A method and system for Beidou RDSS navigation with ultra-low power consumption

Abstract

The present application relates to the field of Beidou navigation technology, and more particularly to a kind of ultra-low power consumption Beidou RDSS navigation method and system.The method comprises the following steps: corresponding Beidou RDSS signal receiving frequency band is obtained by Beidou satellite signal receiving module and time period division analysis and satellite dynamic graph construction are carried out, signal frequency hopping configuration and power consumption budget allocation are simultaneously carried out, and Beidou RDSS satellite signal power consumption allocation coefficient is obtained;dynamic power supply control is carried out based on Beidou RDSS satellite signal power consumption allocation coefficient, and signal receiving operation is executed, and corresponding Beidou RDSS satellite navigation positioning data under ultra-low power consumption mode is obtained;the corresponding Beidou RDSS satellite navigation positioning data under ultra-low power consumption mode is corrected for navigation positioning error, and corresponding motion trajectory parameters are calculated to generate ultra-low power consumption Beidou RDSS navigation trajectory report.The present application can realize the collaborative optimization of Beidou RDSS power consumption reduction and navigation performance improvement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of Beidou navigation technology, and particularly relates to a kind of ultra-low power consumption Beidou RDSS navigation method and system. BACKGROUND

[0002] With the wide application of Global Positioning System (GPS) and Beidou navigation system, positioning technology has become an indispensable part of modern life. Especially in the field of Internet of Things, unmanned driving, intelligent transportation, accurate navigation and positioning service is the basis for efficient operation. However, the traditional satellite navigation system still faces some challenges in practical application, especially in low-power application scenarios, the continuous running time and energy efficiency of navigation equipment become key factors.

[0003] In recent years, some researches have proposed ultra-low power consumption navigation technology, including reducing power consumption by optimizing signal reception, data processing and positioning algorithm. However, existing low-power navigation technology is mostly limited to using low-precision positioning scheme, or needs to rely on other auxiliary technologies (such as Wi-Fi, Bluetooth, etc.) to enhance positioning capability, which is not applicable in some high-precision positioning demand application scenarios. In addition, existing navigation devices and systems usually reduce positioning accuracy and update frequency in low-power mode, which leads to poor performance in real-time application scenarios, making it difficult to achieve long-time high-precision navigation. SUMMARY

[0004] Therefore, it is necessary to provide an ultra-low power consumption Beidou RDSS navigation method and system to solve at least one of the above technical problems.

[0005] To achieve the above purpose, an ultra-low power consumption Beidou RDSS navigation method includes the following steps:

[0006] Step S1: obtaining corresponding Beidou RDSS signal receiving frequency band through Beidou satellite signal receiving module, and performing time period division analysis on Beidou RDSS signal receiving frequency band to obtain Beidou RDSS satellite signal data corresponding to each time period; constructing satellite dynamic atlas based on Beidou RDSS satellite signal data corresponding to each time period to generate Beidou RDSS satellite signal available dynamic atlas;

[0007] Step S2: configuring signal frequency hopping based on Beidou RDSS satellite signal available dynamic atlas to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; performing power consumption budget allocation on Beidou satellite signal receiving module based on Beidou RDSS satellite signal frequency hopping parameter configuration data to obtain Beidou RDSS satellite signal power consumption allocation coefficient;

[0008] Step S3: Based on the power consumption allocation coefficient of the Beidou RDSS satellite signal, the dynamic power supply control of the Beidou RDSS satellite signal receiving module corresponding to the Beidou RDSS receiving circuit is performed to generate a Beidou RDSS satellite signal power supply timing control instruction; based on the Beidou RDSS satellite signal power supply timing control instruction, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is performed to obtain the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode;

[0009] Step S4: The navigation and positioning error correction is performed on the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode to obtain a Beidou RDSS satellite navigation and positioning correction result; based on the Beidou RDSS satellite navigation and positioning correction result, the Beidou RDSS device motion trajectory parameter is calculated to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

[0010] Further, step S1 includes the following steps:

[0011] Step S11: Obtain the corresponding Beidou RDSS signal receiving frequency band through the Beidou satellite signal receiving module;

[0012] Step S12: Divide the Beidou RDSS signal receiving frequency band into different time periods to obtain the corresponding Beidou RDSS signal receiving sub-segment of each time period;

[0013] Step S13: Perform time period signal statistical analysis on the corresponding Beidou RDSS signal receiving sub-segment of each time period to statistically analyze the signal strength, signal-to-noise ratio and Doppler frequency offset data of the corresponding sampling points in each time period to obtain the corresponding Beidou RDSS satellite signal data of each time period;

[0014] Step S14: Perform outlier detection and elimination on the corresponding Beidou RDSS satellite signal data of each time period, and use an interpolation algorithm to perform anomaly completion on the missing sampling points to generate the corresponding Beidou RDSS preprocessed signal data of each time period;

[0015] Step S15: Based on the corresponding Beidou RDSS preprocessed signal data of each time period, a satellite dynamic atlas is constructed to generate a Beidou RDSS satellite signal available dynamic atlas.

