Device and method for sea and land environment detection and navigation data enhancement

Abstract

The invention discloses a device for sea and land environment detection and navigation data enhancement, and the device comprises an acquisition module which comprises an upper view module and a lower view module which are respectively used for obtaining a corresponding direct intermediate frequency signal and a corresponding anti-radio frequency signal through the processing of a received direct signal and a reflected signal which are transmitted to a target object by an associated navigation satellite; the control module is used for acquiring the feature information of the target sea and land environment in a GNSS-R remote sensing mode and a GNSS navigation signal enhancement broadcasting mode, acquiring control parameters and generating analog signals based on the control parameters; the storage module is in signal connection with the control module and is used for storing the direct intermediate frequency signal and the corresponding reverse radio frequency signal in a GNSS navigation signal enhancement broadcasting mode; the signal enhancement transmitting module is used for acquiring enhanced radio frequency data based on the analog signal and transmitting the enhanced radio frequency data through a transmitting link; and the power supply module is electrically connected with the upper view module, the lower view module, the storage module and the signal enhancement transmitting module and is used for providing electric energy.

Description

Technical Field

[0001] The present invention belongs to the field of satellite technology, and in particular relates to a device and method for detecting sea and land environments and enhancing navigation data. Background Art

[0002] As a new low-orbit remote sensing technology, spaceborne GNSS-R (Global Navigation Satellite System - Reflection) ocean and land environment detection technology boasts low cost, low power consumption, and high stealth, enabling all-weather passive microwave remote sensing. By receiving direct signals from GNSS navigation satellites, this technology can accurately deduce environmental physical parameters and is currently widely used in the detection of ocean and land environmental factors such as sea level height, wind speed, soil moisture, and polar ice. However, spaceborne land and ocean environment detection technology has significant limitations. It is not always available in the target observation area and time period. This results in the corresponding detection equipment being idle for a significant period of time, resulting in a waste of space resources. At the same time, the advent of the intelligent era has placed higher demands on navigation and positioning accuracy. Advanced technologies and innovative methods are urgently needed to improve navigation accuracy to meet the demand for centimeter-level high-precision positioning required by ground-based navigation equipment. Summary of the Invention

[0003] The present invention provides a device and method for marine and land environment detection and navigation data enhancement, integrating satellite-borne GNSS-R marine and land environment detection technology with navigation satellite signal enhancement technology. By combining GNSS-R remote sensing technology and navigation signal enhancement technology through time-division multiplexing, high-precision monitoring and navigation positioning of marine and land environments are achieved. By supporting switching between remote sensing and navigation signal enhancement modes, the system and method are adapted to the needs of various application scenarios. The scalability of the method and device is improved through modular design for acquisition, control, storage, signal processing, and transmission processing. To obtain more accurate features of the target marine and land environment under the GNSS-R remote sensing technology operating mode, the Adagrad algorithm is introduced to obtain the coordinate information of the target marine and land environment's surface mirror reflection points mapped to the Earth's surface. The rate is adaptively adjusted based on the characteristics of different parameters to reduce error accumulation. Automatically adjusting the learning rate enhances the robustness, accuracy, and convergence of the calculation process, reducing error interference. This allows for more accurate coordinate information of the target marine and land environment, thereby obtaining more comprehensive and accurate feature information.

[0004] To solve the above problems, the present invention proposes a device and method for sea and land environment detection and navigation data enhancement.

[0005] The first aspect of the present invention provides a device for sea and land environment detection and navigation data enhancement, characterized in that it includes: an acquisition module, including an upward-looking module and a downward-looking module, which are respectively used to obtain corresponding direct intermediate frequency signals and corresponding reflected frequency signals by processing the direct signals and reflected signals transmitted by the associated navigation satellite to the target object; a control module, which is respectively connected to the upward-looking module and the downward-looking module by signal, and is used to obtain characteristic information of the target sea and land environment and to obtain control parameters and generate analog signals based on the control parameters in the GNSS-R remote sensing mode and the GNSS navigation signal enhancement broadcast mode; a storage module, which is connected to the control module by signal, and is used to store the direct intermediate frequency signal and the corresponding reflected frequency signal in the GNSS navigation signal enhancement broadcast mode; a signal enhancement transmission module, which is used to obtain enhanced radio frequency data based on the analog signal and transmit it through a transmission link; a power supply module, which is respectively electrically connected to the upward-looking module, the downward-looking module, the storage module, and the signal enhancement transmission module, and is used to provide electrical energy.

