and the second digital signal to obtain a navigation message, and the navigation message is used for positioning.

[0005] In some embodiments of the present disclosure, the radio frequency analog circuit includes: a radio frequency unit configured to perform amplification and down-conversion operations on the first satellite signal received through the first channel to obtain a first intermediate frequency signal, and perform amplification and down-conversion operations on the second satellite signal received through the second channel to obtain a second intermediate frequency signal; an analog-to-digital converter configured to process the first intermediate frequency signal to obtain a first digital signal and process the second intermediate frequency signal to obtain a second digital signal.

[0006] In some embodiments of the present disclosure, the radio frequency unit includes: a first radio frequency unit corresponding to the first channel, the first radio frequency unit includes a first low-noise amplifier, a first mixer, a first filtering unit, a first phase-locked loop, and a clock generator. The output ends of the first phase-locked loop and the clock generator are connected to the first mixer, and the first low-noise amplifier supports a wide frequency band; a second radio frequency unit corresponding to the second channel, the second radio frequency unit includes a second low-noise amplifier, a second mixer, a second filtering unit, and a second phase-locked loop. The first output end of the second phase-locked loop is connected to the second mixer, and the second output end of the second phase-locked loop is connected to the first mixer.

[0007] In some embodiments of the present disclosure, the digital processing circuit includes: a digital front end configured to preprocess a first digital signal and a second digital signal; a capture and tracking unit configured to perform a first combining process on the preprocessed first digital signal and second digital signal to obtain a first combining result, capture and track a first satellite signal through a first channel according to the first combining result, and capture and track a second satellite signal through a second channel according to the first combining result; a measurement value extraction unit configured to perform measurement processing on the captured and tracked first satellite signal through the first channel to obtain a first measurement value, and perform measurement processing on the captured and tracked second satellite signal through the second channel to obtain a second measurement value, the first measurement value including a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value including a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information; and a generation unit configured to perform a second combining process on the first measurement value and the second measurement value to obtain a navigation message.

[0008] In some embodiments of the present disclosure, the generation unit includes: a combining unit configured to perform a second combining process on the first measurement value and the second measurement value to obtain combined navigation message soft information; a decoding unit configured to perform decoding processing on the combined navigation message soft information to generate navigation message data bits; and a subframe generator configured to perform subframe generation processing on the navigation message data bits to obtain a navigation message.

[0009] In some embodiments of the present disclosure, the combining process includes at least one of maximum ratio combining, selection combining, switching combining, and equal gain combining.

[0010] An embodiment of the second aspect of the present disclosure provides a method for obtaining a navigation message. The method includes: receiving a first satellite signal from a first antenna through a first channel and converting it into a first digital signal, receiving at least one second satellite signal from a second antenna through a second channel and converting it into a second digital signal, where at least one channel in the at least one second channel and the first channel are applicable to a first frequency band; performing a combining process on the first digital signal and the second digital signal to obtain a navigation message, where the navigation message is used for positioning.

[0011] In some embodiments of the present disclosure, the peak difference between the non-coherent integrations of the first satellite signal and the second satellite signal is less than a preset time.

[0012] In some embodiments of the present disclosure, receiving a first satellite signal from a first antenna through a first channel and converting it into a first digital signal, and receiving at least one second satellite signal from a second antenna through a second channel and converting it into a second digital signal includes: amplifying and down-converting the first satellite signal to obtain a first intermediate frequency signal, and amplifying and down-converting the second satellite signal to obtain a second intermediate frequency signal; performing analog-to-digital conversion on the first intermediate frequency signal to obtain a first digital signal, and performing analog-to-digital conversion on the second intermediate frequency signal to obtain a second digital signal.

[0013] In some embodiments of the present disclosure, performing a merging process on the first digital signal and the second digital signal to obtain a navigation message includes: preprocessing the first digital signal and the second digital signal; performing a first merging process on the preprocessed first digital signal and second digital signal to obtain a first merging result; respectively through the first channel and the second channel, based on the first merging result, performing acquisition, tracking, and measurement value extraction on the first satellite signal and the second satellite signal to obtain a first measurement value and a second measurement value, the first measurement value including a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value including a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information; performing a second merging process on the first measurement value and the second measurement value to obtain a navigation message.

[0014] In some embodiments of the present disclosure, performing a second merging process on the first measurement value and the second measurement value to obtain a navigation message includes: performing a second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; performing decoding processing on the merged navigation message soft information to generate navigation message data bits; performing sub-frame generation processing on the navigation message data bits to obtain a navigation message.

[0015] In some embodiments of the present disclosure, performing a first merging process on the preprocessed first digital signal and the second digital signal to obtain a first merging result includes: performing non-coherent integration on the preprocessed first digital signal and the second digital signal to obtain a first non-coherent integration result and a second non-coherent integration result; merging the first non-coherent integration result and the second non-coherent integration result to obtain a first merging result.

[0016] In some embodiments of the present disclosure, the first satellite signal and the second satellite signal are captured, tracked, and measurement values are extracted based on the first merging result through the first channel and the second channel respectively, and obtaining the first measurement value and the second measurement value includes: capturing and tracking the first satellite signal based on the first merging result in the first channel, and determining the first Doppler frequency offset value and the first code phase value of the first satellite signal; capturing and tracking the second satellite signal based on the first merging result in the second channel, and determining the second Doppler frequency offset value and the second code phase value of the second satellite signal; measuring the captured and tracked first satellite signal in the first channel to determine the first carrier phase value of the first satellite signal; measuring the captured and tracked second satellite signal in the second channel to determine the second carrier phase value of the second satellite signal; performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked first satellite signal in the first channel to determine the first navigation message soft information of the first satellite signal; performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked second satellite signal in the second channel to determine the second navigation message soft information of the second satellite signal.

[0017] In some embodiments of the present disclosure, performing a second merging process on the first measurement value and the second measurement value to obtain the merged navigation message soft information includes: merging the first Doppler frequency offset value and the second Doppler frequency offset value to obtain the merged Doppler frequency offset value; merging the first code phase value and the second code phase value to obtain the merged code phase value; merging the first carrier phase value and the second carrier phase value to obtain the merged carrier phase value; merging the first navigation message soft information and the second navigation message soft information to obtain the merged navigation message soft information.

[0018] In some embodiments of the present disclosure, the method further includes: using the first measurement value and the second measurement value to perform a differential process to obtain a differential equation; determining the state of the receiver according to the differential positioning equation, where the state of the receiver includes at least one of the position, speed, and time of the receiver.

[0019] An embodiment of the third aspect of the present disclosure provides a device control device, which includes: a first processing unit, configured to receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through a second channel and convert it into a second digital signal, where at least one of the at least one second channel and the first channel is applicable to a first frequency band; a second processing unit, configured to perform a merging process on the first digital signal and the second digital signal to obtain a navigation message for positioning.

[0020] A fourth aspect embodiment of the present disclosure provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method described in the second aspect embodiment of the present disclosure.

[0021] A fifth aspect embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method described in the second aspect embodiment of the present disclosure.

[0022] A sixth aspect embodiment of the present disclosure provides a chip, characterized by including at least one processor and a communication interface; the communication interface is used to receive signals input to the chip or signals output from the chip, and the processor communicates with the communication interface and implements the method described in the second aspect embodiment of the present disclosure through logic circuits or by executing code instructions.

[0023] In summary, the radio frequency analog circuit of the receiver proposed in the present disclosure can receive satellite signals in the first frequency band through both channels, and the digital processing circuit can perform combined processing on the received satellite signals, enabling diversity reception of satellite signals, improving the sensitivity of the receiver to receive satellite signals, and improving the accuracy of obtaining navigation messages by obtaining the combined processed signals.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation to the present disclosure.