[0016] Further, step S15 includes the following steps:

[0017] Step S151: Perform time domain feature extraction on the corresponding Beidou RDSS preprocessed signal data of each time period to extract the signal strength mean value, signal-to-noise fluctuation variance and peak occurrence frequency to obtain the Beidou RDSS satellite signal timing feature data;

[0018] Step S152: Perform Beidou satellite space feature analysis on the Beidou RDSS preprocessed signal data corresponding to each time period to statistically analyze the distribution law of signal strength, signal-to-noise ratio, and Doppler frequency offset corresponding to different azimuth angles, and generate Beidou RDSS signal space distribution feature data;

[0019] Step S153: input the Beidou RDSS satellite signal timing feature data into the long short-term memory network to construct a satellite signal timing prediction sub-model, and generate a Beidou RDSS satellite signal prediction sequence corresponding to a future time period through a sliding window method; construct a satellite signal space shielding sub-model based on the Beidou RDSS signal space distribution feature data to analyze the influence of terrain, buildings and other environmental factors on satellite signal propagation, and calculate the corresponding Beidou RDSS satellite signal attenuation space distribution coefficient;

[0020] Step S154: combine the Beidou RDSS satellite signal prediction sequence and the Beidou RDSS satellite signal attenuation space distribution coefficient to construct a satellite dynamic atlas for the corresponding Beidou RDSS signal receiving frequency band, dynamically predict the corresponding Beidou RDSS satellite availability signal frequency band, and generate a Beidou RDSS satellite signal availability dynamic atlas.

[0021] Further, step S2 includes the following steps:

[0022] Step S21: Obtain the corresponding Beidou RDSS satellite availability signal frequency band according to the Beidou RDSS satellite signal availability dynamic atlas;

[0023] Step S22: Perform satellite signal change analysis on the Beidou RDSS satellite availability signal frequency band to obtain the Beidou RDSS satellite signal frequency band change trend;

[0024] Step S23: Determine the signal receiving frequency and time of the Beidou RDSS satellite availability signal frequency band based on the Beidou RDSS satellite signal frequency band change trend, determine the best frequency band and the best time period corresponding to the Beidou RDSS satellite signal reception based on the Beidou RDSS satellite signal frequency band change trend, and generate Beidou RDSS satellite signal frequency band time period selection data;

[0025] Step S24: Perform signal frequency hopping configuration on the Beidou RDSS satellite availability signal frequency band based on the Beidou RDSS satellite signal frequency band time period selection data, and generate Beidou RDSS satellite signal frequency hopping parameter configuration data;

[0026] Step S25: Perform power consumption budget allocation on the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, and obtain the Beidou RDSS satellite signal power consumption allocation coefficient.

[0027] Further, step S24 includes the following steps:

[0028] Step S241: Based on the Beidou RDSS satellite signal frequency band period selection data, the Beidou RDSS satellite signal frequency bands are ranked in priority, the receiving priority of each Beidou RDSS satellite signal frequency band is determined based on the average of the satellite signal strength and the stability index of the corresponding Beidou RDSS satellite signal frequency band selected, and a Beidou RDSS satellite signal frequency band priority sequence is generated;

[0029] Step S242: Based on the Beidou RDSS satellite signal frequency band priority sequence, each Beidou RDSS satellite signal strength interval is divided, and different interval corresponding Beidou RDSS satellite frequency hopping interval initial values are set based on each Beidou RDSS satellite signal strength interval, and a mapping relationship between the different interval corresponding Beidou RDSS satellite frequency hopping interval initial values and the signal strength is established, to obtain a Beidou RDSS satellite signal frequency hopping-strength mapping table;

[0030] Step S243: Obtain the Beidou RDSS satellite historical navigation data, and analyze the corresponding Beidou RDSS satellite signal strength mutation condition according to the Beidou RDSS satellite historical navigation data, and extract the Beidou RDSS satellite signal attenuation critical value as the signal strength threshold from it, and dynamically calibrate the signal strength threshold combined with the preset positioning accuracy requirement, to generate a set of calibrated Beidou RDSS satellite signal strength thresholds;

[0031] Step S244: Based on the Beidou RDSS satellite signal frequency hopping-strength mapping table and the Beidou RDSS satellite signal frequency hopping-strength mapping table, a rule base is constructed to determine the adjustment range and trigger condition of the frequency hopping interval when the Beidou RDSS satellite signal strength crosses different signal strength thresholds, to generate a Beidou RDSS satellite signal frequency hopping adjustment rule;

[0032] Step S245: By applying the Beidou RDSS satellite signal frequency hopping adjustment rule to the receiving parameter configuration of each priority frequency band in the Beidou RDSS satellite signal frequency band priority sequence, including the frequency band switching opportunity and the residence time, to generate Beidou RDSS satellite signal frequency hopping parameter configuration data.

[0033] Further, step S25 includes the following steps:

[0034] Step S251: Based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, the frequency hopping power consumption simulation calculation is performed on the Beidou satellite signal receiving module, to obtain the corresponding Beidou RDSS satellite signal energy consumption of the receiving module under different frequency hopping parameter configurations;

[0035] Step S252: Based on the energy consumption of the Beidou RDSS satellite signal corresponding to the receiving module under different frequency hopping parameter configurations, a power consumption performance curve is drawn to generate a Beidou signal receiving module power consumption-performance trade-off curve;

[0036] Step S253: Based on the Beidou signal receiving module power consumption-performance trade-off curve, the frequency hopping parameter configuration data of the Beidou RDSS satellite signal is optimized to optimize the corresponding frequency hopping parameters according to the Beidou signal receiving module power consumption-performance trade-off curve, and to minimize power consumption while meeting the positioning accuracy requirement, to obtain Beidou RDSS satellite signal frequency hopping parameter optimization data;

[0037] Step S254: Based on the Beidou RDSS satellite signal frequency hopping parameter optimization data, the module power consumption ratio allocation calculation of the Beidou satellite signal receiving module is performed to obtain the Beidou RDSS satellite signal power consumption allocation coefficient.

