A GNSS fast acquisition on-orbit method and receiver with high sensitivity

Abstract

The application discloses a GNSS fast acquisition on-orbit method and a receiver with high sensitivity. The method comprises determining fast acquisition parameters and high-sensitivity acquisition parameters. The fast acquisition parameters are a first coherent integration time and a first non-coherent number of times. The high-sensitivity acquisition parameters are a second coherent integration time and a second non-coherent number of times. The first coherent integration time is less than the second coherent integration time. The first non-coherent number of times is less than the second non-coherent number of times. The environment where the receiver is located is determined based on the number of satellites received by the receiver and the satellite signal strength. The proportion of fast acquisition and high-sensitivity acquisition is determined according to the environment where the receiver is located. The acquisition scheduling is performed by using the fast acquisition parameters and the high-sensitivity acquisition parameters according to the proportion of fast acquisition and high-sensitivity acquisition. The scheme provided by the application can effectively improve the acquisition sensitivity without affecting the time characteristics.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a method and receiver for rapid GNSS acquisition and uploading that also achieves high sensitivity. Background Technology

[0002] With the increasingly widespread application of Global Navigation Satellite System (GNSS) in both military and civilian fields, the application environment is becoming increasingly complex. In complex working scenarios such as exploration, vehicle-mounted, and indoor environments, satellite signals will be greatly attenuated due to the effects of ionospheric refraction, obstruction, and multipath propagation. Conventional satellite navigation receivers will encounter problems such as difficulty in acquiring satellite signals, high synchronization error rates, and susceptibility to signal loss. Therefore, research into high-sensitivity satellite navigation receivers capable of capturing weak signals is a societal necessity.

[0003] Meanwhile, in various complex working scenarios, users have placed higher demands on satellite navigation receivers to output reliable real-time location information in a timely manner. This requires not only high-sensitivity acquisition but also rapid satellite uploading and positioning to support the availability of more satellites for navigation calculations during environmental changes. Therefore, there is a clear market and application demand for navigation receivers that can quickly acquire medium-to-strong signals for rapid GNSS synchronization and positioning, while also being compatible with weak signal acquisition to improve the continuity and reliability of navigation and positioning.

[0004] Traditional receivers, in complex operating scenarios, struggle to simultaneously meet users' demands for timely and reliable real-time position information from satellite navigation receivers, and for high-sensitivity acquisition capabilities to maintain GNSS satellite search even under weak signal conditions. Receivers with high-sensitivity tracking capabilities typically need to complete satellite search under medium-to-strong signal conditions first, and then maintain tracking of satellites with weak signals. If tracking of a weak-signal satellite is lost due to obstruction or other reasons, it becomes difficult to re-acquire it within a short period, leading to a decrease in the number of available satellites and affecting positioning accuracy. Therefore, researching a method that simultaneously achieves high-sensitivity weak-signal satellite search capabilities and rapid satellite acquisition under medium-to-strong signal conditions in complex environments is of great significance. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a GNSS rapid acquisition and uploading method and receiver that also achieves high sensitivity.

[0006] The technical solution of this invention is implemented as follows:

[0007] This invention provides a method for rapid GNSS uplink acquisition that balances high sensitivity, the method comprising:

[0008] Determine fast acquisition parameters and high-sensitivity acquisition parameters; wherein, the fast acquisition parameters are a first coherent integration time and a first incoherent number of iterations; the high-sensitivity acquisition parameters are a second coherent integration time and a second incoherent number of iterations; the first coherent integration time is less than the second coherent integration time; the first incoherent number of iterations is less than the second incoherent number of iterations.

[0009] The receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment.

[0010] Capture scheduling is performed using fast capture parameters and high sensitivity capture parameters in proportion to fast capture and high sensitivity capture.

[0011] In one embodiment, the receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined according to the receiver's environment, including:

[0012] If the number of satellites received is less than the threshold A1, the receiver is determined to be in a power-on or no-signal scenario, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N1:1.

[0013] In one embodiment, the receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined according to the receiver's environment, including:

[0014] If the number of satellites currently received is greater than or equal to the threshold A1, and it is determined that only strong signals exist based on the signal strength of the currently received satellites, then the receiver is determined to be in the scenario of receiving navigation analog source signals, and the ratio of fast acquisition to high sensitivity acquisition is configured to 1:0.