[0006] Preferably, it is characterized in that the signal enhancement transmission module also includes a GNSS signal generation module and a wide-beam GNSS signal enhancement antenna, which are respectively used to generate enhanced radio frequency data based on the analog signal and broadcast the enhanced radio frequency data.

[0007] Preferably, it is characterized in that the control module also includes a remote sensing control end, a correlator module and a channel control module, the remote sensing control end is signal-connected to the correlator module and the channel control module, and the remote sensing control end is used to control the working mode of the correlator module and the channel control module; the correlator module and the channel control module are used to obtain characteristic information of the target sea and land environment in the GNSS-R remote sensing mode, and are used to obtain control parameters based on the direct intermediate frequency signal and generate analog signals to drive the signal enhancement transmission module to broadcast enhanced data in the GNSS navigation signal enhancement broadcast mode.

[0008] The second aspect of the present invention provides a method for sea and land environment detection and navigation data enhancement, which is applicable to any of the above-mentioned devices for sea and land environment detection and navigation data enhancement, and is characterized in that it includes two working modes, namely GNSS-R remote sensing mode and GNSS navigation signal enhancement broadcast mode, wherein: The GNSS-R remote sensing modes include: Based on the associated navigation satellite, the acquisition module obtains the direct intermediate frequency signal and the reflected intermediate frequency signal of the target sea and land environment; Acquiring characteristic information of the target sea and land environment through a control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal; The GNSS navigation signal enhanced broadcast mode includes: Acquire a first direct intermediate frequency signal and a first reflected intermediate frequency signal of any target object through an acquisition module based on the associated navigation satellite; storing the first direct intermediate frequency signal and the first reflected intermediate frequency signal through a storage module; Based on the first direct intermediate frequency signal, a control parameter is obtained through a control module and an analog signal is generated; Transmitted through the signal enhancement transmission module based on the analog signal.

[0009] Preferably, it is characterized in that the step of acquiring characteristic information of the target sea and land environment through a control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal includes: Acquiring navigation satellite information based on the direct intermediate frequency signal through an acquisition tracking algorithm and a default sorting algorithm; Based on the information of the navigation satellite and the position information of the device for sea and land environment detection and navigation data enhancement, the target sea and land environment position information is obtained by using an Adagrad algorithm, where the target sea and land environment position information is the coordinate information of the mirror reflection point on the surface of the target sea and land environment mapped to the surface of the earth; The characteristic information is obtained by performing DDM array spectrum mapping based on the direct intermediate frequency signal, the reflected intermediate frequency signal, and the target sea and land environment position information through local random codes.

[0010] Preferably, the step of obtaining control parameters and generating an analog signal through a control module based on the first direct intermediate frequency signal includes: Acquiring preliminary processing information based on the first direct intermediate frequency signal through frequency domain adaptive FFT capture judgment, code phase and Doppler capture; Acquiring conversion information through telegram synchronization and telegram parsing based on the preliminary processing information; Obtaining the control parameters by extraction based on the conversion information and updating the configuration of the control module; A digital signal adapted to the control parameter generated by the control module; An analog signal is obtained based on the digital signal through conversion and frequency conversion.

[0011] Preferably, it is characterized in that the step of obtaining the target land and sea environment location information by using the Adagrad algorithm includes: S1210: parameter initialization; S1220: Calculate the gradient value based on the navigation satellite information T, the location information R of the device for sea and land environment detection and navigation data enhancement, and the input parameter Sn of the target sea and land environment , the calculation expression is: ; S1230: Calculating the gradient cumulative sum of squares based on the input parameters of the gradient accumulation variable and the gradient value, and updating the input parameters of the gradient accumulation variable; S1240: Calculating an updated value of the target land and sea environment based on the cumulative square sum of the gradient, the gradient value, and the input parameters of the target land and sea environment; S1250: Calculating the target sea and land environment position information based on the input parameters of the target sea and land environment and the updated value of the target sea and land environment.

[0012] Preferably, the step of calculating the gradient cumulative sum of squares based on the input parameters of the gradient accumulation variable and the gradient value and updating the input parameters of the gradient accumulation variable includes: Get the horizontal component of the current gradient based on the gradient value , the calculation expression is: Where N(S) represents the unit normal vector of Sn, ▽f(S n ) is the gradient value; Input parameters based on gradient accumulation variables , the horizontal component of the gradient Calculate the cumulative sum of squares of the gradient , the calculation expression is: The value of the gradient cumulative sum of squares is updated to the input parameter of the gradient accumulation variable.