[0026] Figure 1 It is a schematic structural diagram of a receiver provided by an embodiment of the present disclosure;

[0027] Figure 2 It is a schematic structural diagram of a receiver provided by an embodiment of the present disclosure;

[0028] Figure 3 It is a schematic structural diagram of a receiver provided by an embodiment of the present disclosure;

[0029] Figure 4 It is a schematic flowchart of a method for obtaining a navigation message provided by an embodiment of the present disclosure;

[0030] Figure 5Schematic flowchart of a navigation message acquisition method provided by an embodiment of the present disclosure;

[0031] Figure 6 Schematic structural diagram of a dual-channel single-frequency GNSS receiver provided by an embodiment of the present disclosure;

[0032] Figure 7 Schematic structural diagram of a radio frequency analog circuit provided by an embodiment of the present disclosure;

[0033] Figure 8 Schematic structural diagram of a digital processing circuit provided by an embodiment of the present disclosure;

[0034] Figure 9 Schematic structural diagram of a multi-channel single-frequency GNSS receiver provided by an embodiment of the present disclosure;

[0035] Figure 10 Schematic structural diagram of a dual-channel single-frequency GNSS receiver provided by an embodiment of the present disclosure;

[0036] Figure 11 Schematic structural diagram of a navigation message acquisition device provided by an embodiment of the present disclosure;

[0037] Figure 12 Schematic structural diagram of an electronic device provided by an embodiment of the present disclosure;

[0038] Figure 13 Schematic structural diagram of a chip provided by an embodiment of the present disclosure. Detailed implementation manners

[0039] The embodiments of the present disclosure will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, but should not be construed as a limitation to the present disclosure.

[0040] A GNSS receiving system is a device for receiving satellite signals and providing positions. The GNSS receiving system is widely used in the positioning and navigation fields in life. Currently, GNSS receivers usually adopt multi-channel multi-frequency reception. For example, GNSS dual-channel dual-frequency receivers are widely used in the navigation and positioning of mobile terminals (such as mobile phones).

[0041] However, when the receiver operates in extreme scenarios, such as in a base, on the moon, or in a place with a lot of obstructions, the satellite signals are poor. It is difficult for the receiver to receive satellite signals and the quality of the received satellite signals is poor. Therefore, improving the receiving performance of the receiver (including the receiving sensitivity of the receiver) to help the receiver better obtain satellite information is a direction that those skilled in the relevant art have been pursuing.

[0042] Therefore, to solve the above problems, the present disclosure proposes a receiver and a method for obtaining navigation messages. By receiving satellite signals through multi-channel single-frequency, the receiver can improve its performance. Based on this receiver, navigation messages can be better obtained, and the accuracy of the navigation messages can be improved, so as to improve the accuracy of positioning based on the navigation messages.

[0043] Figure 1 FIG. is a schematic structural diagram of a receiver proposed in an embodiment of the present disclosure, as Figure 1 shown, the receiver includes a radio frequency analog circuit 1 and a digital processing circuit 2.

[0044] In some embodiments, the radio frequency analog circuit is configured to: receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through at least one second channel and convert it into a second digital signal. At least one channel in the second channels and the first channel are applicable to a first frequency band; the digital processing circuit is configured to: perform a combining process on the first digital signal and the second digital signal to obtain a navigation message, and the navigation message is used for positioning. In other words, the radio frequency analog circuit can receive satellite signals in the first frequency band through the first channel and the second channel respectively. For example, at least one channel in the plurality of second channels can receive satellite signals in the first frequency band. The radio frequency analog circuit can receive satellite signals in the first frequency band through at least one first channel and one second channel, so as to realize diversity reception of satellite signals.

[0045] In some embodiments, the satellite transmits satellite signals in the first frequency band. The receiver may include a first antenna and a second antenna. For example, the first antenna and the second antenna of the receiver can receive the satellite signals in the first frequency band transmitted by the satellite, and transmit the received satellite signals in the first frequency band to the radio frequency analog module for processing. For example, the satellite signal in the first frequency band received by the radio frequency analog module through the first antenna may be a first satellite signal, and the satellite signal in the first frequency band received by the radio frequency analog module through the second channel may be a second satellite signal.

[0046] In an embodiment of the present disclosure, the distance between the first antenna and the second antenna is less than a preset distance, for example, less than 10 cm. The difference in the peak positions of the non-coherent integration of the first satellite signal and the second satellite signal is less than a preset time. Exemplarily, the preset time is 1 / 300 us. Alternatively, the preset time can be set according to the actual application scenario, and the present disclosure does not limit this.

[0047] In an embodiment of the present disclosure, the digital processing circuit may be used to perform a combining process on satellite signals received by the radio frequency analog module through the first antenna and the second antenna. For example, the digital processing module may capture and track the satellite signals through the first channel and the second channel respectively based on the first satellite signal and the second satellite signal received by the radio frequency analog module, and perform a combining process on the results captured and tracked by the two channels. Exemplarily, since the distance between the two antennas is very close, the time delay of the satellite propagation path is less than 1 meter, and the difference in the peak positions of the non-coherent integration results captured by the two channels is less than 1 / 300 us, it is possible to directly combine the non-coherent integration results, improving the receiver performance.

[0048] In some embodiments, specifically, the radio frequency analog module may convert the first satellite signal into a first digital signal, convert the second satellite signal into a second digital signal, and input the first digital signal and the second digital signal into the digital processing circuit for combining processing to obtain a navigation message. Optionally, the combining process of the digital processing circuit may include combining the capture and tracking results, combining the soft information of the navigation message, etc. After combining the first digital signal and the second digital signal, the received signal can be enhanced, improving the receiving sensitivity of the receiver, and the navigation message can be extracted based on the enhanced signal, improving the accuracy of the navigation message extraction. Since the navigation message can be used for receiver positioning, the positioning accuracy can be improved.

[0049] Figure 2 The following is a schematic structural diagram of a receiver proposed in an embodiment of the present disclosure, as Figure 2 shown, the radio frequency analog circuit 1 includes:

[0050] A radio frequency unit 11, configured to perform amplification and down-conversion operations on the first satellite signal received through the first channel to obtain a first intermediate frequency signal, and perform amplification and down-conversion operations on the second satellite signal received through the second channel to obtain a second intermediate frequency signal; an analog-to-digital converter 12, configured to process the first intermediate frequency signal to obtain a first digital signal, and process the second intermediate frequency signal to obtain a second digital signal.

[0051] In other words, the radio frequency (RF) unit 11 may be used to perform operations such as amplification and down-conversion on the received satellite signals to generate an intermediate frequency signal suitable for analog-to-digital conversion, and input the generated intermediate frequency signal into the analog-to-digital converter (ADC) 12. After receiving the intermediate frequency signal, the analog-to-digital converter 12 can digitize the intermediate frequency signal. For example, perform analog-to-digital conversion on the above first intermediate frequency signal to obtain a first digital signal, perform analog-to-digital conversion on the above second intermediate frequency signal to obtain a second digital signal, and input the digital signals into the digital processing circuit 2 for processing.

[0052] The digital processing circuit 2 includes: a digital front end 21 configured to preprocess a first digital signal and a second digital signal; a capture and tracking unit 22 configured to perform a first combining process on the preprocessed first digital signal and second digital signal to obtain a first combining result, capture and track a first satellite signal through a first channel according to the first combining result, and capture and track a second satellite signal through a second channel according to the first combining result; a measurement value extraction unit 23 configured to perform a measurement process on the captured and tracked first satellite signal through the first channel to obtain a first measurement value, and perform a measurement process on the captured and tracked second satellite signal through the second channel to obtain a second measurement value, where the first measurement value includes a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value includes a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information; and a generation unit 24 configured to perform a second combining process on the first measurement value and the second measurement value to obtain a navigation message.

[0053] In other words, the analog-to-digital converter of the radio frequency analog circuit can input the generated first digital signal and second digital signal into the digital front end (DFE) 21 for processing. Exemplarily, the DFE can preprocess the first digital signal and the second digital signal to adjust the first digital signal and the second digital signal into a data format suitable for backend processing, such as noise reduction, filtering, signal equalization, and so on.

[0054] In some embodiments, the acquisition and tracking unit 22 may perform a first combining process on the first digital signal and the second digital signal after DFE processing. For example, the first combining process may be to perform non-coherent integration on the first digital signal and the second digital signal to obtain a first non-coherent integration result and a second non-coherent integration result; and then combine the first non-coherent integration result and the second non-coherent integration result to obtain a first combined result. In one example, the weights of the first digital signal and the second digital signal may be determined according to the signal quality of the first digital signal and the second digital signal, and the digital signals may be combined based on the respective weights corresponding to the digital signals. Specifically, the proportion of the digital signal with better signal quality may be set to a larger value. For example, the quality of the digital signal may be determined according to the received signal strength (RSS), signal-to-noise ratio (SNR), or carrier-to-noise ratio (CNR) of the digital signal, etc., so as to determine the corresponding weights for combination. In other examples of the present disclosure, the first non-coherent integration result and the second non-coherent integration result may also be combined by at least one of selection combining (SC), switched combining (SWC), and equal gain combining (EGC) to obtain a first combined result.

