Fault detection device for baseband signal processing module and positioning chip

Abstract

The invention is suitable for the technical field of satellite navigation, and provides a fault detection device and a positioning chip for a baseband signal processing module, and the fault detection device comprises a satellite signal processing module and an anomaly detection module. The satellite signal processing module is used for receiving the same satellite signal together with the baseband signal processing module, capturing and tracking the received satellite signal and then outputting observation data, and the satellite signal processing module captures the satellite signal after a preset time interval after the baseband signal processing module captures the satellite signal; and the anomaly detection module is used for carrying out fault detection on the baseband signal processing module according to the observation data output by the satellite signal processing module and the observation data output after the baseband signal processing module captures and tracks the satellite signal. According to the invention, the satellite navigation high-precision positioning chip can automatically detect the fault of the baseband signal processing module, and the function safety of the baseband signal processing module is realized.

Description

Technical Field

[0001] The present application belongs to the field of satellite navigation technology, and in particular relates to a fault detection device and a positioning chip for a baseband signal processing module. Background Art

[0002] The baseband signal processing module is the core and key module of the satellite navigation high-precision positioning chip. It is used to capture, track and output observation data of the Global Navigation Satellite System (GNSS) signal. The positioning solution module uses this observation data to achieve high-precision positioning. It can be seen that the baseband signal processing module is the core and foundation of the satellite navigation high-precision positioning chip.

[0003] In recent years, intelligent vehicles have developed rapidly. As a key sensor for autonomous vehicles, satellite navigation and high-precision positioning have also been widely used. In-vehicle applications require functional safety features, namely compliance with ISO26262. For satellite navigation and high-precision positioning modules, ASIL-B (ASIL-B is a commonly used safety standard in the automotive industry) must be achieved, and the probability of detecting random hardware failures must reach over 90%. This places high demands on satellite navigation and high-precision positioning chips. Currently, there are only a handful of satellite navigation and high-precision positioning chips with functional safety in the world, and their functional safety implementation solutions are not publicly available, with no public information. This technology is still unavailable in China. This technological gap results in the inability of satellite navigation and high-precision positioning chips to automatically detect faults in the baseband signal processing module, and thus the inability to achieve functional safety of the baseband signal processing module. Summary of the Invention

[0004] The embodiments of the present application provide a fault detection device and a positioning chip for a baseband signal processing module, which can solve the problem that a satellite navigation high-precision positioning chip cannot achieve the functional safety of the baseband signal processing module.

[0005] In a first aspect, an embodiment of the present application provides a fault detection device for a baseband signal processing module, the fault detection device comprising a satellite signal processing module and an anomaly detection module;

[0006] The satellite signal processing module is used to receive the same satellite signal simultaneously with the baseband signal processing module, and to capture and track the received satellite signal and then output observation data. The satellite signal processing module captures the satellite signal after a preset time interval after the baseband signal processing module captures the satellite signal;

[0007] The anomaly detection module is used to perform fault detection on the baseband signal processing module based on the observation data output by the satellite signal processing module and the observation data output by the baseband signal processing module after capturing and tracking the satellite signal.

[0008] Optionally, the baseband signal processing module includes a radio frequency signal receiving module, a radio frequency channel data reading module, a signal capture module, a signal tracking module and an observation quantity calculation module connected in sequence;

[0009] The radio frequency signal receiving module is used to receive satellite signals and convert them into baseband digital signals;

[0010] The radio frequency channel data reading module is used to transmit the baseband digital signal to the signal capture module;

[0011] The signal acquisition module is used to capture GNSS signals from baseband digital signals;

[0012] The signal tracking module is used to track GNSS signals and output tracking results;

[0013] The observation calculation module is used to calculate and output observation data based on the tracking results.