[0013] Preferably, the step of calculating the updated value of the target land and sea environment based on the cumulative sum of squares of the gradient, the gradient value, and the input parameters of the target land and sea environment comprises: Based on the cumulative sum of squares of the gradient , the gradient value ▽f (S n ) Calculate the increment △S, the calculation expression is: Where ε is the global learning rate constant, δ is the first constant; Based on the increment ΔS and the input parameter Sn of the target sea and land environment, the preliminary position information S is obtained. ‘ , the calculation expression is: ; Based on the preliminary position information, the updated value S of the target sea and land environment is obtained by vector mapping. n+1 , the calculation expression is: Where OS' is the vector value of the specular reflection point on the target sea and land environment surface, |OS'| is the corresponding modulus value of the vector, and Re(S') is the complex part of the preliminary information.

[0014] Preferably, the step of acquiring the target land and sea environment location information based on the input parameters of the target land and sea environment and the updated value of the target land and sea environment comprises: Preset amplitude threshold constant; Based on the input parameters S of the target sea and land environment n and the updated value S of the target land and sea environment n+1 Get the amplitude error value COR, calculation expression: ; Updating the input parameters of the target land and sea environment by the updated values of the target land and sea environment; Based on the comparison between the amplitude error value and the amplitude threshold constant, the comparison logic is: If the amplitude error value is less than or equal to the amplitude threshold constant, jump to step S1220 to continue a new loop calculation; otherwise, assign the updated value of the target sea and land environment to the target sea and land environment position information and end the calculation process.

[0015] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: By combining GNSS-R remote sensing technology and navigation signal enhancement technology in a time-division multiplexing manner, high-precision monitoring of the sea and land environment and navigation signal enhancement and broadcasting are achieved. The former realizes the acquisition of characteristic information of the sea and land environment, and the latter is used to enhance and broadcast the direct intermediate frequency signal emitted by the navigation satellite to any target object. The enhanced signal is received and processed by general equipment to improve the positioning accuracy of the target object.

[0016] The state is highly expandable through modular design: the expandability of the system and method is improved through modular design of acquisition, control, storage, signal processing and transmission processing.

[0017] In GNSS-R remote sensing mode, characteristic information of the target land and sea environment is calculated based on direct intermediate frequency signals, reflected intermediate frequency signals, and the target land and sea environment location information. The target land and sea environment location information uses the Adagrad algorithm to obtain the coordinate information of the target land and sea environment surface mirror reflection points mapped to the Earth's surface. The algorithm adaptively adjusts the rate based on the characteristics of different parameters and reduces error accumulation. Automatically adjusting the learning rate enhances the robustness, accuracy, and convergence of the calculation process, reducing error interference. This allows for more accurate target land and sea environment coordinate information, thereby obtaining more comprehensive and accurate characteristic information. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein: Figure 1 A schematic flow chart of a method for sea and land environment detection and navigation data enhancement in the present invention; Figure 2 This is a flow chart of a device for sea and land environment detection and navigation data enhancement in the present invention; Figure 3 The present invention provides a flow chart of obtaining target land and sea environment location information in a method for land and sea environment detection and navigation data enhancement. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are greatly simplified and not to exact ratios, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention.

[0020] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] First embodiment See also Figure 2 According to a first aspect of the present invention, a device for detecting and enhancing sea and land environments and navigation data is provided, which is characterized in that it includes: an acquisition module, including an upward-looking module and a downward-looking module, which are respectively used to process the direct signal and the reflected signal transmitted by the associated navigation satellite to the target object to obtain the corresponding direct intermediate frequency signal and the corresponding reflected frequency signal; a control module, which is respectively connected to the upward-looking module and the downward-looking module by signal, and is used to obtain the characteristic information of the target sea and land environment and to obtain the control parameters and generate an analog signal based on the control parameters in the GNSS-R remote sensing mode and the GNSS navigation signal enhancement broadcast mode; a storage module, which is connected to the control module by signal, and is used to store the direct intermediate frequency signal and the corresponding reflected frequency signal in the GNSS navigation signal enhancement broadcast mode; a signal enhancement transmission module, which is used to obtain enhanced radio frequency data based on the analog signal and transmit it through a transmission link; and a power supply module, which is respectively electrically connected to the upward-looking module, the downward-looking module, the storage module, and the signal enhancement transmission module to provide power.