[0055] In some embodiments, the acquisition and tracking unit 22 may capture and track the first satellite signal through the first channel according to the above first combined result, and capture and track the second satellite signal through the second channel according to the first combined result.

[0056] In some embodiments, the measurement value extraction unit 23 may perform measurement processing on the captured and tracked first satellite signal and second satellite signal to obtain a first measurement value corresponding to the first satellite signal and a second measurement value corresponding to the second satellite signal, where the measurement value is parameter information related to the satellite signal, such as the Doppler frequency offset value, code phase value, carrier phase value corresponding to the satellite signal, and the navigation message soft information carried by the satellite signal. By extracting the measurement value, the parameter attributes of the satellite signal can be determined and the information carried by the satellite signal can be obtained. For example, the measurement value extraction of the first satellite signal and the second satellite signal may be respectively performed in the first channel and the second channel to implement multi-channel processing of the single-frequency satellite signal, so as to determine the information carried by the satellite based on the measurement results of multiple channels and improve the accuracy of satellite information acquisition.

[0057] Exemplarily, the navigation message is the information carried by the satellite signal, that is, the receiver can obtain the information carried by the satellite signal by receiving the satellite signal. Optionally, the name of the navigation message can also be satellite information, positioning information, etc., and the present disclosure is not limited thereto.

[0058] In some embodiments, the generating unit 24 may perform a second combining process on the first measurement value and the second measurement value, and generate a navigation message based on the result of the combining process, which can reduce problems such as information loss caused by satellite signal propagation loss when receiving satellite signals through a single channel, and can improve the accuracy and integrity of obtaining navigation message information.

[0059] Figure 3 The following is a schematic structural diagram of a receiver proposed in an embodiment of the present disclosure, as Figure 3 shown, the radio frequency unit 11 includes:

[0060] The first radio frequency unit 111 corresponding to the first channel, the first radio frequency unit includes a first low-noise amplifier 1111, a first mixer 1112, a first filtering unit 1113, a first phase-locked loop 1114, and a clock generator 1115. The output ends of the first phase-locked loop 1114 and the clock generator 1115 are connected to the first mixer 1112, and the first low-noise amplifier 1111 supports a wide frequency band; the second radio frequency unit 112 corresponding to the second channel, the second radio frequency unit includes a second low-noise amplifier 1121, a second mixer 1122, a second filtering unit 1123, and a second phase-locked loop 1124. The first output end of the second phase-locked loop 1124 is connected to the second mixer 1122, and the second output end of the second phase-locked loop 1124 is connected to the first mixer 1112.

[0061] In some embodiments, the receiver further includes a first antenna and a second antenna, wherein the first antenna is connected to the first radio frequency unit 111, the second antenna is connected to the second radio frequency unit 112, the first antenna is used to receive the first satellite signal, and the second antenna is used to receive at least one second satellite signal. The above-mentioned first antenna and second antenna are not shown in the figure.

[0062] In some embodiments, optionally, the analog-to-digital converter may include a first analog-to-digital converter and a second analog-to-digital converter, which are not shown in the figure. The first end of the first analog-to-digital converter is connected to the first radio frequency unit 111, the second end of the first analog-to-digital converter is connected to the first end of the digital front end, the first end of the second analog-to-digital converter is connected to the second radio frequency unit 112, and the second end of the second analog-to-digital converter is connected to the first end of the digital front end. The first analog-to-digital converter can be used to convert the first intermediate frequency signal into a first digital signal, and the second analog-to-digital converter can be used to convert the second intermediate frequency signal into a second digital signal. In other words, the same or different analog-to-digital converters can be used to process the intermediate frequency signal, and the present disclosure does not limit this.

[0063] In some embodiments, the above-mentioned second phase-locked loop 1124 is connected to both the first mixer 1112 and the second mixer 1122 at the same time, that is, the output of the second phase-locked loop is output to both the first channel and the second channel at the same time. As the local oscillator clock for the down-conversion of the receiver, it can control the two channels to operate at the same frequency.

[0064] In some embodiments, optionally, the digital front end 21 may further include a first digital front end and a second digital front end, which are not shown in the figure. The first digital front end can be connected to the first filtering unit and can be used to preprocess the signal output by the first filtering unit and adjust the first digital signal into a data format suitable for processing by the backend. The second digital front end can be connected to the second filtering unit and can be used to preprocess the signal output by the second filtering unit and adjust the second digital signal into a data format suitable for processing by the backend. In other words, the same or different digital front ends can be used to preprocess the digital signal, and the present disclosure does not limit this.

[0065] In some embodiments, optionally, the acquisition and tracking unit 22 may further include a first acquisition and tracking unit and a second acquisition and tracking unit, which are not shown in the figure. The first end of the first acquisition and tracking unit can be connected to the digital front end or can be connected to the first digital front end. The first end of the second acquisition and tracking unit can be connected to the digital front end or can be connected to the second digital front end. The first acquisition and tracking unit can acquire and track the first satellite signal, and the second acquisition and tracking unit can acquire and track the second satellite signal. In other words, different acquisition and tracking units can be used to acquire and track the first satellite signal and the second satellite signal respectively.

[0066] In some embodiments, optionally, the measurement value extraction unit further includes a first measurement value extraction unit and a second measurement value extraction unit, where the first measurement value extraction unit and the second measurement value extraction unit are not shown in the figure. The first end of the first measurement value extraction unit may be connected to the second end of the capture and tracking unit, or may be connected to the second end of the first capture and tracking unit. The second end of the first measurement value extraction unit may be connected to the generation unit 24. The first end of the second measurement value extraction unit may be connected to the second end of the capture and tracking unit, or may be connected to the second end of the second capture and tracking unit. The second end of the second measurement value extraction unit may be connected to the generation unit 24. The first measurement value extraction unit may perform measurement processing on the capture and tracking result of the first satellite signal to obtain a first measurement value, and the second measurement value extraction unit may perform measurement processing on the capture and tracking result of the second satellite signal to obtain a second measurement value. In other words, the same or different measurement value extraction units may be used to preprocess the digital signal, and the present disclosure does not limit this.

[0067] In some embodiments, the above-mentioned first measurement value extraction unit may include a first bit synchronization and demodulation unit. The first end of the first bit synchronization and demodulation unit is connected to the second end of the capture and tracking unit, or connected to the second end of the first capture and tracking unit. The first bit synchronization and demodulation unit may be used to perform bit synchronization (Bit Sync) and bit demodulation (Bit Demod) processing on the captured and tracked first satellite signal. The above-mentioned first measurement value extraction unit may include a first frame synchronization unit. The first end of the first frame synchronization unit is connected to the second end of the first bit synchronization and demodulation unit, and the second end of the first frame synchronization unit is connected to the generation unit 24. The first frame synchronization unit is used to perform frame synchronization (Frame Sync) processing on the data output by the first bit synchronization and demodulation unit.

[0068] In some embodiments, the above-mentioned second measurement value extraction unit may include a second bit synchronization and demodulation unit. The first end of the second bit synchronization and demodulation unit is connected to the second end of the capture and tracking unit, or connected to the second end of the second capture and tracking unit. The second bit synchronization and demodulation unit may be used to perform bit synchronization and bit demodulation processing on the captured and tracked second satellite signal. The above-mentioned second measurement value extraction unit may include a second frame synchronization unit. The first end of the second frame synchronization unit is connected to the second end of the second bit synchronization and demodulation unit, and the second end of the second frame synchronization unit is connected to the generation unit 24. The second frame synchronization unit is used to perform frame synchronization processing on the data output by the second bit synchronization and demodulation unit.

[0069] In the above embodiments, the first bit synchronization and demodulation unit, the second bit synchronization and demodulation unit, the first frame synchronization unit, and the second frame synchronization unit are not shown in the figure.

[0070] In some embodiments, the above-mentioned generation unit 24 includes:

[0071] The merging unit 241 is configured to perform a second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; the decoding unit 242 is configured to perform a decoding process on the merged navigation message soft information to generate navigation message data bits; the sub-frame generator 243 is configured to perform a sub-frame generation process on the navigation message data bits to obtain a navigation message.