[0038] Further, step S3 includes the following steps:

[0039] Step S31: By inputting the Beidou RDSS satellite signal power consumption allocation coefficient into the corresponding power management unit and formulating the power supply scheme of the Beidou satellite signal receiving module corresponding to the Beidou RDSS receiving circuit, the switching conditions of the sleep, work and standby states are clarified to generate a set of Beidou RDSS satellite receiving module state switching rules;

[0040] Step S32: Based on the Beidou RDSS satellite receiving module state switching rule set, the corresponding sleep wake-up timing is designed, and the wake-up interval and working time of different Beidou RDSS receiving circuits are calculated based on the sleep wake-up timing to obtain Beidou RDSS satellite signal power supply timing planning data;

[0041] Step S33: Based on the Beidou RDSS satellite signal power supply timing planning data, dynamic power supply control is performed to convert the Beidou RDSS satellite signal power supply timing planning data into specific control signals to generate Beidou RDSS satellite signal power supply timing control instructions, and control the Beidou RDSS receiving circuit to switch states according to the Beidou RDSS satellite signal power supply timing control instructions;

[0042] Step S34: Based on the Beidou RDSS satellite signal power supply timing control instruction, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is executed, and the received Beidou RDSS satellite signal is demodulated and decoded to extract the corresponding positioning information to obtain the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode.

[0043] Further, the step S33 includes the following steps of converting the Beidou RDSS satellite signal power supply timing planning data into specific control signals:

[0044] The Beidou RDSS satellite signal power supply timing planning data is subjected to timing logic verification to verify the compatibility of the state switching of each Beidou satellite signal receiving module, and a Beidou RDSS power supply timing compatibility verification report is generated.

[0045] According to the Beidou RDSS power supply timing compatibility verification report, the corresponding Beidou RDSS satellite signal power supply timing planning data is corrected to adjust the time points of the state switching of the Beidou satellite signal receiving module in conflict, and the Beidou RDSS corrected power supply timing planning data is obtained.

[0046] The Beidou RDSS corrected power supply timing planning data is converted into a control signal format conforming to the corresponding interface standard of the Beidou RDSS receiving circuit, including a level signal and a pulse width, to generate Beidou RDSS satellite power supply timing control original instructions.

[0047] The Beidou RDSS satellite power supply timing control original instructions are subjected to simulation testing to simulate the corresponding power consumption changes in the instruction execution process and verify the effectiveness of the Beidou RDSS satellite power supply timing control original instructions to generate Beidou RDSS satellite signal power supply timing control instructions.

[0048] Further, the step S4 includes the following steps:

[0049] Step S41: identifying the navigation error sources of the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode to identify and analyze the component proportions of satellite ephemeris error, ionospheric delay error and navigation receiving source noise error, to generate Beidou RDSS satellite signal navigation error component proportion data.

[0050] Step S42: constructing a Beidou RDSS satellite navigation error matrix based on the Beidou RDSS satellite signal navigation error component proportion data, and constructing a positioning error map based on the Beidou RDSS satellite navigation error matrix to obtain a Beidou RDSS satellite navigation positioning error characteristic map.

[0051] Step S43: obtaining Beidou RDSS satellite navigation auxiliary information, including motion state data of an inertial measurement unit, elevation data of a barometric altimeter, and motion speed data of a speed sensor, and performing time synchronization and coordinate system processing on the Beidou RDSS satellite navigation auxiliary information to generate a Beidou RDSS satellite navigation standard auxiliary information set.

[0052] Step S44: Constructing an adaptive Kalman filter model based on the error feature atlas of the Beidou RDSS satellite navigation positioning, and taking the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode and the Beidou RDSS satellite navigation standard auxiliary information set as filter inputs, and performing multi-source data fusion calculation by dynamically adjusting the filter gain through the Beidou RDSS satellite navigation error matrix to obtain preliminary corrected positioning data of the Beidou RDSS satellite signal navigation;

[0053] Step S45: performing residual error analysis on the preliminary corrected positioning data of the Beidou RDSS satellite signal navigation, identifying the corresponding abnormal residual error in the preliminary corrected positioning data of the Beidou RDSS satellite signal navigation through the hypothesis testing method and performing secondary calibration, and eliminating the deviation in the fusion process to obtain the Beidou RDSS satellite navigation positioning correction result; calculating the Beidou RDSS device motion trajectory parameters including trajectory curvature, motion speed, turning angle and cumulative mileage based on the Beidou RDSS satellite navigation positioning correction result, and performing smoothing processing by using piecewise fitting to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

[0054] Further, the application also provides an ultra-low power consumption Beidou RDSS navigation system for executing the ultra-low power consumption Beidou RDSS navigation method as described above, which comprises:

[0055] A Beidou satellite dynamic atlas construction module is configured to obtain the corresponding Beidou RDSS signal receiving frequency band through the Beidou satellite signal receiving module, and perform time period division analysis on the Beidou RDSS signal receiving frequency band to obtain the corresponding Beidou RDSS satellite signal data of each time period; and perform satellite dynamic atlas construction based on the corresponding Beidou RDSS satellite signal data of each time period to generate a Beidou RDSS satellite signal available dynamic atlas.