[0014] Optionally, the satellite signal processing module includes a redundant radio frequency signal receiving module, a redundant radio frequency channel data reading module, a delay setting module, a redundant signal capturing module, a redundant signal tracking module and a redundant observation amount calculation module connected in sequence;

[0015] The redundant radio frequency signal receiving module is used to receive satellite signals simultaneously with the radio frequency signal receiving module and convert the satellite signals into baseband digital signals;

[0016] The redundant radio frequency channel data reading module is used to transmit the baseband digital signal converted by the redundant radio frequency signal receiving module to the delay setting module;

[0017] The delay setting module is used to set a preset time interval and transmit the received baseband digital signal to the redundant signal capture module after the preset time interval;

[0018] The redundant signal capture module is used to capture the GNSS signal from the received baseband digital signal;

[0019] The redundant signal tracking module is used to track the GNSS signal captured by the redundant signal capture module and output the tracking result;

[0020] The redundant observation calculation module is used to calculate and output observation data based on the tracking results output by the redundant signal tracking module.

[0021] Optionally, the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module both include pseudorange, carrier phase and carrier-to-noise ratio.

[0022] Optionally, the anomaly detection module is specifically used to:

[0023] When the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module meet the error condition, determining that the baseband signal processing module has not failed;

[0024] When the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module do not meet the error condition, it is determined that the baseband signal processing module fails.

[0025] Optionally, the error condition is:

[0026] PP r +T*δP<0.2

[0027] CC r +T*δC<0.02

[0028] CNR-CNR r <0.2

[0029] Among them, P represents the pseudorange output by the observation calculation module, P r represents the pseudorange output by the redundant observation calculation module, T represents the preset time interval, δP represents the pseudorange deviation per unit time, C represents the carrier phase output by the observation calculation module, and C r represents the carrier phase output by the redundant observation calculation module, δC represents the carrier phase deviation per unit time, CNR represents the carrier-to-noise ratio output by the observation calculation module, CNR r Represents the carrier-to-noise ratio output by the redundant observation calculation module.

[0030] Optionally, the fault detection device further includes:

[0031] The abnormality identification module is used to determine that the RF signal receiving module of the baseband signal processing module has a fault when the RF signal receiving module and the redundant RF signal receiving module simultaneously receive satellite signals sent by multiple satellites. If the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module under each satellite signal do not meet the error conditions, the frequency points of multiple satellites are the same.

[0032] In a second aspect, an embodiment of the present application provides a satellite navigation high-precision positioning chip, including the above-mentioned fault detection device for the baseband signal processing module.

[0033] The above solution of the present application has the following beneficial effects:

[0034] In an embodiment of the present application, the satellite navigation high-precision positioning chip uses a satellite signal processing module and a baseband signal processing module that have a specific delay with the baseband signal processing module to simultaneously receive the same satellite signal, and by comparing the observation data output by the satellite signal processing module and the baseband signal processing module, it is determined whether there is an abnormality in the baseband signal processing module, thereby realizing automatic detection of baseband signal processing module faults, and further realizing functional safety of the baseband signal processing module.

[0035] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A schematic diagram of the structure of the baseband signal processing module and the fault detection device provided in one embodiment of the present application Figure 1 ;

[0038] Figure 2 A schematic diagram of the structure of the baseband signal processing module and the fault detection device provided in one embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0039] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0040] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0041] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0042] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0043] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0044] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0045] In response to the problem that the current satellite navigation high-precision positioning chip cannot achieve the functional safety of the baseband signal processing module, an embodiment of the present application provides a fault detection device for the baseband signal processing module. Based on this fault detection device, the satellite navigation high-precision positioning chip uses a satellite signal processing module and a baseband signal processing module with a specific delay with the baseband signal processing module to simultaneously receive the same satellite signal, and by comparing the observation data output by the satellite signal processing module and the baseband signal processing module, it is determined whether there is an abnormality in the baseband signal processing module, thereby realizing automatic detection of baseband signal processing module faults and further achieving functional safety of the baseband signal processing module.

[0046] The baseband signal processing module fault detection device provided in the present application is exemplarily described below with reference to specific embodiments.

[0047] like Figure 1 As shown, the fault detection device for a baseband signal processing module provided in an embodiment of the present application includes a satellite signal processing module and an abnormality detection module.

[0048] The satellite signal processing module is used to receive the same satellite signal simultaneously with the baseband signal processing module, and to capture and track the received satellite signal and output observation data.