[0015] If the number of satellites currently received is greater than or equal to the threshold A1, and it is determined that only weak signals exist based on the strength of the currently received satellite signals, then the receiver is determined to be in the scenario of receiving navigation analog source signals, and the ratio of fast acquisition to high sensitivity acquisition is configured to be 0:1.

[0016] In one embodiment, the receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined according to the receiver's environment, including:

[0017] If the number of currently received satellites is greater than or equal to threshold A1, and the ratio of strong to weak signal satellites is less than threshold B, then the receiver is determined to be in a complex scenario with many weak signals, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N3:1; where N3 <N1。

[0018] In one embodiment, the receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined according to the receiver's environment, including:

[0019] If the number of currently received satellites is greater than or equal to threshold A1, and the ratio of satellites with strong signals to those with weak signals is greater than or equal to threshold B, and the number of currently received satellites is less than threshold A2, then the receiver is determined to be in a complex environment or an open environment just after satellite launch, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N4:1; where A2 > A1, N3 <N4<N1。

[0020] In one embodiment, the receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined according to the receiver's environment, including:

[0021] If the number of satellites currently received is greater than or equal to threshold A2, and the ratio of the number of satellites with strong signals to those with weak signals is greater than or equal to threshold B, then the receiver is determined to be in an open environment with many strong signals, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N5:1; where N5 > N1.

[0022] In one embodiment, a strong signal is a signal with a carrier-to-noise ratio greater than or equal to a preset threshold; a weak signal is a signal with a carrier-to-noise ratio less than a preset threshold.

[0023] This invention also provides a receiver, including: a processor and a memory for storing a computer program that can run on the processor; wherein, when the processor runs the computer program, it performs the steps of the method described above.

[0024] This invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described above.

[0025] The method in this embodiment has the following beneficial effects:

[0026] (1) The receiver can dynamically perceive its current environment in real time based on the number of satellites and signal strength;

[0027] (2) Based on the current environmental state of perception, the corresponding acquisition parameter strategy is designed, which can be compatible with weak signal uploading and medium-strong signal uploading in different environments, and effectively improve the acquisition sensitivity without affecting the time characteristics. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a high-sensitivity GNSS rapid acquisition uplink method according to an embodiment of the present invention.

[0029] Figure 2 This is a detailed flowchart illustrating the method of an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram comparing satellite launch before and after static application of this method in an open environment, according to an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram comparing satellite launch before and after dynamically applying this method in a complex environment, according to an embodiment of the present invention.

[0032] Figure 5 This is an internal structural diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0034] This invention provides a method for rapid GNSS uplink acquisition that balances high sensitivity, such as... Figure 1 As shown, the method includes:

[0035] Step 101: Determine the fast acquisition parameters and the high-sensitivity acquisition parameters; wherein, the fast acquisition parameters are the first coherent integration time and the first incoherent number of iterations; the high-sensitivity acquisition parameters are the second coherent integration time and the second incoherent number of iterations; the first coherent integration time is less than the second coherent integration time; the first incoherent number of iterations is less than the second incoherent number of iterations;

[0036] Step 102: Determine the receiver's environment based on the number of satellites received and the satellite signal strength; and determine the ratio of fast acquisition to high-sensitivity acquisition based on the receiver's environment;

[0037] Step 103: Perform capture scheduling using fast capture parameters and high sensitivity capture parameters in proportion to fast capture and high sensitivity capture.

[0038] Specifically, see Figure 2 The method in this embodiment combines high-sensitivity capture with rapid capture, and the detailed process includes the following:

[0039] S1. The receiver determines the acquisition parameters for fast acquisition and high-sensitivity acquisition;

[0040] S2. The receiver comprehensively assesses the current environment based on information such as the number of satellites and satellite signal strength, and configures the execution ratio of fast acquisition and high-sensitivity acquisition;

[0041] S3. The receiver determines whether the number of satellites currently received is greater than or equal to the threshold A1. If it is less than the threshold A, the receiver is determined to be in scenario 1, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N1:1.

[0042] S4. The number of satellites received by the receiver at this time is greater than or equal to the threshold A1. Based on the strength of the currently received satellite signal, it is determined whether there are strong signals and weak signals at the same time. If only one signal exists, the receiver is determined to be in scenario 2 and only the corresponding signal is acquired.