[0022] Two different operating modes, GNSS-R remote sensing mode and GNSS navigation signal enhanced broadcast mode, are achieved through remote control commands from the remote sensing control end of the control module or pre-programmed and fixed operating modes of the correlator module and channel control module of the control module. In the GNSS-R remote sensing mode, the reflected signal and direct signal of the target sea and land environment are acquired and processed by the upward-looking module and downward-looking module of the acquisition module. Specifically, the reflected signal and direct signal are acquired by the upward-looking antenna of the upward-looking module and the downward-looking antenna of the downward-looking module. Based on the reflected signal and direct signal, the direct intermediate frequency signal and reflected intermediate frequency signal of the target sea and land environment are acquired through the upward-looking RF front-end and the downward-looking RF front-end. Based on the direct intermediate frequency signal and the reflected intermediate frequency signal, the characteristic information of the target sea and land environment is acquired through the correlator module and the channel control module of the control module.

[0023] The GNSS navigation signal enhanced broadcast mode obtains the first direct intermediate frequency signal and the corresponding first reflected intermediate frequency signal transmitted by the navigation satellite to any target object through the acquisition module. Specifically, Furthermore, the upward-looking antenna of the upward-looking module and the downward-looking antenna of the downward-looking module collect the first direct signal and the first reflected signal, and the first direct intermediate frequency signal and the first reflected intermediate frequency signal are obtained through the upward-looking RF front end and the downward-looking RF front end; the storage module saves the first direct intermediate frequency signal and the first reflected intermediate frequency signal; based on the first direct intermediate frequency signal, the correlator module and the channel control module of the control module extract the control parameters of the first direct intermediate frequency signal and generate an analog signal; based on the analog signal, the GNSS signal generation module of the signal enhancement transmission module processes the obtained enhanced RF data and broadcasts it by the wide-beam GNSS signal enhancement antenna of the signal enhancement transmission module. The GNSS signal generation module of the signal enhancement transmission module is provided with a power amplifier and a filter, and the RF data is a RF signal.

[0024] Continue to see Figure 2 Preferably, it is characterized in that the signal enhancement transmission module also includes a GNSS signal generation module and a wide-beam GNSS signal enhancement antenna, which are respectively used to generate enhanced radio frequency data based on the analog signal and broadcast the enhanced radio frequency data.

[0025] The radio frequency data is a radio frequency signal.

[0026] Continue to see Figure 2Preferably, it is characterized in that the control module also includes a remote sensing control end, a correlator module and a channel control module. The remote sensing control end is signal-connected to the correlator module and the channel control module, and the remote sensing control end is used to control the working mode of the correlator module and the channel control module; the correlator module and the channel control module are used to obtain characteristic information of the target sea and land environment in the GNSS-R remote sensing mode, and are used to obtain control parameters based on the direct intermediate frequency signal and generate analog signals to drive the signal enhancement transmission module to broadcast enhanced data in the GNSS navigation signal enhancement broadcast mode.

[0027] Second embodiment See also Figure 1 The second aspect of the present invention provides a method for sea and land environment detection and navigation data enhancement, which is applicable to any of the above-mentioned devices for sea and land environment detection and navigation data enhancement, and is characterized in that it includes two working modes, namely GNSS-R remote sensing mode and GNSS navigation signal enhancement broadcast mode, wherein, GNSS-R remote sensing modes include: Based on the associated navigation satellite, the acquisition module obtains the direct intermediate frequency signal and the reflected intermediate frequency signal of the target sea and land environment; Based on the direct intermediate frequency signal and the reflected intermediate frequency signal, characteristic information of the target sea and land environment is obtained through the control module; GNSS navigation signal enhanced broadcast modes include: Acquire a first direct intermediate frequency signal and a first reflected intermediate frequency signal of any target object through an acquisition module based on the associated navigation satellite; The first direct intermediate frequency signal and the first reflected intermediate frequency signal are stored in a storage module; Based on the first direct intermediate frequency signal, a control parameter is obtained through a control module and an analog signal is generated; Transmitted based on analog signal through signal enhancement transmission module.

[0028] A method for sea and land environment detection and navigation data enhancement supports two modes of operation: a GNSS-R remote sensing mode and a GNSS navigation signal enhancement broadcast mode. The remote sensing control end of a control module or the correlator module and channel control module of the control module can respectively switch the working modes of the correlator module and the channel control module through remote control commands and pre-programmed solidification methods.