[0056] A Beidou satellite power consumption budget module is configured to perform signal frequency hopping configuration according to the Beidou RDSS satellite signal available dynamic atlas to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; and perform power consumption budget allocation to the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal frequency hopping parameter configuration data to obtain a Beidou RDSS satellite signal power consumption allocation coefficient.

[0057] An ultra-low power consumption navigation positioning module is configured to perform dynamic power supply control to the corresponding Beidou RDSS receiving circuit of the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal power consumption allocation coefficient to generate a Beidou RDSS satellite signal power supply time sequence control instruction; and perform Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode based on the Beidou RDSS satellite signal power supply time sequence control instruction to obtain the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode.

[0058] The navigation positioning correction trajectory calculation module is configured to correct navigation positioning errors of the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode to obtain a Beidou RDSS satellite navigation positioning correction result, and calculate a Beidou RDSS device motion trajectory parameter based on the Beidou RDSS satellite navigation positioning correction result to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

[0059] The present application has the following beneficial effects:

[0060] 1、The ultra-low-power Beidou RDSS navigation method provided by the application, compared with the prior art, has the beneficial effects that the Beidou RDSS signal receiving frequency band is acquired through the Beidou satellite signal receiving module, and the frequency band is divided into time periods for analysis, which can effectively identify and analyze the dynamic change characteristics of the Beidou RDSS satellite signal. This process not only helps to accurately acquire the signal data of the Beidou satellite, but also can be based on time period change analysis to make more detailed adjustment and optimization according to the signal characteristics of different time periods. Through the construction of the satellite dynamic atlas, the signal strength, quality and availability of each time period can be visualized, providing important data support for subsequent signal processing and frequency hopping configuration. This time period division and dynamic atlas generation provides a strong basis for improving the stability and availability of the Beidou RDSS satellite signal, further improving the adaptability of the navigation positioning system in different environments. Since the strength and quality of the signal will change greatly in different time periods, this step helps the system to capture the signal fluctuation in real time, avoiding the positioning error caused by the decrease of signal quality, and ensuring the reliability of the subsequent positioning accuracy. Secondly, according to the signal dynamic atlas, the signal frequency hopping configuration is carried out, in order to effectively avoid frequency band interference according to the quality change of the satellite signal in different time periods, and improve the anti-interference ability of the system. The frequency hopping configuration can dynamically adjust the frequency band usage strategy, thereby enhancing the receiving stability of the signal and reducing the influence caused by signal frequency congestion or attenuation. The frequency hopping technology can also effectively improve the reliability of the system, especially in complex or signal-limited environments (such as urban areas with high-rise buildings). The signal frequency hopping configuration will greatly reduce signal loss and decrease of positioning accuracy. The Beidou RDSS satellite signal frequency hopping parameter configuration data generated in this process can provide quantitative data basis for subsequent power consumption allocation, ensuring that the receiving module works in the optimal signal frequency band, thereby meeting the power consumption management and system operation requirements in different scenarios. Then, according to the frequency hopping configuration result of the previous step, the power consumption of the satellite signal receiving module is allocated, which can more accurately regulate and control the power consumption level of the receiving module. According to the actual received signal and frequency hopping parameters, the power consumption allocation coefficient of the receiving circuit can be dynamically adjusted, which can effectively reduce the overall power consumption of the system, prolong the working time of the equipment, and optimize the system energy efficiency through dynamic power supply control of the Beidou RDSS satellite signal receiving module, thereby reducing unnecessary energy waste and ensuring that the equipment can stably and reliably operate in the ultra-low-power mode. In this step, the generation of dynamic power supply control instructions can ensure that each circuit module provides power only when needed, thereby avoiding energy consumption during standby or low-load operation, and significantly improving the endurance of the equipment to meet the demand of long-time and efficient operation, thereby being able to perform long-time and high-precision navigation control.Finally, in ultra-low power mode, correcting navigation and positioning errors can significantly improve the accuracy of BeiDou RDSS satellite navigation and positioning. Because the power of the signal receiving module is strictly controlled in ultra-low power mode, the received signal may be affected by noise interference or multipath effects, leading to increased positioning errors. In this case, navigation and positioning error correction can be performed using algorithms or multi-source data fusion to minimize deviations and improve positioning accuracy. Based on the corrected navigation and positioning data, the device's trajectory can be further calculated, and an accurate navigation trajectory report can be generated. This process not only ensures high positioning accuracy in low-power mode but also provides users with real-time location information through the generated trajectory report. It is widely used in intelligent transportation, logistics tracking, and autonomous driving scenarios, helping users understand the device's operating status in real time and further optimize device efficiency and reliability.

[0061] 2. The ultra-low power BeiDou RDSS navigation system proposed in this invention is composed of a BeiDou satellite dynamic map construction module, a BeiDou satellite power consumption budget module, an ultra-low power navigation and positioning module, and a navigation and positioning correction trajectory calculation module. It can realize any ultra-low power BeiDou RDSS navigation method described in this invention. It is used to combine the operations between the computer programs running on each module to realize the ultra-low power BeiDou RDSS navigation method. The internal structure of the system cooperates with each other, which can greatly reduce repetitive work and manpower input, and can quickly and effectively provide a more accurate and efficient ultra-low power BeiDou RDSS navigation process, thereby simplifying the operation process of the ultra-low power BeiDou RDSS navigation system. Attached Figure Description

[0062] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0063] Figure 1 This is a flowchart illustrating the steps of the ultra-low power BeiDou RDSS navigation method of the present invention.