[0072] In some embodiments, in the merging unit, the first measurement value and the second measurement value may be subjected to a second merging process. Optionally, the second merging process may include at least one of maximum ratio combining, selection combining, switching combining, and equal gain combining. Optionally, the merging of the first measurement value and the second measurement value may include merging the first Doppler frequency offset value and the second Doppler frequency offset value to obtain a merged Doppler frequency offset value; merging the first code phase value and the second code phase value to obtain a merged code phase value; merging the first carrier phase value and the second carrier phase value to obtain a merged carrier phase value; and merging the first navigation message soft information and the second navigation message soft information to obtain merged navigation message soft information.

[0073] Exemplarily, the merged Doppler frequency offset value, code phase value, and carrier phase value obtained above can be used for signal analysis. By comprehensively considering the measurement values of two channels, the noise and errors in single-channel reception by the receiver can be reduced, etc. Exemplarily, the above navigation message soft information may be information carried by a satellite. By performing a merging process on the navigation message soft information of two channels, it is convenient to determine the information carried by the satellite signal based on the merged navigation message information, and the accuracy and efficiency of navigation message acquisition can be improved.

[0074] In some embodiments, the merging unit may transmit the generated merged navigation message soft information to the decoding unit, and the decoding unit performs a decoding process on the merged navigation message soft information. Optionally, the decoding process may be forward error correction (FEC) decoding. Through the decoding process, navigation message data bits can be obtained. The decoding unit may input the navigation message data bits into the sub-frame generator, and the sub-frame generator processes the navigation message data bits to obtain a navigation message. The navigation message is the information carried by the satellite signal and can be used for positioning.

[0075] Based on the above receiver, the present disclosure proposes a method for obtaining a navigation message. This method uses the above receiver to obtain a navigation message, which can improve the efficiency and accuracy of navigation message acquisition.

[0076] The specific content of this method is as follows.

[0077] Figure 4 A flowchart of a method for obtaining navigation messages provided by an embodiment of the present disclosure. As Figure 4 shown, this method can be executed by an electronic device. Optionally, this method can be executed by Figures 1 - 3 a receiver shown in any embodiment. This method may include the following steps.

[0078] Step 401: Receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through a second channel and convert it into a second digital signal.

[0079] In some embodiments, at least one channel in at least one second channel and the first channel are applicable to a first frequency band. In other words, the receiver may include a first channel and at least one second channel. The first channel of the receiver can receive satellite signals in the first frequency band. The receiver may include at least one second channel, and the second channel can be used to receive satellite signals in multiple frequency bands. However, at least one second channel can receive satellite signals in the first frequency band, that is, the receiver can be used to receive satellite signals in the first frequency band through the first channel and the second channel respectively. Optionally, the first satellite signal received from the first antenna through the first channel, and the second satellite signal received from the second antenna through the second channel.

[0080] In some embodiments, receiving a first satellite signal from a first antenna through a first channel and converting it into a first digital signal, and receiving at least one second satellite signal from a second antenna through a second channel and converting it into a second digital signal includes: amplifying and down-converting the first satellite signal to obtain a first intermediate frequency signal, and amplifying and down-converting the second satellite signal to obtain a second intermediate frequency signal; performing analog-to-digital conversion on the first intermediate frequency signal to obtain a first digital signal, and performing analog-to-digital conversion on the second intermediate frequency signal to obtain a second digital signal.

[0081] Optionally, in the above embodiment, the first radio frequency unit of the receiver can amplify and down-convert the first satellite signal to obtain a first intermediate frequency signal, the second radio frequency unit can amplify and down-convert the second satellite signal to obtain a second intermediate frequency signal, and the analog-to-digital conversion unit can convert the first intermediate frequency signal into a first digital signal, and convert the second intermediate frequency signal into a second digital signal, which can facilitate the digital processing circuit to process the first digital signal and the second digital signal.

[0082] Step 402: Perform a merging process on the first digital signal and the second digital signal to obtain a navigation message, and the navigation message is used for positioning.

[0083] In some embodiments, the first digital signal and the second digital signal can be combined. In other words, the signals received by the first channel and the second channel can be combined to enhance the signal, and the performance of the channel with relatively poor received signal can be improved. For example, when the quality of the satellite signal received by the first antenna is poor, the satellite signals received by the first antenna and the second antenna can be combined to avoid problems such as information loss or a large amount of interference data when obtaining navigation messages only through the satellite signal received by the first antenna.

[0084] In the above embodiments, combining the first digital signal and the second digital signal may include performing a first combination process on the first digital signal and the second digital signal to obtain a first combination result, and based on the first combination result, capturing and tracking the satellite signal, which can improve the sensitivity of capturing and tracking the satellite signal; combining the first digital signal and the second digital signal may include determining a first measurement value corresponding to the first satellite signal and a second measurement value corresponding to the second satellite signal, and performing a second combination process on the first measurement value and the second measurement value to obtain a navigation message, which can improve the accuracy of the obtained navigation message.

[0085] In some embodiments, the receiver shown in any of the above Figures 1 - 3 embodiments can execute the navigation message acquisition method. Exemplarily, the distance between the first antenna and the second antenna of the receiver executing this method is less than a preset distance, for example, less than 10 cm, and the time delay of the satellite propagation path is less than 1 meter. Therefore, the peak difference of the non-coherent integration of the first satellite signal and the second satellite signal is less than a preset time. Exemplarily, the preset time is 1 / 300 us, and direct combination of the non-coherent integration results can be achieved to improve the performance of the receiver.

[0086] Optionally, the combination methods of the above first combination process and second combination process may include at least one of maximum ratio combining, selection combining, switching combining, equal gain combining, etc. The specific combination method can be determined according to the actual usage scenario, and the present disclosure does not limit this.

[0087] In some embodiments, the digital processing circuit of the above receiver can be used to combine the first digital signal and the second digital signal to obtain a navigation message, where the navigation message is the information carried by the satellite signal. Exemplarily, the navigation message can be a message for describing the operating state parameters of the navigation satellite, such as system time, ephemeris, almanac, correction parameters of the satellite clock, health status of the navigation satellite, and ionospheric delay model parameters, etc. After receiving the satellite signal, the receiver can process the satellite signal to obtain the navigation message carried by the satellite signal. Optionally, the navigation message can be used for the receiver to perform positioning.

[0088] In some embodiments, optionally, the method further includes: performing differential processing on the first measurement value and the second measurement value to obtain a difference equation; determining the state of the receiver according to the difference equation, where the state of the receiver includes at least one of the position, velocity, and time of the receiver.

[0089] In other words, the receiver can perform differential positioning based on the observations of two channels to eliminate common errors. Among them, the differential processing can be single-difference or double-difference processing of the observations of two channels, or other differential processing methods, which are not limited in the present disclosure. After the differential processing obtains the difference equation, position velocity time (PVT) solution can be performed according to the difference equation. Optionally, the PVT solution can be used to determine the state of the receiver. For example, the position, velocity, and time of the receiver can be determined. Performing PVT solution according to the equation after differential processing can improve the accuracy of positioning.

[0090] In summary, in the above embodiments of the present disclosure, by receiving satellite signals of the same frequency band through multiple channels, diversity reception of satellite signals can be achieved. By performing combining processing on the satellite signals received by multiple channels, the sensitivity of satellite signal reception can be improved, and based on the combining processing to obtain navigation messages, the accuracy of obtaining navigation messages can be improved.

[0091] Figure 5 It is a schematic flowchart of a method for obtaining a navigation message provided by an embodiment of the present disclosure. As Figure 5 shown, based on Figure 5 the embodiment shown, the method includes the following steps.

[0092] Step 501, preprocess the first digital signal and the second digital signal.

[0093] In some embodiments, the first digital signal and the second digital signal can be preprocessed. For example, preprocessing the digital signal can adjust the digital signal to a data format suitable for backend processing, facilitating the extraction of navigation messages based on the preprocessed data. For example, the preprocessing can include noise reduction, filtering, signal equalization, etc.

[0094] In some embodiments, optionally, the digital front end of the above receiver can be used to preprocess the first digital signal and the second digital signal.

[0095] Step 502, perform first combining processing on the preprocessed first digital signal and the second digital signal to obtain a first combining result.