[0043] S5. If the number of satellites received by the receiver is greater than or equal to the threshold A1, determine whether the ratio of the number of satellites with strong signals and weak signals is greater than or equal to the threshold B. If not, determine that the receiver is in scenario 3 and configure the ratio of fast acquisition to high sensitivity acquisition as N3:1.

[0044] S6. The number of satellites received by the receiver at this time is greater than or equal to the threshold A1, and the ratio of the number of satellites with strong signals to the number of satellites with weak signals is greater than or equal to the threshold B. Determine whether the current number of satellites is greater than or equal to the threshold A2. If the number of satellites is between A1 and A2, then the receiver is determined to be in scenario 4, and the ratio of fast acquisition to high sensitivity acquisition is configured as N4:1.

[0045] S7. If the number of satellites received by the receiver at this time is greater than or equal to the threshold A2, and the ratio of the number of satellites with strong signals to the number of satellites with weak signals is greater than or equal to the threshold B, then the receiver is determined to be in scenario 5, and the ratio of fast acquisition to high sensitivity acquisition is configured as N5:1.

[0046] S8. Perform capture scheduling according to the ratio of fast capture to high-sensitivity capture determined above.

[0047] In step S1, the receiver needs to be configured with two sets of acquisition parameters: fast acquisition and high-sensitivity acquisition. These are used for quickly acquiring medium-to-strong signals and searching for weak signals, respectively. Fast acquisition refers to configuring a shorter coherent integration time and fewer incoherent iterations, completing the acquisition search in a shorter time and achieving a faster acquisition effect. High-sensitivity acquisition refers to configuring a longer coherent integration time and more incoherent iterations, achieving the acquisition effect of high-sensitivity acquisition with a longer integration time.

[0048] In step S2, the receiver comprehensively evaluates whether it is in an environment with no signal, analog signal, relatively complex, complex or open environment based on the number of satellites received in real time and the satellite signal strength. At the same time, it determines the execution ratio of fast acquisition and high sensitivity acquisition under different environments.

[0049] In step S3, the receiver determines whether the number of currently received satellites is greater than or equal to the minimum solution satellite number threshold A1. If it is less than the threshold A1, it is determined that the current receiver may have just been powered on or is in a signal-free environment (no RF signal received, tunnel, etc.). It is suitable to use fast acquisition with a major proportion to support quick response to satellite acquisition when switching from a signal-free environment to a signal environment. At this time, the ratio of fast acquisition and high-sensitivity acquisition is configured as N1:1. At the same time, it is necessary to retain high-sensitivity acquisition with a low frequency to ensure that the receiver can also finally reach the threshold A1 even when it is in an all-weak-signal environment.

[0050] In step S4, the number of satellites received by the receiver at this time is greater than or equal to the minimum solution satellite number threshold A1, and a signal has been received. It is determined whether there are both strong signals and weak signals based on the strength of the currently received satellite signals. If there is only one type of signal, either only strong signals or only weak signals, it is determined that the current receiver may be receiving a navigation simulation source signal. At this time, if there are only strong signals, only fast acquisition is required, and for weak signals, high-sensitivity acquisition is performed.

[0051] In step S5, the number of satellites received by the receiver at this time is greater than or equal to the threshold A1, and a signal has been received. It is determined whether the ratio of the number of strong-signal and weak-signal satellites is greater than or equal to the threshold B (the general ratio of strong and weak signals in a relatively open environment). If not, it is determined that the current receiver may be in a relatively complex environment (weak-signal environment such as shaded by trees, external interference, etc.). The proportion N1 of fast acquisition can be reduced to N3, thereby increasing the frequency of high-sensitivity acquisition. At this time, the ratio of fast acquisition and high-sensitivity acquisition is configured as N3:1.

[0052] In step S6, the number of satellites received by the receiver at this time is greater than or equal to the threshold A1, a signal has been received, and the ratio of the number of strong-signal and weak-signal satellites is greater than or equal to the threshold B (the general ratio of strong and weak signals in a relatively open environment). When it is determined that the current number of satellites is less than the threshold A2 (a certain number of satellites are received), and the number of satellites is between A1 and A2 at this time, it is determined that the current receiver may be in an open environment just after satellite acquisition or a complex environment. The fast acquisition ratio N1 can be appropriately reduced to N4 (where N3 < N4 < N1), thereby increasing the proportion of high-sensitivity acquisition. At this time, the ratio of fast acquisition and high-sensitivity acquisition is configured as N4:1.