[0029] The workflow of the GNSS-R remote sensing mode is as follows: The correlator module and channel control module, or the remote sensing control terminal, implement the GNSS-R remote sensing mode. The associated navigation satellite transmits a direct signal to the target sea and land environment, which then reflects a corresponding reflected signal based on the direct signal. The upward-looking antenna in the upward-looking module and the downward-looking antenna in the downward-looking module of the acquisition module collect the direct signal and the corresponding reflected signal, respectively. The direct signal and the reflected signal are processed by the upward-looking RF front-end of the upward-looking module and the downward-looking RF front-end of the downward-looking module to obtain a direct intermediate frequency signal and a reflected intermediate frequency signal. The specific process of obtaining characteristic information of the target sea and land environment through the control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal is as follows: based on the direct intermediate frequency signal, information including at least the position, speed and time of the navigation satellite is obtained through the capture and tracking algorithm and the default sorting algorithm; based on the navigation information and the position information of the integrated device, the optimal solution of mapping the surface mirror reflection point of the target sea and land environment on the earth's surface is obtained through the Adagrad algorithm, and this optimal solution is defined as the position information of the target sea and land environment; based on the direct intermediate frequency signal, the reflected intermediate frequency signal and the position information of the target sea and land environment, DDM array spectrum mapping is performed through local random code to obtain characteristic information of the target sea and land environment. The characteristic information can reflect the physical characteristics, topography and other information of the target sea and land environment, and is used for the study of the target sea and land environment.

[0030] The workflow of the GNSS navigation signal enhanced broadcast mode is as follows: The steps of the GNSS navigation signal enhancement broadcast mode include: collecting the first direct intermediate frequency signal and the corresponding first reflected intermediate frequency signal transmitted by the associated navigation satellite for navigation; saving the first direct intermediate frequency signal and the first reflected intermediate frequency signal through the storage module; processing the first direct intermediate frequency signal through the correlator module and the channel control module of the control module to obtain an analog signal, wherein the correlator module and the channel control module have built-in frequency domain adaptive FFT capture judgment, code phase and Doppler capture, telegram synchronization, telegram parsing, extraction, conversion and frequency conversion algorithms for generating an analog signal that is adapted to the control parameters extracted from the first direct intermediate frequency signal; broadcasting based on the analog signal through the GNSS signal generation module of the signal enhancement transmission module and the wide beam GNSS signal enhancement antenna of the signal enhancement transmission module, wherein the GNSS signal generation module of the signal enhancement transmission module obtains an enhanced navigation signal based on analog signal power amplification and filtering, and the accuracy of the positioning information obtained by the specific broadcast enhanced radio frequency data after collection and processing by general equipment is improved, wherein the radio frequency data is a radio frequency signal.

[0031] See also Figure 1 Preferably, it is characterized in that the step of obtaining characteristic information of the target sea and land environment through the control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal includes: Based on the direct intermediate frequency signal, the navigation satellite information is acquired through the acquisition tracking algorithm and the default sorting algorithm; The target land and sea environment position information is obtained by using the Adagrad algorithm based on the information of the navigation satellite and the position information of the device for land and sea environment detection and navigation data enhancement. The target land and sea environment position information is the coordinate information of the mirror reflection point on the surface of the target land and sea environment mapped to the surface of the earth; Based on the direct intermediate frequency signal, the reflected intermediate frequency signal and the target land and sea environment location information, the characteristic information is obtained by performing DDM array spectrum mapping through local random code.

[0032] The capture and tracking algorithm and the default sorting algorithm are used to extract navigation satellite information containing at least the position, speed, and time of the navigation satellite, providing a reliable data foundation for the subsequent calculation of the optimal solution for mapping the target land and sea environment to the earth's surface. The target land and sea environment position information is calculated using the Adagrad algorithm. This calculation process uses an iterative method to calculate the optimal solution for mapping the target land and sea environment to the earth's surface. The adaptive learning rate feature is used to achieve more accurate target land and sea environment position information. In the first calculation process, it is necessary to preset the input parameters of a gradient accumulation variable and the input parameter value of the target land and sea environment. The input parameters of the gradient accumulation variable are preset to 0, and the input parameters of the target sea and land environment are estimated based on their location information. With each iteration, the gradient accumulation variable input parameters and the input parameters of the target sea and land environment are automatically updated. Through iteration and error calculation, the target sea and land environment's location information is ultimately obtained, and the optimal solution is obtained through loop calculation. Feature information is obtained by performing DDM array-based spectrum mapping using local random codes. Frequency-domain signal processing is used to extract the target sea and land environment characteristics carried in the signal, overcoming the limitations of a single signal. The obtained feature information encompasses multiple physical properties and states, providing stronger support for in-depth research and application of the target sea and land environment.