[0096] In some embodiments, performing a first combining process on the preprocessed first digital signal and second digital signal to obtain a first combining result includes: performing non-coherent integration on the preprocessed first digital signal and second digital signal to obtain a first non-coherent integration result and a second non-coherent integration result; combining the first non-coherent integration result and the second non-coherent integration result to obtain a first combining result.

[0097] In other words, the satellite signal received by the first channel and the satellite signal received by the second channel can be subjected to a first combining process after preprocessing, where the combining method may include at least one of maximum ratio combining, selection combining, switching combining, equal gain combining, etc. Optionally, when the combining method is maximum ratio combining, the signal quality of the received first satellite signal and the signal quality of the second satellite can be determined, such as signal strength RSS or signal-to-noise ratio SNR or carrier-to-noise ratio CNR. When performing maximum ratio combining, the weight corresponding to the signal can be determined according to the quality of the received signal. Exemplarily, it can be determined that the weight value of the received signal with better signal quality is higher, and the preprocessed signals are combined based on the weight value. Since the signal with better signal quality has a higher weight value, the influence of the signal with poorer signal quality can be weakened, the quality of the received signal can be improved, and it is convenient to analyze and process the satellite signal based on the first combining result obtained by combining.

[0098] In some embodiments, optionally, the acquisition and tracking unit of the above receiver can be used to perform a first combining process on the preprocessed first digital signal and second digital signal to obtain a first combining result.

[0099] Step 503: Respectively through the first channel and the second channel, based on the first combining result, perform acquisition, tracking, and measurement value extraction on the first satellite signal and the second satellite signal to obtain a first measurement value and a second measurement value.

[0100] In some embodiments, the first measurement value is obtained by performing acquisition, tracking, and measurement value extraction on the first satellite signal through the first channel based on the first combining result, and the second measurement value is obtained by performing acquisition, tracking, and measurement value extraction on the second satellite signal through the second channel based on the first combining result.

[0101] In some embodiments, optionally, the first measurement value includes a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value includes a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information.

[0102] In some embodiments, the first satellite signal and the second satellite signal are respectively captured, tracked, and measurement values are extracted based on the first merging result through the first channel and the second channel, and obtaining the first measurement value and the second measurement value includes: capturing and tracking the first satellite signal based on the first merging result in the first channel to determine the first Doppler frequency offset value and the first code phase value of the first satellite signal; capturing and tracking the second satellite signal based on the first merging result in the second channel to determine the second Doppler frequency offset value and the second code phase value of the second satellite signal; measuring the captured and tracked first satellite signal in the first channel to determine the first carrier phase value of the first satellite signal; measuring the captured and tracked second satellite signal in the second channel to determine the second carrier phase value of the second satellite signal; performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked first satellite signal in the first channel to determine the first navigation message soft information of the first satellite signal; performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked second satellite signal in the second channel to determine the second navigation message soft information of the second satellite signal.

[0103] In some embodiments, the acquisition and tracking unit and the measurement value extraction unit of the above receiver can be used to capture, track, and extract measurement values from the first satellite signal and the second satellite signal to obtain the first measurement value and the second measurement value. Optionally, the first satellite signal and the second satellite signal can be captured, tracked, and measurement values can be extracted through the first channel and the second channel of the receiver respectively to obtain the first measurement value and the second measurement value.

[0104] Step 504, perform a second merging process on the first measurement value and the second measurement value to obtain a navigation message.

[0105] In some embodiments, performing a second merging process on the first measurement value and the second measurement value to obtain a navigation message includes: performing a second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; performing a decoding process on the merged navigation message soft information to generate navigation message data bits; performing a sub-frame generation process on the navigation message data bits to obtain a navigation message.

[0106] In other words, the first measurement value determined through the first channel and the second measurement value determined through the second channel can be subjected to a second combining process. The combining method may include at least one of maximum ratio combining, selection combining, switching combining, equal gain combining, etc. Optionally, when the combining method is maximum ratio combining, the signal quality of the received first satellite signal and the signal quality of the second satellite can be determined, such as signal strength RSS or signal-to-noise ratio SNR or carrier-to-noise ratio CNR. When performing maximum ratio combining, the weight corresponding to the signal can be determined according to the quality of the received signal. For example, it can be determined that the weight value of the received signal with better signal quality is higher. The first measurement value and the second measurement value are combined based on the weight value. Since the signal with better signal quality has a high weight value, it is possible to weaken the influence of the signal with poor signal quality, improve the quality of the received signal, facilitate the extraction of navigation message based on the result of the second combining process, reduce problems such as more information loss or more interference data in the signal with poor quality, and improve the accuracy and efficiency of obtaining the navigation message.

[0107] In some embodiments, performing a second combining process on the first measurement value and the second measurement value to obtain combined navigation message soft information includes: combining the first Doppler frequency offset value and the second Doppler frequency offset value to obtain a combined Doppler frequency offset value; combining the first code phase value and the second code phase value to obtain a combined code phase value; combining the first carrier phase value and the second carrier phase value to obtain a combined carrier phase value; combining the first navigation message soft information and the second navigation message soft information to obtain combined navigation message soft information.

[0108] In the above embodiments, the received satellite signal can be optimized according to the combined Doppler frequency offset value, the combined code phase value, and the combined carrier phase value. For example, after combining the measurement values of the two channels, the error caused by thermal noise when receiving the satellite signal can be reduced. For another example, differential positioning can be performed using the measurement values of the two channels to eliminate common errors and improve the positioning accuracy, etc.

[0109] In the above embodiments, the navigation message can be determined according to the combined navigation message soft information. For example, the combined navigation message soft information can be decoded to generate navigation message data bits, and the navigation message data bits can be processed to generate sub-frames to obtain the navigation message. Exemplarily, combining the navigation message soft information can reduce the time to reach the signal-to-noise ratio (SNR) threshold for the bit error rate, and improve the efficiency of obtaining the navigation message. For example, under weak signal conditions of -148 dBm, single-channel reception requires continuous combination of navigation message soft information for 5 cycles to reach the SNR threshold of a bit error rate of 1e-5. After dual-channel combination, only 3 more cycles of message soft information combination are required to meet the SNR requirement for the bit error rate. At this time, 2 cycles are saved, which saves 60 seconds for GPS L1C signals and B1I signals. Optionally, the saved time can be used to increase the non-coherent integration period to improve the performance of correlation peak capture, and further improve the sensitivity of capturing and tracking satellite signals. For example, the sensitivity of capturing and tracking satellite signals can be increased by 2 dB. For example, if the cold start capture sensitivity of a single-channel receiver is -148 dBm, then after dual-antenna dual-channel combination, the capture sensitivity can be increased to -150 dBm.

[0110] In some embodiments, optionally, the generating unit of the above receiver can be used to perform a second combination process on the first measurement value and the second measurement value to obtain the navigation message.

[0111] In summary, in the above embodiments of the present application, by preprocessing the first digital signal and the second digital signal, performing a first combination process on the preprocessed first digital signal and the second digital signal, and performing a second combination process on the first measurement value and the second measurement value to obtain the navigation message, signal combination processing can be achieved, avoiding problems such as large errors caused by poor signal quality in single-channel reception, improving the sensitivity of capturing and tracking satellite signals, and improving the accuracy and efficiency of obtaining the navigation message.

[0112] The technical solutions of the present disclosure will be further described in detail below in conjunction with specific application embodiments.

[0113] The following is a GNSS multi-channel receiver and receiving method provided by an embodiment of the present disclosure. The receiver can further improve the receiving performance and receiving sensitivity of the GNSS receiver. Specifically, the receiver can improve the cold start sensitivity of the GNSS receiver, including:

[0114] (1) In terms of the correlation peak of capturing satellites, improve the performance by about 1 dB

[0115] (2) Can improve the navigation message receiving performance and increase the capture sensitivity of the receiver by more than 2 dB

[0116] The receiver can improve the accuracy of measurement values (such as carrier phase / code phase / Doppler frequency offset), and can improve the PVT solution performance independent of ground stations. High-precision orientation can be achieved, with the accuracy of the heading angle being 0.1°, reaching the level of high-end inertial navigation devices.

[0117] As Figure 6 shown, it is a schematic structural diagram of a dual-channel single-frequency GNSS receiver. By reconfiguring one of the channels in this solution, two antennas can receive the same GNSS frequency band (such as the L5 frequency band), which can improve the receiving sensitivity, improve the cold start (L5 direct compensation) receiving performance, and improve the capture success rate.