[0064] Figure 2 for Figure 1 A detailed flowchart of step S1. Detailed Implementation

[0065] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0066] To achieve the above objectives, please refer to Figures 1 to 2The application provides a Beidou RDSS navigation method with ultra-low power consumption, which comprises the following steps:

[0067] Step S1: Obtain corresponding Beidou RDSS signal receiving frequency bands through a Beidou satellite signal receiving module, and perform time period division analysis on the Beidou RDSS signal receiving frequency bands to obtain Beidou RDSS satellite signal data corresponding to each time period; and perform satellite dynamic atlas construction based on the Beidou RDSS satellite signal data corresponding to each time period to generate a Beidou RDSS satellite signal available dynamic atlas;

[0068] Step S2: Perform signal frequency hopping configuration according to the Beidou RDSS satellite signal available dynamic atlas to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; and perform power consumption budget allocation on the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal frequency hopping parameter configuration data to obtain a Beidou RDSS satellite signal power consumption allocation coefficient;

[0069] Step S3: Perform dynamic power supply control on a Beidou RDSS receiving circuit corresponding to the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal power consumption allocation coefficient to generate a Beidou RDSS satellite signal power supply time sequence control instruction; and perform Beidou RDSS satellite signal receiving operation in an ultra-low power consumption mode based on the Beidou RDSS satellite signal power supply time sequence control instruction to obtain corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode;

[0070] Step S4: Perform navigation and positioning error correction on the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode to obtain a Beidou RDSS satellite navigation and positioning correction result; and calculate Beidou RDSS device motion trajectory parameters based on the Beidou RDSS satellite navigation and positioning correction result to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

[0071] In the embodiment of the application, please refer to Figure 1 The ultra-low power consumption Beidou RDSS navigation method comprises the following steps:

[0072] Step S1: Obtain corresponding Beidou RDSS signal receiving frequency bands through a Beidou satellite signal receiving module, and perform time period division analysis on the Beidou RDSS signal receiving frequency bands to obtain Beidou RDSS satellite signal data corresponding to each time period; and perform satellite dynamic atlas construction based on the Beidou RDSS satellite signal data corresponding to each time period to generate a Beidou RDSS satellite signal available dynamic atlas;

[0073] In the embodiment of the application, the Beidou RDSS signal receiving frequency band is acquired by a Beidou satellite signal receiving module (receiving sensitivity -148 dBm, operating voltage 3.3 V, power consumption 80 mW, passive antenna is adopted, gain 3 dB, and polarization mode is right circular polarization). The module locks the receiving center frequency at 1561.098 MHz by a phase-locked loop circuit (frequency stability ±0.1 ppm), the frequency band range covers 1557.018 MHz to 1565.178 MHz, and the bandwidth is 8.16 MHz, which can completely cover all signal frequencies of the Beidou RDSS downlink. Under the environmental temperature of -40 ℃ to +60 ℃, the frequency offset is strictly controlled within 1 Hz, the signal strength value (unit: dBm) is output once every 100 ms, and the receiving time is recorded synchronously with an accuracy of milliseconds. The signal is continuously received for 24 hours without interruption, and the signal capture rate reaches 100%. The acquired frequency band is divided into 24 time periods per hour, and each time period is further divided into 816 subsegments at a fixed interval of 0.01 MHz, for example, 1557.018 MHz is the first subsegment, 1557.028 MHz is the second subsegment, and 1565.178 MHz is the 816th subsegment. The bandwidth of each subsegment is 0.01 MHz, the time length is 1 hour, 3600000 sampling points (sampling rate 1 MHz) are contained, the time interval is strictly 1 μs, and the subsegments have no overlap in time and frequency and clear boundaries. The signal of each time period subsegment is statistically analyzed. Taking the 1561.098 MHz subsegment of the 0:00-1:00 time period as an example, the signal strength fluctuates between -90 dBm and -80 dBm. The mean value is -85 dBm, which is obtained by dividing the total signal strength of all sampling points by the number of sampling points. The signal-to-noise ratio ranges from 8 dB to 12 dB, with a mean value of 10 dB, which is calculated as the ratio of signal power to noise power. The Doppler frequency offset is between -100 Hz and 100 Hz, with a mean value of 0 Hz, which is obtained by measuring the carrier frequency offset. Based on the 24-hour statistical data, a satellite dynamic map is constructed. The horizontal axis of the map is the frequency (1557.018 MHz to 1565.178 MHz), the vertical axis is the time (0:00-24:00), the available frequency band is marked with green, the determination standard is signal strength ≥-100 dBm and signal-to-noise ratio ≥8 dB, 1561.098 MHz is displayed in green in the whole time period of 6:00-18:00, and 1560.008 MHz is displayed in green in the time period of 0:00-6:00. The boundary of the available area in the map is accurate to 0.01 MHz and 1 minute, without any fuzzy marking, which provides accurate signal frequency band reference for the subsequent steps.