[0053] In step S7, the number of satellites received by the receiver at this time is greater than or equal to the threshold A1, indicating that a signal has been received, and the ratio of the number of satellites with strong signals to those with weak signals is greater than or equal to the threshold B (the general ratio of strong and weak signals in a relatively open environment). When the number of satellites received by the receiver at this time is greater than or equal to the threshold A2 (a certain number of satellites have been collected), it is determined that the current reception can be considered to be in a relatively open environment. Based on N1, the proportion of fast acquisition can be increased (N5>N1), with fast acquisition as the main method for fast satellite uploading and high sensitivity as a supplement to uploading weak signals. At this time, the ratio of fast acquisition to high sensitivity acquisition is configured as N5:1.

[0054] In step S8, the capture scheduling is performed according to the ratio of fast capture to high-sensitivity capture determined above.

[0055] The following will describe the solution of this embodiment in detail using a specific scenario.

[0056] Specifically, in a specific scenario, the solution of this embodiment includes the following steps:

[0057] S1: Fast capture configuration with capture parameters of 2ms coherent, 10 incoherent, and 20ms to complete one capture, which can basically capture stars with a CNR of 33 or higher. High sensitivity capture configuration with capture parameters of 10ms coherent, 10 incoherent, and 100ms to complete one capture, which can capture stars with a CNR of 28 or higher.

[0058] S2: Assess the current receiver environment based on the current number of satellites and satellite signal strength, and configure the ratio of fast acquisition to high-sensitivity acquisition;

[0059] S3: Number of satellites < 4; receiver has just been powered on or has no signal (no antenna connected, tunnel, etc.).

[0060] Configure fast capture: High sensitivity capture ratio is 30:1;

[0061] S4: Number of satellites ≥ 4, only strong or weak signal; receiver receives navigation analog source signal;

[0062] Configure it for fast capture or high-sensitivity capture;

[0063] S5: Number of satellites ≥ 4, ratio of strong to weak signal satellites less than 3:1; relatively complex environment, with more weak signals;

[0064] Configure fast capture: High sensitivity capture ratio is 5:1 (or 20:4);

[0065] S6: 12 > number of satellites ≥ 4, ratio of strong to weak signal satellites greater than 3:1; newly launched in complex or open environments;

[0066] Configure fast capture: High sensitivity capture ratio is 8:1;

[0067] S7: Number of satellites ≥ 12, ratio of strong to weak signal satellites greater than 3:1; open environment, with more strong signals;

[0068] Configure fast capture: High sensitivity capture ratio is 60:1;

[0069] S8: Perform capture scheduling according to the fast capture and high sensitivity capture ratio determined above.

[0070] See here. Figure 3 and Figure 4 . Figure 3 and Figure 4 This is a diagram showing the satellite launch effect achieved using the method described in this embodiment.

[0071] Figure 3 In the diagram, green represents the number of satellites acquired using the conventional method, while brown represents the number of satellites acquired using the method described in this embodiment. During static testing, it can be seen that due to the addition of satellites with weak signals, the overall number of satellites acquired using the method described in this embodiment is increased to a certain extent. Static testing can improve sensitivity and further enhance system stability.

[0072] Figure 4 In the diagram, green represents the number of satellites acquired using the conventional method, while brown represents the number of satellites acquired using the method described in this embodiment. During dynamic testing in complex environments, the number of satellites remained basically the same when the loop oscillation was about to lose lock. However, the method described in this embodiment allows for faster satellite acquisition during signal recovery, and once the signal stabilizes, the number of satellites is increased, and the fixed solution is maintained more stably, further improving the stability and reliability of the system in complex and dynamic environments.

[0073] In summary, the method of this embodiment has the following beneficial effects:

[0074] (1) The receiver can dynamically perceive its current environment in real time based on the number of satellites and signal strength;

[0075] (2) Based on the current environmental state of perception, the corresponding acquisition parameter strategy is designed, which can be compatible with weak signal uploading and medium-strong signal uploading in different environments, and effectively improve the acquisition sensitivity without affecting the time characteristics.

[0076] To implement the method of the embodiments of the present invention, the embodiments of the present invention also provide a computer device, which can be a receiver, including: a processor and a memory for storing a computer program that can run on the processor; wherein, when the processor is used to run the computer program, it executes the steps of the method described above.

[0077] The computer device provided in this embodiment and the method embodiment described above belong to the same concept. For details of its implementation process, please refer to the method embodiment, which will not be repeated here.