[0118] Exemplarily, the dual-channel single-frequency GNSS receiver includes two channels. The channel connected to antenna 1 is the first channel, and the channel connected to antenna 2 is the second channel. In this solution, the radio frequency unit (L1RF) that receives L1 frequency band satellite signals in channel 1 is reconfigured to be a radio frequency unit that can receive L5 frequency band satellite signals, enabling both antenna 1 and antenna 1 to receive L5 frequency band satellite signals, and the radio frequency unit can process L5 frequency band satellite signals.

[0119] Exemplarily, the radio frequency units of the first channel and the second channel can be connected to an analog-to-digital converter ADC for analog-to-digital conversion of the received signals. The analog-to-digital converter ADC can be connected to a digital front end DFE. The digital front end DFE is used for preprocessing the signals, such as filtering, noise reduction, etc. The digital front end DFE can be connected to a capture and tracking unit for capturing and tracking satellite signals. The capture and tracking unit can be connected to a measurement value extraction unit for extracting measurement values to obtain a first measurement value and a second measurement value. The measurement value extraction unit can be connected to a merging unit for merging measurement values and navigation messages, thereby obtaining a navigation message. The merging unit can be connected to a PVT solution and satellite channel management unit for performing PVT solution based on the navigation message for positioning and navigation based on the navigation message.

[0120] As Figure 7 shown, it is a schematic structural diagram of a radio frequency analog circuit of the above dual-channel single-frequency GNSS receiver. Figure 7 It is the above Figure 6An example structure of the radio frequency analog part in a receiver. This solution modifies the path where Antenna 1 is located, enabling Antenna 1 to support receiving satellite signals in the L1 and L5 frequency bands. At this time, both Path 1 and Path 2 of the receiver can receive satellite signals in the L5 frequency band, achieving diversity reception of satellite signals. By increasing the isolation between Path 1 and Path 2, interference between Path 1 and Path 2 when receiving satellite signals in the same frequency band can be avoided. Adaptively, the low-noise amplifier (LNA) in Path 1 where Antenna 1 is located can be modified to support processing wideband signals.

[0121] To enable two paths to receive satellite signals in the same frequency band simultaneously, as Figure 7 shown, the signal output of the same Phase Locked Loop (PLL) can be sent to two (or more) radio frequency paths as the local oscillator clock for downconversion of the receiver, used to control the two (or more) radio frequency paths to operate at the same frequency.

[0122] As Figure 8 shown, it is a schematic diagram of the digital processing circuit structure of the above dual-channel single-frequency GNSS receiver. Figure 8 For the above Figure 6 an example structure of the baseband and processor part of the receiver. This solution can perform combined processing on the received signals in the digital processing circuit part, improving the cold start sensitivity of the receiver and the accuracy and efficiency of obtaining navigation messages.

[0123] In this example, the acquisition and tracking unit can be connected to the Bit Sync Bit Demod unit to synchronize and demodulate the acquired and tracked satellite signals. The Bit Sync Bit Demod unit can be connected to the Frame SYNC unit, which can be used for frame synchronization processing of the demodulated signals. The Frame SYNC unit can be connected to the soft bit combination unit, which can be used to achieve measurement value combination and navigation message soft information combination. For example, the maximum ratio combining (MRC) method can be used for combination. The soft bit combination unit can be connected to the Forward Error Correction (FEC) decoding unit to decode the combined navigation message soft information to obtain the navigation message data bits. The FEC decoding unit is connected to the SubFrame Generator, which can be used to process the navigation message data bits to obtain the navigation message, and the navigation message can be used for PVT solution.

[0124] In some embodiments, the received signals can be combined and processed to achieve the acquisition and tracking of satellite signals. In the present disclosure, the distance between the two antennas is very close, the time delay of the satellite propagation path is less than 1 meter, and the difference in the peak positions of the non-coherent integration of the results captured by the two channels is less than a preset time, such as 1 / 300 us, so that the direct combination of the non-coherent integration results can be achieved. The combined result is the same as directly doubling the non-coherent integration period of one of the channels. Due to the square loss, when the received signal power is about -148 dBm, a 1 dB performance improvement can be achieved after combination. Exemplarily, this performance can be the sensitivity of acquiring satellite signals.

[0125] Among them, the tracking sensitivity mainly refers to the sensitivity of tracking and identifying the correlation peaks of satellites. Optionally, the tracking sensitivity can be improved by lengthening the non-coherent integration period. The tracking sensitivity is generally less than -160 dBm. Under this condition, the square loss is large. After the dual-channel combination in this solution, the sensitivity of tracking satellite signals can be improved. By using the combination processing, if the signals received by the two antennas are quite different, the improvement of the combined result relative to the antenna with a large signal difference is obvious.

[0126] In some embodiments, the results of acquisition and tracking can be combined and processed to obtain the navigation message. Specifically, after differential demodulation (such as Differential Quadrature Reference Phase Shift Keying (DQPSK) demodulation) of the tracking results, the influence of the residual frequency offset is eliminated, so that soft information combination can be performed. After combination, FEC decoding is performed. Here, the soft information combination can bring a 3 dB performance improvement and reduce the SNR threshold of the bit error rate of 1e-5 by one in a hundred thousand. Under the weak signal condition of -148 dBm, the single-channel receiver needs to continuously perform 5 cycles of soft information combination of the navigation message to reach the SNR threshold of the bit error rate of 1e-5. After the dual-channel combination, only 3 more cycles of soft information combination of the message are required to meet the SNR requirement of the bit error rate. At this time, 2 cycles are saved. For GPS L1C and B1I signals, 60 seconds are saved. These 60 seconds can be used to increase the non-coherent integration period to improve the performance of correlation peak acquisition, which can be improved by 2 dB. Therefore, if the cold start acquisition sensitivity of the single-channel receiver is -148 dBm, then after the dual-antenna dual-channel combination, the sensitivity can be improved to -150 dBm.

[0127] In some embodiments, the combination methods include but are not limited to maximum ratio combination, selection combination, switching combination, equal gain combination. Optionally, the combination weights of the signals of each channel can be determined according to the received signal strength RSS or signal-to-noise ratio SNR or carrier-to-noise ratio CNR of each channel, and the combination is performed based on the combination weights.

[0128] Exemplarily, the solution of the above example can also be applied to a multi-channel receiver, such as Figure 9 As shown, it is a schematic structural diagram of a multi-channel single-frequency GNSS receiver. This example can reconfigure the channels connected to antenna 1, enabling the receiver to receive satellite signals diversely and combine the received signals, improving the sensitivity of the receiver to receive signals, as well as the accuracy and efficiency of obtaining navigation messages.

[0129] Optionally, the solution of the above example can improve the positioning accuracy of the receiver. For example Figure 10 As shown, satellite signals can be received through two channels, and satellite observations of the two channels can be obtained. Commonly used differential algorithms are used to perform single-difference, double-difference, etc. processing on the satellite observations to eliminate common errors. According to the equation after eliminating the errors, PVT solution is performed to achieve the positioning of the receiver. Positioning can be performed using the equation after eliminating common errors through two channels to obtain a more accurate positioning result, which can improve the positioning accuracy of the receiver.

[0130] Furthermore, in an open scenario, using the receiver structure described in the above solution can improve the accuracy from about 10 meters of ordinary single-point positioning to below-meter positioning accuracy. In the scenario of multi-antenna single-frequency reception, there is no need to obtain reference station information from the outside for positioning, and a high-precision algorithm can be further used to improve the positioning accuracy. For example, according to the principle of Real-Time Kinematic (RTK) high-precision positioning, differential positioning can be performed using the observations of two channels to eliminate common errors and obtain a high-precision positioning result.

[0131] Among them, compared with the fixed base station mode, the difference of RTK is that both the base station and the mobile station are moving. In RTK positioning, this mode is called the moving base mobile mode.

[0132] Optionally, the high-precision positioning result obtained in the moving base mobile mode is the relative position between two antennas, and its accuracy can reach the centimeter level. At the same time, the heading angle, that is, the angle between the antenna connection line and the due north, can be calculated based on the high-precision relative position. The accuracy of this angle is related to the distance between the antennas. When the baseline length between the antennas is 1m, the accuracy of the heading angle can reach 0.1°; when the baseline length is 25cm, the accuracy of the heading angle can reach 2°. In addition, since the baseline length is known, we can further improve the accuracy of orientation and the reliability of the system based on this constraint condition. Finally, the accuracy of the heading angle can reach 0.1°, reaching the level of high-end inertial navigation devices.