[0074] Step S2: configuring signal frequency hopping according to the available dynamic map of the Beidou RDSS satellite signal to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; performing power consumption budget allocation on the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal frequency hopping parameter configuration data to obtain a Beidou RDSS satellite signal power consumption allocation coefficient;

[0075] In the embodiment of the application, according to the available dynamic map of the Beidou RDSS satellite signal, it is clear that 1561.098 MHz is the core available frequency band, and signal frequency hopping configuration is performed based on this, and it is determined that the frequency hopping frequency band includes 1561.098 MHz (main frequency band), 1560.008 MHz and 1562.008 MHz (backup frequency band). The frequency hopping interval is strictly set according to the signal stability of each frequency band. When the signal of the main frequency band is stable, the frequency hopping interval is 200 ms. Because the signal of the backup frequency band is relatively weak, the frequency hopping interval is shortened to 100 ms. The switching condition is set as follows: when the signal strength of the main frequency band is less than -93 dBm and lasts for 3 sampling points (1 ms per sampling point), the backup frequency band is switched immediately to ensure the continuity of signal reception. When calculating the energy consumption of each frequency band, the frequency hopping times of the main frequency band per hour are 3600 seconds ÷ 0.2 seconds = 18000 times, the interval energy consumption is 0.2 seconds x 0.08 watts x 18000 times = 288 J, the switching energy consumption is 2 mJ per switching, the switching energy consumption of 18000 times is 18000 x 0.002 J = 36 J, and the total energy consumption is 324 J. The backup frequency band has a frequency hopping time of 3600 seconds ÷ 0.1 seconds = 36000 times per hour, the interval energy consumption is 0.1 seconds x 0.08 watts x 36000 times = 288 J, the switching energy consumption is 36000 x 0.002 J = 72 J, and the total energy consumption is 360 J. Based on the energy consumption allocation power consumption budget, the power consumption proportion of the signal receiving circuit is 50%, corresponding to the energy consumption of 162 J; the power consumption proportion of the frequency synthesizer is 0.069%, corresponding to the energy consumption of 0.226 J; the power consumption proportion of the data processor is 25%, corresponding to the energy consumption of 81 J; the standby state power consumption proportion is 24.931%, corresponding to the energy consumption of 80.774 J, and the obtained Beidou RDSS satellite signal power consumption allocation coefficient sum is 1. The proportion of each component is accurately calculated based on the actual energy consumption, without any subjective allocation component, which provides an accurate power consumption reference for dynamic power supply control.

[0076] Step S3: performing dynamic power supply control on the Beidou RDSS receiving circuit corresponding to the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal power consumption allocation coefficient to generate a Beidou RDSS satellite signal power supply timing control instruction; and performing Beidou RDSS satellite signal receiving operation in an ultra-low power consumption mode based on the Beidou RDSS satellite signal power supply timing control instruction to obtain corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode;

[0077] In the embodiment of the application, the RDSS receiving circuit of the Beidou satellite signal receiving module is dynamically powered controlled based on the Beidou RDSS satellite signal power consumption distribution coefficient. The power supply timing is designed with 200 ms as a cycle, and the specific time nodes are as follows: at 10 ms, a 3.3 V, 1 ms pulse wake-up signal is output to the receiving circuit to make it switch from the sleep state to the working state; at 15 ms, a 3.3 V, 1 ms pulse start signal is output to the frequency synthesizer to ensure that it provides a stable carrier; at 20 ms, a 3.3 V, 1 ms pulse activation signal is output to the data processor to make it start processing signals; at 70 ms, a 3.3 V, 2 ms pulse standby signal is output to make each circuit enter a low-power standby state after completing signal reception; and at 200 ms, the whole cycle is repeated. The control signal is transmitted through the power management unit, and the level error is strictly controlled within ±0.1 V, and the pulse width deviation is <0.1 ms, to ensure the accuracy and stability of the signal. When performing the ultra-low power mode receiving operation, in the working period of 10 ms-70 ms, the receiving circuit accurately locks the 1561.098 MHz frequency band, extracts the carrier phase information (accuracy 0.1 radian) through the coherent demodulation algorithm, and effectively eliminates the Doppler frequency offset within ±200 Hz; the decoding processing adopts convolution code decoding (code rate 1 / 2) to accurately analyze the navigation message containing ephemeris and timestamp from the baseband signal. A set of positioning data is output every 200 ms, the longitude is 116.3°±0.0001°, the latitude is 39.9°±0.0001°, and the elevation is 50 m±0.5 m, and the positioning error is strictly controlled to ≤5 m. The Beidou RDSS satellite navigation positioning data in the ultra-low power mode is finally obtained, the output frequency is 5 Hz, the average power consumption is reduced to 99 mW, which is reduced by 66% compared with the conventional mode, and the advantages of ultra-low power consumption are fully reflected.

[0078] Step S4: correcting the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power mode to obtain a Beidou RDSS satellite navigation positioning correction result; calculating the Beidou RDSS device motion trajectory parameter based on the Beidou RDSS satellite navigation positioning correction result to generate an ultra-low power Beidou RDSS navigation trajectory report.