[0033] See also Figure 1 Preferably, the step of obtaining control parameters and generating an analog signal through a control module based on the first direct intermediate frequency signal includes: Based on the first direct intermediate frequency signal, preliminary processing information is obtained through capture and judgment of frequency domain adaptive FFT, code phase and Doppler capture; Based on the preliminary processing information, conversion information is obtained through telegram synchronization and telegram analysis; Obtaining control parameters by extraction based on the conversion information and updating the configuration of the control module; A digital signal adapted to the control parameters generated by the control module; An analog signal is obtained based on a digital signal through conversion and frequency conversion.

[0034] Based on the first direct intermediate frequency signal, the correlator module and channel control module perform frequency-domain adaptive FFT capture and judgment, code phase, and Doppler acquisition. This allows for adaptive signal capture, converting information through message synchronization and message parsing to extract control parameters, which include at least signal frequency, information rate, pseudo-code rate, power parameters, and channel correction parameters. The correlator module and channel control module generate digital signals based on these control parameters, converting and frequency-converting the analog signal. This analog signal is then output to the signal enhancement transmitter module, where it is further modulated by the control parameters for signal enhancement.

[0035] See also Figure 1 and Figure 3 , preferably, it is characterized in that the step of obtaining the target sea and land environment location information by using the Adagrad algorithm includes: S1210: parameter initialization; S1220: Calculate the gradient value based on the navigation satellite information T, the location information R of the device for sea and land environment detection and navigation data enhancement, and the input parameters Sn of the target sea and land environment , the calculation expression is: ; S1230: Calculate the gradient cumulative sum of squares based on the input parameters of the gradient accumulation variable and the gradient value, and update the input parameters of the gradient accumulation variable; S1240: Calculating an updated value of the target land and sea environment based on the cumulative square sum of the gradient, the gradient value, and the input parameters of the target land and sea environment; S1250: Calculating the target sea and land environment position information based on the input parameters of the target sea and land environment and the updated value of the target sea and land environment.

[0036] The preset global learning rate constant and the first constant ensure that the calculation process has convergence and stability, and ensure that the iteration will eventually output the result. In this embodiment, the global learning rate ε is preset to 1, and the first constant is preset to 10 -7 During the first calculation, the input parameters of the gradient accumulation variable are preset to 0. Subsequent iterations update the variable to achieve self-update without using the preset value. The input parameters of the target land and sea environment are preset during the first calculation, and the value is calculated based on the estimated location information of the target land and sea environment. The gradient accumulation sum of squares is calculated based on the input parameters and gradient values of the gradient accumulation variable, and the input parameters of the gradient accumulation variable are updated. This reflects the calculation process and trends, helps the algorithm adjust the step size, and adaptively adjusts the data step size during the calculation process. The target land and sea environment location information is obtained based on the input parameters and updated values of the target land and sea environment. This step ensures that the final location information is the optimal solution obtained through multiple iterations and meets the actual accuracy requirements of the target land and sea environment.

[0037] Continue to see Figure 1 and Figure 3 Preferably, the steps of calculating the gradient cumulative sum of squares based on the input parameters and gradient values of the gradient accumulation variable and updating the input parameters of the gradient accumulation variable include: Get the horizontal component of the current gradient based on the gradient value , the calculation expression is: Where N(S) represents the unit normal vector of Sn, ▽f(S n ) is the gradient value; Input parameters based on gradient accumulation variables , the horizontal component of the gradient Calculate the cumulative sum of squares of the gradient , the calculation expression is: Obtained by updating the value of the cumulative sum of squared gradients to the input parameter of the gradient accumulation variable.

[0038] When calculating the horizontal component of the current gradient, N(S) is used to project the gradient value horizontally to reflect the gradient's horizontal changes. The cumulative sum of squared gradients is obtained based on the horizontal component of the gradient. The cumulative sum of squared gradients integrates historical information and can fully record the gradient's changes. After obtaining the value of the gradient cumulative sum of squares, the input parameters of the gradient accumulation variable are updated to achieve adaptive adjustment of the step size to prepare parameters for subsequent iterative calculations.

[0039] Continue to see Figure 1 and Figure 3 Preferably, the step of calculating the updated value of the target land and sea environment based on the cumulative sum of squares of the gradient, the gradient value, and the input parameters of the target land and sea environment includes: Based on the cumulative sum of squares of gradients , gradient value ▽f(S n ) Calculate the increment △S, the calculation expression is: Where ε is the global learning rate constant, δ is the first constant; Obtain preliminary position information S based on the increment △S and the input parameter Sn of the target sea and land environment ‘ , the calculation expression is: ; Based on the preliminary position information, the updated value S of the target sea and land environment is obtained through vector mapping. n+1 , the calculation expression is: Where OS' is the vector value of the specular reflection point on the target sea and land environment surface, |OS'| is the corresponding modulus value of the vector, and Re(S') is the complex part of the preliminary information.