[0133] In summary, in the above examples of the present disclosure, by receiving satellite signals through multi-channel single-frequency, the receiving sensitivity of the receiver can be improved, as well as the accuracy and efficiency of obtaining navigation messages. At the same time, by using the differential results of multi-channel observations for positioning, the positioning accuracy of the receiver can be improved.

[0134] Figure 11 FIG. 1100 is a schematic structural diagram of a navigation message acquisition device 1100 provided by an embodiment of the present disclosure. As Figure 11 shown, the device includes: a first processing unit 1110, configured to receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through a second channel and convert it into a second digital signal. At least one channel in the at least one second channel and the first channel are applicable to a first frequency band; a second processing unit 1120, configured to perform a merging process on the first digital signal and the second digital signal to obtain a navigation message, and the navigation message is used for positioning.

[0135] In some embodiments, the peak difference of the non-coherent integration of the first satellite signal and the second satellite signal is less than a preset time.

[0136] In some embodiments, the first processing unit 1110 may further be configured to perform an amplification and down-conversion operation on the first satellite signal to obtain a first intermediate frequency signal, and perform an amplification and down-conversion operation on the second satellite signal to obtain a second intermediate frequency signal; perform an analog-to-digital conversion on the first intermediate frequency signal to obtain a first digital signal, and perform an analog-to-digital conversion on the second intermediate frequency signal to obtain a second digital signal.

[0137] In some embodiments, the second processing unit 1120 may further be configured to perform preprocessing on the first digital signal and the second digital signal; perform a first merging process on the preprocessed first digital signal and the second digital signal to obtain a first merging result; respectively, through the first channel and the second channel, based on the first merging result, perform acquisition, tracking, and measurement value extraction on the first satellite signal and the second satellite signal to obtain a first measurement value and a second measurement value. The first measurement value includes a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value includes a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information; perform a second merging process on the first measurement value and the second measurement value to obtain a navigation message.

[0138] In some embodiments, the second processing unit 1120 may further be configured to perform a second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; perform a decoding process on the merged navigation message soft information to generate navigation message data bits; perform a sub-frame generation process on the navigation message data bits to obtain a navigation message.

[0139] In some embodiments, the second processing unit 1120 may also be configured to perform differential processing on the first measurement value and the second measurement value to obtain a differential equation; determine the state of the receiver according to the differential positioning equation, where the state of the receiver includes at least one of the position, speed, and time of the receiver.

[0140] In some embodiments, the second processing unit 1120 may also be configured to perform non-coherent integration on the preprocessed first digital signal and the second digital signal to obtain a first non-coherent integration result and a second non-coherent integration result; merge the first non-coherent integration result and the second non-coherent integration result to obtain a first merged result.

[0141] In some embodiments, the second processing unit 1120 may also be configured to capture and track the first satellite signal based on the first merged result in the first channel to determine a first Doppler frequency offset value and a first code phase value of the first satellite signal; capture and track the second satellite signal based on the first merged result in the second channel to determine a second Doppler frequency offset value and a second code phase value of the second satellite signal; measure the captured and tracked first satellite signal in the first channel to determine a first carrier phase value of the first satellite signal; measure the captured and tracked second satellite signal in the second channel to determine a second carrier phase value of the second satellite signal; perform bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked first satellite signal in the first channel to determine first navigation message soft information of the first satellite signal; perform bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the captured and tracked second satellite signal in the second channel to determine second navigation message soft information of the second satellite signal.

[0142] In some embodiments, the second processing unit 1120 may also be configured to merge the first Doppler frequency offset value and the second Doppler frequency offset value to obtain a merged Doppler frequency offset value; merge the first code phase value and the second code phase value to obtain a merged code phase value; merge the first carrier phase value and the second carrier phase value to obtain a merged carrier phase value; merge the first navigation message soft information and the second navigation message soft information to obtain merged navigation message soft information.

[0143] In summary, the navigation message acquisition device 1100 can receive satellite signals from multiple channels, perform merging processing on the received satellite signals to obtain a navigation message, and can achieve obtaining a navigation message based on enhanced signals, improving the accuracy and efficiency of navigation message acquisition.

[0144] In the embodiments provided by the present application above, the methods and devices provided by the embodiments of the present application are introduced. To implement each function in the methods provided by the embodiments of the present application above, the electronic device may include a hardware structure, software modules, and implement the above functions in the form of a hardware structure, software modules, or a combination of a hardware structure and software modules. A certain function among the above functions may be executed in the form of a hardware structure, software module, or a combination of a hardware structure and software module.

[0145] Figure 12 FIG. 4 is a block diagram of an electronic device 1200 for implementing the above method shown according to an exemplary embodiment. For example, the electronic device 1200 may be a mobile phone, a computer, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0146] Referring to Figure 12 , the electronic device 1200 may include one or more of the following components: a processing component 1202, a memory 1204, a power component 1206, a multimedia component 1208, an audio component 1210, an input / output (I / O) interface 1212, a sensor component 1214, and a communication component 1216.

[0147] The processing component 1202 generally controls the overall operation of the electronic device 1200, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing component 1202 may include one or more processors 1220 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 1202 may include one or more modules to facilitate the interaction between the processing component 1202 and other components. For example, the processing component 1202 may include a multimedia module to facilitate the interaction between the multimedia component 1208 and the processing component 1202.

[0148] The memory 1204 is configured to store various types of data to support the operation of the electronic device 1200. Examples of these data include instructions for any application or method operating on the electronic device 1200, contact data, phone book data, messages, pictures, videos, etc. The memory 1204 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0149] The power supply component 1206 provides power for various components of the electronic device 1200. The power supply component 1206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 1200.

[0150] The multimedia component 1208 includes a screen that provides an output interface between the electronic device 1200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of the touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 1208 includes a front camera and / or a rear camera. When the electronic device 1200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0151] The audio component 1210 is configured to output and / or input audio signals. For example, the audio component 1210 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 1200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 1204 or transmitted via the communication component 1216. In some embodiments, the audio component 1210 further includes a speaker for outputting audio signals.

[0152] The I / O interface 1212 provides an interface between the processing component 1202 and a peripheral interface module, and the peripheral interface module may be a keyboard, a click wheel, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a power-on button, and a lock button.

[0153] The sensor assembly 1214 includes one or more sensors for providing status assessment of various aspects for the electronic device 1200. For example, the sensor assembly 1214 can detect the on / off state of the electronic device 1200, the relative positioning of components, such as the display and keypad of the electronic device 1200. The sensor assembly 1214 can also detect a change in the position of the electronic device 1200 or a component of the electronic device 1200, the presence or absence of user contact with the electronic device 1200, the orientation or acceleration / deceleration of the electronic device 1200, and the temperature change of the electronic device 1200. The sensor assembly 1214 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 1214 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1214 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0154] The communication component 1216 is configured to facilitate communication between the electronic device 1200 and other devices in a wired or wireless manner. The electronic device 1200 can access a wireless network based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR (New Radio), or a combination thereof. In an exemplary embodiment, the communication component 1216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1216 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0155] In an exemplary embodiment, the electronic device 1200 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above methods.

[0156] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1204 including instructions, and the above instructions can be executed by a processor 1220 of the electronic device 1200 to complete the above methods. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0157] Embodiments of the present disclosure also propose a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to execute the methods described in the above embodiments of the present disclosure.

[0158] Figure 13 FIG. 4 is a schematic structural diagram of a chip 1300 for implementing the above method according to an exemplary embodiment. Referring to Figure 13 , the chip 1300 includes a communication interface 1301 and at least one processor 1302. The communication interface 1301 is configured to receive signals input to the chip 1300 or signals output from the chip 1300, and the processor 1302 communicates with the communication interface 1301 and implements the methods described in the above embodiments of the present disclosure through logic circuits or by executing code instructions.

[0159] It should be noted that the terms "first", "second", etc. in the description, claims and drawings of the present disclosure are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0160] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in at least one embodiment or example.

[0161] Any process or method description in a flowchart or described in other ways herein can be understood as representing a module, segment or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a way not shown or discussed, including in a substantially simultaneous manner according to the functions involved or in a reverse order, which should be understood by those skilled in the technical field of the embodiments of the present invention.