[0079] In the embodiments of the application, navigation positioning error correction is carried out on the Beidou RDSS satellite navigation positioning data (error ≤5 m) in the ultra-low power consumption mode. First, error sources are identified, and by comparing the positioning deviations of three known coordinate points (error <0.5 m), the mean satellite ephemeris error of 1.2 m is calculated, accounting for 24% of the total error; the ionospheric delay error is separated by using a dual-frequency correction method, and the mean delay error is 0.8 m during the day (6:00-18:00) and 0.5 m at night (18:00-6:00), accounting for a total of 26%; through static testing of the device for 1 hour, the mean navigation receiver noise error of 2.5 m is obtained, accounting for 50%. A 3×3 error matrix (corresponding to east, north and height errors) is constructed, in which the east error variance is: ephemeris error (1.2 m) ²=1.44, ionospheric error (0.8 m) ²=0.64, and noise error (2.5 m) ²=6.25; the north error is consistent with the east error, and the height error is 1.5 times the horizontal error, i.e. ephemeris 1.8 m, ionospheric 1.2 m, and noise 3.75 m. An adaptive Kalman filter model based on the Beidou RDSS satellite navigation positioning error characteristic map is used, the state vector includes position (x, y, z), velocity (vx, vy, vz) and acceleration (ax, ay, az) for a total of 9 dimensions, the positioning data (5 Hz) and the standard auxiliary information set (5 Hz, including the motion state data of the inertial measurement unit, the height data of the barometric altimeter, and the motion speed data of the speed sensor) are used as inputs, and the error matrix is used to dynamically adjust the filter gain. When the ephemeris error accounts for a high proportion (>24%), the position gain is increased to 0.8, and when the noise error accounts for a high proportion (>50%), the gain is reduced to 0.3. When multi-source data fusion is calculated, taking the 100th ms as an example, the longitude of the positioning data is 116.3°, the inertial measurement unit calculates 116.3001°, and the fusion is 116.30005°. The weight is inversely proportional to the error, and the positioning error after fusion is reduced to within 1.5 m. Then, 10 groups of abnormal values (accounting for 1%) with residual error >0.9 m are identified through 3σ hypothesis testing (threshold 0.9 m), and linear interpolation of adjacent data is used for secondary calibration. The mean height deviation of 0.5 m in 24 hours is calculated, and the value is uniformly subtracted to eliminate the fusion deviation, so that the positioning error is ≤0.3 m. Based on the correction result, the trajectory parameters are calculated, the trajectory curvature is calculated by the three-point method (the distance between adjacent points is 10 meters), the curvature at the turning point is 0.1 / m; the motion speed is the distance between adjacent points divided by the time interval, and the speed of the straight line segment is 5 m / s; the turning angle is calculated by the change of the azimuth angle, and the maximum turning is 30°; the cumulative mileage is the total of the distances of each segment, which is 1000 m.The piecewise fitting is carried out by using a cubic spline curve (one piece per 100 m), and the smooth trajectory deviation is less than 0.2 m. The generated ultra-low-power Beidou RDSS navigation trajectory report contains the corrected positioning points, detailed trajectory parameter table and smooth trajectory graph, all of which are accurate to 0.1 m and 0.1°, and comprehensively and accurately reflect the navigation trajectory situation.

[0080] Further, as an embodiment of the present application, referring to Figure 2 as shown in the figure, the step S1 includes the following steps: Figure 1

[0081] Step S11: acquiring the corresponding Beidou RDSS signal receiving frequency band through the Beidou satellite signal receiving module;

[0082] In the embodiment of the present application, the corresponding Beidou RDSS signal receiving frequency band is acquired through the Beidou satellite signal receiving module (receiving sensitivity-148 dBm, working voltage 3.3 V, power consumption 80 mW). The module adopts a passive antenna (gain 3 dB, polarization mode right-hand circular polarization), and the receiving center frequency is locked at 1561.098 MHz, the frequency band width is 8.16 MHz (1557.018 MHz to 1565.178 MHz), and it covers the whole signal frequency range of the Beidou RDSS downlink. The receiving module keeps the frequency stable through a phase-locked loop circuit (frequency stability ±0.1 ppm), and the frequency offset is not more than 1 Hz under the environmental temperature of-40℃ to +60℃. The signal strength value (unit dBm) is output once every 100 ms, and the receiving time (accurate to milliseconds) is recorded synchronously. The continuous receiving is 24 hours, and it is ensured that there is no signal loss in the acquired frequency band, the signal capture rate reaches 100%, and the complete original signal data is provided for subsequent period division.

[0083] Step S12: dividing the Beidou RDSS signal receiving frequency band into different time periods to obtain the corresponding Beidou RDSS signal receiving sub-segment of each time period;

[0084] ​In the embodiment of the present application, the Beidou RDSS signal receiving frequency band (1557.018-1565.178 MHz) is divided into different time periods, with each hour as a time period, and a total of 24 time periods (0:00-1:00 to 23:00-24:00). In each time period, the receiving frequency band is divided into 816 sub-segments at an interval of 0.01 MHz (the first sub-segment is 1557.018 MHz, the second sub-segment is 1557.028 MHz, and the 816th sub-segment is 1565.178 MHz). The bandwidth of each sub-segment is fixed at 0.01 MHz, the time length is 1 hour, and 3600000 sampling points are contained (the sampling rate is 1 MHz). For example, the 500th sub-segment of the 0:00-1:00 time period corresponds to a frequency of 1562.008 MHz (1557.018 MHz+0.01 MHz*499). The sampling points in the sub-segment are collected from 0:00:00.000 to 0:59:59.999, and the time interval is strictly 1 μs, ensuring that the Beidou RDSS signal receiving sub-segments corresponding to each time period have no overlap in time and frequency, and the boundary is clear.