[0049] The aforementioned "same satellite signal" can be understood as a satellite signal emitted by the same satellite. It should be noted that to avoid common cause failures, a specific delay is set to stagger the timing of the baseband signal processing module and the satellite signal processing module. Specifically, the satellite signal processing module captures the satellite signal a preset time interval after the baseband signal processing module captures the satellite signal. That is, the satellite signal processing module captures the satellite signal later than the baseband signal processing module captures the satellite signal; the satellite signal processing module captures the satellite signal only after the preset time interval after the baseband signal processing module captures the satellite signal.

[0050] The anomaly detection module is configured to detect faults in the baseband signal processing module based on observation data output by the satellite signal processing module and observation data output by the baseband signal processing module after capturing and tracking satellite signals, and output a fault detection result. The fault detection result may include: the baseband signal processing module is not faulty; or the baseband signal processing module is faulty.

[0051] It can be seen that by setting a fault detection device for the baseband signal processing module in the satellite navigation high-precision positioning chip, the satellite navigation high-precision positioning chip can use the satellite signal processing module and the baseband signal processing module with a specific delay to receive the same satellite signal at the same time, and by comparing the observation data output by the satellite signal processing module and the baseband signal processing module, the baseband signal processing module fault can be automatically detected, thereby achieving the functional safety of the baseband signal processing module.

[0052] The structures of the baseband signal processing module and the satellite signal processing module are exemplarily described below with reference to specific embodiments.

[0053] like Figure 2 As shown, the baseband signal processing module includes a radio frequency signal receiving module, a radio frequency channel data reading module, a signal capturing module, a signal tracking module and an observation amount calculation module which are connected in sequence.

[0054] Among them, the RF signal receiving module is used to receive satellite signals and convert them into baseband digital signals. The RF signal receiving module is usually an RF channel. The RF channel data reading module is used to transmit the baseband digital signal to the signal capture module. The signal capture module is used to capture the GNSS signal from the baseband digital signal. The signal tracking module is used to track the GNSS signal and output the tracking results. The observation calculation module is used to calculate GNSS observations such as pseudorange, carrier phase, and carrier-to-noise ratio based on the tracking results and output the observation data. It should be noted that the baseband signal processing module is a traditional module already available in satellite navigation high-precision positioning chips. Therefore, the structural principle of the baseband signal processing module will not be elaborated on here.

[0055] like Figure 2 As shown, the satellite signal processing module includes a redundant radio frequency signal receiving module, a redundant radio frequency channel data reading module, a delay setting module, a redundant signal capturing module, a redundant signal tracking module and a redundant observation amount calculation module which are connected in sequence.

[0056] Among them, the redundant RF signal receiving module is used to receive satellite signals simultaneously with the RF signal receiving module and convert the satellite signals into baseband digital signals. The redundant RF signal receiving module is usually an RF channel, that is, a redundant RF channel; the redundant RF channel data reading module is used to transmit the baseband digital signal converted by the redundant RF signal receiving module to the delay setting module; the delay setting module is used to set a preset time interval and transmit the received baseband digital signal to the redundant signal capture module after the preset time interval; the redundant signal capture module is used to capture GNSS signals from the received baseband digital signals; the redundant signal tracking module is used to track the GNSS signals captured by the redundant signal capture module and output the tracking results; the redundant observation quantity calculation module is used to calculate GNSS observation quantities such as pseudorange, carrier phase, and carrier-to-noise ratio based on the tracking results output by the redundant signal tracking module, and output the observation data.

[0057] It should be noted that the redundant RF signal receiving module has the same structure and function as the RF signal receiving module; the redundant RF channel data reading module has the same structure and function as the RF channel data reading module; the delay setting module is mainly used to set a specific processing interval (i.e. the above-mentioned preset time interval) so that the normal channel and the redundant channel are staggered in time sequence; the redundant signal capture module has the same structure and function as the signal capture module; the redundant signal tracking module has the same structure and function as the signal tracking module; and the redundant observation quantity calculation module has the same structure and function as the observation quantity calculation module.