[0162] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite ordered listing of executable instructions for implementing logical functions, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processing module, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of the computer-readable medium include the following: an electrical connection part having at least one wiring (control method), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which a program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0163] It should be understood that various parts of the embodiments of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0164] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0165] In addition, each functional unit in the various embodiments of the present invention may be integrated into one processing module, may exist separately as individual units physically, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, or the like.

[0166] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A receiver, characterized in that, It includes a radio frequency analog circuit and a digital processing circuit. The radio frequency analog circuit is configured to: receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through at least one second channel and convert it into a second digital signal, where at least one channel in the at least one second channel and the first channel are applicable to a first frequency band. The digital processing circuit is configured to: perform a merging process on the first digital signal and the second digital signal to obtain a navigation message for positioning.

2. The receiver according to claim 1, wherein The radio frequency analog circuit includes: A radio frequency unit configured to perform amplification and down-conversion operations on the first satellite signal received through the first channel to obtain a first intermediate frequency signal, and perform amplification and down-conversion operations on the second satellite signal received through the second channel to obtain a second intermediate frequency signal. An analog-to-digital converter configured to process the first intermediate frequency signal to obtain the first digital signal and process the second intermediate frequency signal to obtain the second digital signal.

3. The receiver according to claim 2, characterized in that, The radio frequency unit includes: A first radio frequency unit corresponding to the first channel, the first radio frequency unit includes a first low-noise amplifier, a first mixer, a first filtering unit, a first phase-locked loop, and a clock generator, the output terminals of the first phase-locked loop and the clock generator are connected to the first mixer, and the first low-noise amplifier supports a wide frequency band. A second radio frequency unit corresponding to the second channel, the second radio frequency unit includes a second low-noise amplifier, a second mixer, a second filtering unit, and a second phase-locked loop, a first output terminal of the second phase-locked loop is connected to the second mixer, and a second output terminal of the second phase-locked loop is connected to the first mixer.

4. The receiver according to claim 1, characterized in that, The digital processing circuit includes: A digital front end configured to perform preprocessing on the first digital signal and the second digital signal. A capture and tracking unit configured to perform a first merging process on the preprocessed first digital signal and second digital signal to obtain a first merging result, capture and track the first satellite signal through the first channel according to the first merging result, and capture and track the second satellite signal through the second channel according to the first merging result. A measurement value extraction unit configured to perform measurement processing on the captured and tracked first satellite signal through the first channel to obtain a first measurement value, and perform measurement processing on the captured and tracked second satellite signal through the second channel to obtain a second measurement value, where the first measurement value includes a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and first navigation message soft information, and the second measurement value includes a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and second navigation message soft information. A generation unit configured to perform a second merging process on the first measurement value and the second measurement value to obtain the navigation message.

5. The receiver according to claim 4, wherein The generation unit includes: A merging unit, configured to perform the second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; A decoding unit, configured to perform a decoding process on the merged navigation message soft information to generate navigation message data bits; A sub-frame generator, configured to perform a sub-frame generation process on the navigation message data bits to obtain the navigation message.

6. The method according to claim 1, wherein The merging process includes at least one of maximum ratio combining, selection combining, switching combining, and equal gain combining.

7. A method for obtaining navigation message, characterized in that The method is executed by a receiver according to any one of claims 1 to 6, and the method includes: Receiving a first satellite signal from a first antenna through a first channel and converting it into a first digital signal, and receiving at least one second satellite signal from a second antenna through a second channel and converting it into a second digital signal, where at least one channel in the at least one second channel and the first channel are applicable to a first frequency band; Performing a merging process on the first digital signal and the second digital signal to obtain a navigation message for positioning.

8. The method according to claim 7, characterized in that The peak difference between the non-coherent integrations of the first satellite signal and the second satellite signal is less than a preset time.

9. The method according to claim 7, characterized in that, The receiving a first satellite signal from a first antenna through a first channel and converting it into a first digital signal, and receiving at least one second satellite signal from a second antenna through a second channel and converting it into a second digital signal includes: Performing an amplification and down-conversion operation on the first satellite signal to obtain a first intermediate frequency signal, and performing an amplification and down-conversion operation on the second satellite signal to obtain a second intermediate frequency signal; Performing an analog-to-digital conversion on the first intermediate frequency signal to obtain a first digital signal, and performing an analog-to-digital conversion on the second intermediate frequency signal to obtain a second digital signal.

10. The method according to claim 7, characterized in that, The performing a merging process on the first digital signal and the second digital signal to obtain a navigation message includes: Performing a preprocessing on the first digital signal and the second digital signal; Performing a first merging process on the preprocessed first digital signal and second digital signal to obtain a first merging result; Respectively through the first channel and the second channel, based on the first merging result, performing acquisition, tracking, and measurement value extraction on the first satellite signal and the second satellite signal to obtain a first measurement value and a second measurement value, where the first measurement value includes a first Doppler frequency offset value, a first code phase value, a first carrier phase value, and a first navigation message soft information, and the second measurement value includes a second Doppler frequency offset value, a second code phase value, a second carrier phase value, and a second navigation message soft information; Performing a second merging process on the first measurement value and the second measurement value to obtain the navigation message.

11. The method according to claim 10, wherein The performing a second merging process on the first measurement value and the second measurement value to obtain the navigation message includes: Performing the second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information; Performing a decoding process on the merged navigation message soft information to generate navigation message data bits; Performing a sub-frame generation process on the navigation message data bits to obtain the navigation message.

12. The method according to claim 10, wherein Performing a first merging process on the preprocessed first digital signal and second digital signal to obtain a first merging result, including: Performing non-coherent integration on the preprocessed first digital signal and second digital signal to obtain a first non-coherent integration result and a second non-coherent integration result; Merging the first non-coherent integration result and the second non-coherent integration result to obtain a first merging result.

13. The method according to claim 10, wherein Respectively, through the first channel and the second channel, based on the first merging result, performing acquisition, tracking, and measurement value extraction on the first satellite signal and second satellite signal to obtain a first measurement value and a second measurement value, including: In the first channel, based on the first merging result, performing acquisition and tracking on the first satellite signal to determine a first Doppler frequency offset value and a first code phase value of the first satellite signal; In the second channel, based on the first merging result, performing acquisition and tracking on the second satellite signal to determine a second Doppler frequency offset value and a second code phase value of the second satellite signal; In the first channel, measuring the acquired and tracked first satellite signal to determine a first carrier phase value of the first satellite signal; In the second channel, measuring the acquired and tracked second satellite signal to determine a second carrier phase value of the second satellite signal; In the first channel, performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the acquired and tracked first satellite signal to determine first navigation message soft information of the first satellite signal; In the second channel, performing bit synchronization, bit demodulation, frame synchronization, and forward error correction decoding on the acquired and tracked second satellite signal to determine second navigation message soft information of the second satellite signal.

14. The method according to claim 11, wherein Performing a second merging process on the first measurement value and the second measurement value to obtain merged navigation message soft information, including: Merging the first Doppler frequency offset value and the second Doppler frequency offset value to obtain a merged Doppler frequency offset value; Merging the first code phase value and the second code phase value to obtain a merged code phase value; Merging the first carrier phase value and the second carrier phase value to obtain a merged carrier phase value; Merging the first navigation message soft information and the second navigation message soft information to obtain the merged navigation message soft information.

15. The method according to claim 10, wherein The method further includes: Performing differential processing using the first measurement value and the second measurement value to obtain a differential equation; Determining the state of the receiver according to the differential positioning equation, where the state of the receiver includes at least one of the position, speed, and time of the receiver.

16. A navigation message acquisition device, the device includes: A first processing unit, configured to receive a first satellite signal from a first antenna through a first channel and convert it into a first digital signal, and receive at least one second satellite signal from a second antenna through a second channel and convert it into a second digital signal, where at least one channel of the at least one second channel and the first channel are applicable to a first frequency band; A second processing unit for combining the first digital signal and the second digital signal to obtain a navigation message for positioning.

17. An electronic device, characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method according to any one of claims 7-15.

18. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are for causing the computer to execute the method according to any one of claims 7-15.

19. A chip, characterized in that, Comprising at least one processor and a communication interface; the communication interface is for receiving signals input to the chip or signals output from the chip, and the processor communicates with the communication interface and implements the method according to any one of claims 7 to 15 through logic circuits or by executing code instructions.

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