[0040] Continue to see Figure 1 and Figure 3 Preferably, the step of obtaining the target land and sea environment location information based on the input parameters of the target land and sea environment and the updated value of the target land and sea environment comprises: Preset amplitude threshold constant; Input parameter S based on the target sea and land environment n and the updated value S of the target land and sea environment n+1 Get the amplitude error value COR, calculation expression: ; Updating input parameters of the target land and sea environment by using updated values of the target land and sea environment; Based on the comparison of the amplitude error value and the amplitude threshold constant, the comparison logic is: If the amplitude error value is less than or equal to the amplitude threshold constant, jump to step S1220 to continue a new loop calculation; otherwise, assign the updated value of the target sea and land environment to the target sea and land environment position information and end the calculation process.

[0041] After presetting a threshold constant and calculating the amplitude error, the input parameters of the target land and sea environment are updated to achieve adaptive step size adjustment, preparing parameters for subsequent iterative calculations. The input parameters are also adaptively adjusted. By comparing the threshold constant with the amplitude error, the optimal solution for mapping the surface specular reflection points of the target land and sea environment onto the Earth's surface is obtained, ultimately yielding the location information. By continuously optimizing the structure until the preset error requirements are met, the target land and sea environment location information is output.

[0042] In the description of this application, it should be noted that the terms "inner" and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0043] It should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0044] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the identification content specifically executed by the above-described system and device can refer to the corresponding process in the aforementioned method embodiment.

[0045] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. A device for sea and land environment detection and navigation data enhancement, characterized in that: include: The acquisition module includes an upward-looking module and a downward-looking module, each configured to process the direct signal and the reflected signal transmitted by the associated navigation satellite to the target object to obtain the corresponding direct intermediate frequency signal and the corresponding reflected frequency signal; a control module, signal-connected to the upward-looking module and the downward-looking module, respectively, for obtaining characteristic information of the target sea and land environment and for obtaining control parameters and generating simulation signals based on the control parameters in the GNSS-R remote sensing mode and the GNSS navigation signal enhanced broadcast mode; A storage module, connected to the control module signal, for storing the direct intermediate frequency signal and the corresponding reflected frequency signal in the GNSS navigation signal enhanced broadcast mode; a signal enhancement transmission module, configured to obtain enhanced radio frequency data based on the analog signal and transmit the data through a transmission link; The power supply module is electrically connected to the upward viewing module, the downward viewing module, the storage module, and the signal enhancement and transmission module respectively, and is used to provide electrical energy.

2. The device for sea and land environment detection and navigation data enhancement according to claim 1, characterized in that: The signal enhancement transmission module also includes a GNSS signal generation module and a wide-beam GNSS signal enhancement antenna, which are respectively used to generate enhanced radio frequency data based on the analog signal and broadcast the enhanced radio frequency data.

3. The device for sea and land environment detection and navigation data enhancement according to claim 1, characterized in that: The control module also includes a remote sensing control end, a correlator module and a channel control module. The remote sensing control end is signal-connected to the correlator module and the channel control module, and the remote sensing control end is used to control the working mode of the correlator module and the channel control module; the correlator module and the channel control module are used to obtain characteristic information of the target sea and land environment in the GNSS-R remote sensing mode, and are used to obtain control parameters based on the direct intermediate frequency signal and generate analog signals to drive the signal enhancement transmission module to broadcast enhanced data in the GNSS navigation signal enhancement broadcast mode.

4. A method for sea and land environment detection and navigation data enhancement, applicable to the device for sea and land environment detection and navigation data enhancement as claimed in any one of claims 1 to 3, characterized in that: It includes two working modes: GNSS-R remote sensing mode and GNSS navigation signal enhanced broadcast mode. The GNSS-R remote sensing modes include: Based on the associated navigation satellite, the acquisition module obtains the direct intermediate frequency signal and the reflected intermediate frequency signal of the target sea and land environment; Acquiring characteristic information of the target sea and land environment through a control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal; The GNSS navigation signal enhanced broadcast mode includes: Acquire a first direct intermediate frequency signal and a first reflected intermediate frequency signal of any target object through an acquisition module based on the associated navigation satellite; storing the first direct intermediate frequency signal and the first reflected intermediate frequency signal through a storage module; Based on the first direct intermediate frequency signal, a control parameter is obtained through a control module and an analog signal is generated; Transmitted based on the analog signal through the signal enhancement transmission module.