[0058] In actual applications, the RF signal receiving module and the redundant RF signal receiving module have exactly the same hardware, and both receive satellite signals at the same frequency. They can simultaneously receive satellite signals from up to 12 satellites at the same frequency. The signal capture and tracking module and the redundant signal capture and tracking module contain multiple signal channels, each receiving one satellite. The redundant and non-redundant capture and tracking modules have identical structures, so when both channels simultaneously receive data from the same satellite at the same frequency, the results should differ only by thermal noise. To avoid common cause failures, the redundant channel (i.e., the satellite signal processing module) uses a delay setting module to set a specific delay (i.e., the preset time interval mentioned above), for example, four clock cycles. This allows the redundant channel to output observation results four clock cycles later than the non-redundant channel.

[0059] In some embodiments of the present application, the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module both include pseudorange, carrier phase, and carrier-to-noise ratio. Accordingly, the above-mentioned anomaly detection module is specifically configured to perform the following steps to implement fault detection:

[0060] When the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module meet the error condition, it is determined that the baseband signal processing module has not failed; when the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module do not meet the error condition, it is determined that the baseband signal processing module has failed.

[0061] That is, when there are no random channel failures or system failures (i.e., the baseband signal processing module is not faulty), the observations output by the redundant channel (i.e., the satellite signal processing module) and the non-redundant channel (i.e., the baseband signal processing module) should be essentially identical. To improve fault detection accuracy, the anomaly detection module can set the error conditions for fault detection to a 0.2dB carrier-to-noise ratio comparison threshold, a 0.2m pseudorange comparison threshold, and a 0.02m carrier phase comparison threshold.

[0062] Specifically, the above error conditions are:

[0063] PP r +T*δP<0.2

[0064] CC r +T*δC<0.02

[0065] CNR-CNR r <0.2

[0066] Among them, P represents the pseudorange output by the observation calculation module, P rrepresents the pseudorange output by the redundant observation calculation module, T represents the preset time interval, δP represents the pseudorange deviation per unit time, C represents the carrier phase output by the observation calculation module, and C r represents the carrier phase output by the redundant observation calculation module, δC represents the carrier phase deviation per unit time, CNR represents the carrier-to-noise ratio output by the observation calculation module, CNR r Represents the carrier-to-noise ratio output by the redundant observation calculation module.

[0067] It should be noted that only when the pseudorange, carrier phase and carrier-to-noise ratio all meet the above error conditions can it be determined that the baseband signal processing module is not currently faulty. If any one of the conditions is not met, it can be determined that the baseband signal processing module is currently abnormal and faulty, and the baseband signal processing module has a random failure or a system failure.

[0068] It should be pointed out that since the RF signal receiving module and the redundant RF signal receiving module can receive satellite signals transmitted by multiple satellites at the same time (up to 12 satellites with the same frequency can be received), the above-mentioned fault detection device also includes an abnormality identification module. The abnormality identification module is used to determine that the RF signal receiving module of the baseband signal processing module has a fault, and the RF signal receiving module has a random failure or a systematic failure.

[0069] That is, when all satellites at a certain frequency point exhibit abnormalities, it can be considered that a random failure or system failure has occurred in the RF channel; when only a certain satellite exhibits an abnormality, it can be determined that a random failure or system failure has occurred in the baseband signal processing module.

[0070] It is worth mentioning that the fault detection device provided in this application uses the hardware delay redundancy method to realize the fault detection of the baseband module (i.e., the baseband signal processing module), which has the characteristics of high detection probability and high real-time performance. According to the ISO26262 standard, it can achieve a fault detection probability of more than 90%.

[0071] In addition, the embodiment of the application further provides a satellite navigation high-precision positioning chip comprising the fault detection device for the baseband signal processing module, the satellite navigation high-precision positioning chip utilizes the satellite signal processing module with a specific delay from the baseband signal processing module, the baseband signal processing module simultaneously receives the same satellite signal, and the observation data output by the satellite signal processing module and the baseband signal processing module are compared to determine whether the baseband signal processing module is abnormal, so as to realize the automatic detection of the fault of the baseband signal processing module and further realize the functional safety of the baseband signal processing module.