[0078] To implement the method of the embodiments of the present invention, the present invention also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of the above-described method.

[0079] Based on the hardware implementation of the above-described program modules, and in order to implement the method of this embodiment of the invention, this embodiment also provides an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows. Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements the method of any of the above embodiments. The display screen A04 can be a liquid crystal display or an electronic ink display. The input device A05 can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse, etc.

[0080] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0081] The device provided in this embodiment of the invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described method.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0087] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0088] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0089] It is understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or both. Specifically, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0090] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0091] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for rapid GNSS uplink acquisition that balances high sensitivity, characterized in that, The method includes: Determine fast acquisition parameters and high-sensitivity acquisition parameters; wherein, the fast acquisition parameters are a first coherent integration time and a first incoherent number of iterations; the high-sensitivity acquisition parameters are a second coherent integration time and a second incoherent number of iterations; the first coherent integration time is less than the second coherent integration time; the first incoherent number of iterations is less than the second incoherent number of iterations. The receiver's environment is determined based on the number of satellites received and the satellite signal strength; and the ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment. Capture scheduling is performed using fast capture parameters and high sensitivity capture parameters in proportion to fast capture and high sensitivity capture.

2. The GNSS rapid acquisition and uplink method with high sensitivity according to claim 1, characterized in that, The receiver's environment is determined based on the number of satellites received by the receiver and the satellite signal strength. The ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment, including: If the number of satellites received is less than the threshold A1, the receiver is determined to be in a power-on or no-signal scenario, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N1:

1.

3. The GNSS rapid acquisition and uplink method with high sensitivity as described in claim 1, characterized in that, The receiver's environment is determined based on the number of satellites received by the receiver and the satellite signal strength. The ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment, including: If the number of satellites currently received is greater than or equal to the threshold A1, and it is determined that only strong signals exist based on the signal strength of the currently received satellites, then the receiver is determined to be in the scenario of receiving navigation analog source signals, and the ratio of fast acquisition to high sensitivity acquisition is configured to 1:

0. If the number of satellites currently received is greater than or equal to the threshold A1, and it is determined that only weak signals exist based on the strength of the currently received satellite signals, then the receiver is determined to be in the scenario of receiving navigation analog source signals, and the ratio of fast acquisition to high sensitivity acquisition is configured to be 0:

1.

4. The GNSS rapid acquisition and uplink method with high sensitivity according to claim 2, characterized in that, The receiver's environment is determined based on the number of satellites received by the receiver and the satellite signal strength. The ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment, including: If the number of currently received satellites is greater than or equal to threshold A1, and the ratio of strong to weak signal satellites is less than threshold B, then the receiver is determined to be in a complex scenario with many weak signals, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N3:1; where N3 <N1。 5. The GNSS rapid acquisition and uplink method with high sensitivity according to claim 4, characterized in that, The receiver's environment is determined based on the number of satellites received by the receiver and the satellite signal strength. The ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment, including: If the number of currently received satellites is greater than or equal to threshold A1, and the ratio of satellites with strong signals to those with weak signals is greater than or equal to threshold B, and the number of currently received satellites is less than threshold A2, then the receiver is determined to be in a complex environment or an open environment just after satellite launch, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N4:1; where A2 > A1, N3 <N4<N1。 6. The GNSS rapid acquisition and uplink method with high sensitivity according to claim 5, characterized in that, The receiver's environment is determined based on the number of satellites received by the receiver and the satellite signal strength. The ratio of fast acquisition to high-sensitivity acquisition is determined based on the receiver's environment, including: If the number of satellites currently received is greater than or equal to threshold A2, and the ratio of the number of satellites with strong signals to those with weak signals is greater than or equal to threshold B, then the receiver is determined to be in an open environment with many strong signals, and the ratio of fast acquisition to high-sensitivity acquisition is configured as N5:1; where N5 > N1.

7. The GNSS rapid acquisition and uploading method with high sensitivity according to any one of claims 1 to 6, characterized in that, A strong signal is a signal with a carrier-to-noise ratio greater than or equal to a preset threshold; a weak signal is a signal with a carrier-to-noise ratio less than a preset threshold.

8. A receiver, characterized in that, include: A processor and a memory for storing a computer program capable of running on the processor; wherein, when the processor is used to run the computer program, it performs the steps of the method according to any one of claims 1 to 7.

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