5. The method for sea and land environment detection and navigation data enhancement according to claim 4, characterized in that: The step of acquiring characteristic information of the target sea and land environment through a control module based on the direct intermediate frequency signal and the reflected intermediate frequency signal includes: Acquiring navigation satellite information based on the direct intermediate frequency signal through an acquisition tracking algorithm and a default sorting algorithm; Based on the information of the navigation satellite and the position information of the device for sea and land environment detection and navigation data enhancement, the target sea and land environment position information is obtained by using an Adagrad algorithm, where the target sea and land environment position information is the coordinate information of the mirror reflection point on the surface of the target sea and land environment mapped to the surface of the earth; The characteristic information is obtained by performing DDM array spectrum mapping based on the direct intermediate frequency signal, the reflected intermediate frequency signal, and the target sea and land environment position information through local random codes.

6. The method for sea and land environment detection and navigation data enhancement according to claim 4, characterized in that: The steps of obtaining control parameters and generating analog signals through a control module based on the first direct intermediate frequency signal include: Acquiring preliminary processing information based on the first direct intermediate frequency signal through frequency domain adaptive FFT capture judgment, code phase and Doppler capture; Acquiring conversion information through telegram synchronization and telegram parsing based on the preliminary processing information; Obtaining the control parameters by extraction based on the conversion information and updating the configuration of the control module; A digital signal adapted to the control parameter generated by the control module; An analog signal is obtained based on the digital signal through conversion and frequency conversion.

7. The method for sea and land environment detection and navigation data enhancement according to claim 5, characterized in that: The steps of obtaining the target land and sea environment location information through the Adagrad algorithm include: S1210: parameter initialization; S1220: Calculate the gradient value based on the navigation satellite information T, the location information R of the device for sea and land environment detection and navigation data enhancement, and the input parameter Sn of the target sea and land environment , the calculation expression is: ； S1230: Calculating the gradient cumulative sum of squares based on the input parameters of the gradient accumulation variable and the gradient value, and updating the input parameters of the gradient accumulation variable; S1240: Calculating an updated value of the target land and sea environment based on the cumulative square sum of the gradient, the gradient value, and the input parameters of the target land and sea environment; S1250: Calculating the target sea and land environment position information based on the input parameters of the target sea and land environment and the updated value of the target sea and land environment.

8. The method for sea and land environment detection and navigation data enhancement according to claim 7, characterized in that: The steps of calculating the gradient cumulative sum of squares based on the input parameters of the gradient accumulation variable and the gradient value and updating the input parameters of the gradient accumulation variable include: Get the horizontal component of the current gradient based on the gradient value , the calculation expression is: Where N(S) represents the unit normal vector of Sn, ▽f(S n ) is the gradient value; Input parameters based on gradient accumulation variables , the horizontal component of the gradient Calculate the cumulative sum of squares of the gradient , the calculation expression is: The value of the gradient cumulative sum of squares is updated to the input parameter of the gradient accumulation variable.

9. The method for sea and land environment detection and navigation data enhancement according to claim 7, characterized in that: The step of calculating an updated value of the target land and sea environment based on the cumulative sum of squares of the gradient, the gradient value, and the input parameters of the target land and sea environment comprises: Based on the cumulative sum of squares of the gradient , the gradient value ▽f (S n ) Calculate the increment △S, the calculation expression is: Where ε is the global learning rate constant, δ is the first constant; Based on the increment ΔS and the input parameter Sn of the target sea and land environment, the preliminary position information S is obtained. ‘ , the calculation expression is: ； Based on the preliminary position information, the updated value S of the target sea and land environment is obtained by vector mapping. n+1 , the calculation expression is: Where OS' is the vector value of the specular reflection point on the target sea and land environment surface, |OS'| is the corresponding modulus value of the vector, and Re(S') is the complex part of the preliminary information.

10. The method for sea and land environment detection and navigation data enhancement according to claim 7, characterized in that: The step of acquiring the target land and sea environment location information based on the input parameters of the target land and sea environment and the updated value of the target land and sea environment comprises: Preset amplitude threshold constant; Based on the input parameters S of the target sea and land environment n and the updated value S of the target land and sea environment n+1 Get the amplitude error value COR, calculation expression: ； Updating the input parameters of the target land and sea environment by the updated values of the target land and sea environment; Based on the comparison between the amplitude error value and the amplitude threshold constant, the comparison logic is: If the amplitude error value is less than or equal to the amplitude threshold constant, jump to step S1220 to continue a new loop calculation; otherwise, assign the updated value of the target sea and land environment to the target sea and land environment position information and end the calculation process.

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