[0072] The above is the preferred embodiment of the application, and it should be pointed out that, for those skilled in the art, without departing from the principles described in the application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the application.

Claims

1. A fault detection device for a baseband signal processing module, characterized in that: The fault detection device includes a satellite signal processing module and an anomaly detection module; The satellite signal processing module is configured to receive the same satellite signal simultaneously with the baseband signal processing module, and to capture and track the received satellite signal and then output observation data. The satellite signal processing module captures the satellite signal after a preset time interval after the baseband signal processing module captures the satellite signal. The abnormality detection module is used to perform fault detection on the baseband signal processing module based on the observation data output by the satellite signal processing module and the observation data output by the baseband signal processing module after capturing and tracking the satellite signal.

2. The fault detection device according to claim 1, characterized in that: The baseband signal processing module includes a radio frequency signal receiving module, a radio frequency channel data reading module, a signal capturing module, a signal tracking module and an observation amount calculation module connected in sequence; The radio frequency signal receiving module is used to receive the satellite signal and convert the satellite signal into a baseband digital signal; The radio frequency channel data reading module is used to transmit the baseband digital signal to the signal acquisition module; The signal acquisition module is used to capture the GNSS signal from the baseband digital signal; The signal tracking module is used to track the GNSS signal and output the tracking result; The observation quantity calculation module is used to calculate and output observation data according to the tracking results.

3. The fault detection device according to claim 2, characterized in that: The satellite signal processing module includes a redundant radio frequency signal receiving module, a redundant radio frequency channel data reading module, a delay setting module, a redundant signal capturing module, a redundant signal tracking module and a redundant observation amount calculation module connected in sequence; The redundant radio frequency signal receiving module is used to receive the satellite signal simultaneously with the radio frequency signal receiving module and convert the satellite signal into a baseband digital signal; The redundant radio frequency channel data reading module is used to transmit the baseband digital signal converted by the redundant radio frequency signal receiving module to the delay setting module; The delay setting module is used to set the preset time interval and transmit the received baseband digital signal to the redundant signal capture module after the preset time interval; The redundant signal acquisition module is used to capture the GNSS signal from the received baseband digital signal; The redundant signal tracking module is used to track the GNSS signal captured by the redundant signal capturing module and output the tracking result; The redundant observation amount calculation module is used to calculate and output observation data according to the tracking result output by the redundant signal tracking module.

4. The fault detection device according to claim 3, characterized in that: The observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module both include pseudorange, carrier phase and carrier-to-noise ratio.

5. The fault detection device according to claim 4, characterized in that: The anomaly detection module is specifically used to: When the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module meet an error condition, determining that the baseband signal processing module has not failed; When the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module do not meet the error condition, it is determined that the baseband signal processing module fails.

6. The fault detection device according to claim 5, characterized in that: The error conditions are: P-P r +T*δP<0.2 C-C r +T*δC<0.02 CNR-CNR r <0.2 Wherein, P represents the pseudorange output by the observation calculation module, P r represents the pseudorange output by the redundant observation calculation module, T represents the preset time interval, δP represents the pseudorange deviation per unit time, C represents the carrier phase output by the observation calculation module, and C r represents the carrier phase output by the redundant observation calculation module, δC represents the carrier phase deviation per unit time, CNR represents the carrier-to-noise ratio output by the observation calculation module, CNR r Represents the carrier-to-noise ratio output by the redundant observation calculation module.

7. The fault detection device according to claim 5, characterized in that: The fault detection device further comprises: an abnormality identification module, configured to determine that a fault has occurred in the RF signal receiving module of the baseband signal processing module when the RF signal receiving module and the redundant RF signal receiving module simultaneously receive satellite signals transmitted by multiple satellites, if both the observation data output by the observation quantity calculation module and the observation data output by the redundant observation quantity calculation module for each satellite signal do not satisfy an error condition; and the multiple satellites have the same frequency point.

8. A high-precision satellite navigation positioning chip, characterized in that: It comprises the fault detection device for a baseband signal processing module according to any one of claims 1 to 7.

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