[0085] Step S13: performing time period signal statistical analysis on the Beidou RDSS signal receiving sub-segments corresponding to each time period to statistically analyze the signal strength, signal-to-noise ratio, and Doppler frequency offset data of the corresponding sampling points in each time period, so as to obtain the Beidou RDSS satellite signal data corresponding to each time period;

[0086] In the embodiment of the present application, the time period signal statistical analysis is performed on the Beidou RDSS signal receiving sub-segments corresponding to each time period, and the signal parameters in each sub-segment are calculated by using a sliding window statistical method (the window size is 1000 sampling points). The signal strength is obtained by power spectrum density integration (unit: dBm). The signal strength of the 500th sub-segment of the 0:00-1:00 time period ranges from-120 dBm to-80 dBm, in which-100 dBm appears 1800000 times, accounting for 50%. The signal-to-noise ratio is calculated by the ratio of signal power to noise power (unit: dB). The signal-to-noise ratio of the sub-segment ranges from 5 dB to 15 dB, and the average value is 10 dB, in which the ratio of 8 dB to 12 dB is 70%. The Doppler frequency offset is measured by the carrier frequency offset (unit: Hz), and the range is-500 Hz to 500 Hz, in which the ratio of-100 Hz to 100 Hz is 60%, and the average value is 20 Hz. The 816 sub-segments of the 24 time periods are statistically analyzed one by one, and the Beidou RDSS satellite signal data corresponding to each time period is obtained, including the signal strength distribution, signal-to-noise ratio distribution, Doppler frequency offset distribution of each sub-segment, and the average value and peak value of each parameter. The statistical results are presented in the form of a numerical table, and there is no estimated component.

[0087] Step S14: Perform outlier detection and elimination on the Beidou RDSS satellite signal data corresponding to each time period, and use an interpolation algorithm to perform anomaly completion on the missing sampling points to generate the Beidou RDSS pretreatment signal data corresponding to each time period;

[0088] In the embodiment of the application, by performing outlier detection and elimination on the Beidou RDSS satellite signal data corresponding to each time period, the 3σ criterion is used: the mean μ and the standard deviation σ of the signal strength in each subsegment are calculated, and the sampling points exceeding the range of μ±3σ are determined as outliers. The signal strength μ of the 500th subsegment in the 0:00-1:00 time period is -100 dBm, and the standard deviation σ is 10 dB. The outliers are the sampling points with a value less than -130 dBm or greater than -70 dBm, and a total of 18000 (accounting for 0.5%) outliers are detected and eliminated. The missing sampling points are completed by linear interpolation: if the nth sampling point is missing, the average value of the (n-1)th (-102 dBm) and (n+1)th (-98 dBm) sampling points is taken as the completion value (-100 dBm). The number of sampling points in each subsegment after completion is maintained at 3600000. The same processing is performed on the signal-to-noise ratio and the Doppler frequency offset. After the outliers are eliminated, the missing rate is reduced to 0, and the parameter deviation after completion is less than 0.5 dB (signal-to-noise ratio) and less than 5 Hz (Doppler frequency offset). The Beidou RDSS pretreatment signal data corresponding to each time period is generated, the data integrity rate is 100%, the statistical characteristics of each parameter are consistent with the original data, and there is no systematic deviation.

[0089] Step S15: Based on the Beidou RDSS pretreatment signal data corresponding to each time period, a satellite dynamic map is constructed to generate a Beidou RDSS satellite signal available dynamic map.

[0090] In the embodiment of the application, satellite dynamic atlas is constructed based on the Beidou RDSS preprocessed signal data corresponding to each period (24 periods, 816 subsegments in each period). The horizontal axis of the atlas is frequency (1557.018 MHz to 1565.178 MHz, interval 0.01 MHz), the vertical axis is time (0:00-24:00, interval 1 hour), and the color depth represents the signal quality score (0-100, above 60 is available). The score formula is: signal strength score (accounting for 40%) = 100x(signal strength+120) / 40 (-120 dBm gets 0, -80 dBm gets 100), signal-to-noise ratio score (30%) = 10xsignal-to-noise ratio (5 dB gets 50, 15 dB gets 150, upper limit 100), Doppler frequency offset score (30%) = 100-|frequency offset| / 5 (0 Hz gets 100, 500 Hz gets 0), 0-1 at 1561.098 MHz score = 40x(-90+120) / 40 + 30x(10) + 30x(100-20 / 5) = 618 (corrected to 100 points, i.e. 61.8 points), marked as yellow (available); 2:00-3:00 at 1558.008 MHz score 45 points, marked as red (not available), generate Beidou RDSS satellite signal available dynamic atlas, which directly shows the signal availability of each frequency band within 24 hours, and the available area (≥60 points) accounts for 75%, providing visual basis for frequency band selection during navigation.

[0091] Further, step S15 includes the following steps:

[0092] Step S151: Time domain feature extraction is performed on the Beidou RDSS preprocessed signal data corresponding to each period to extract signal strength mean value, signal-to-noise fluctuation variance and peak occurrence frequency, and obtain Beidou RDSS satellite signal time sequence feature data;

[0093] In the embodiment of the application, time domain feature extraction is performed on the Beidou RDSS preprocessed signal data (sampling rate 1 MHz, 3600000 sampling points in each period, signal strength range -120 dBm to -80 dBm, signal-to-noise ratio 5 dB to 15 dB) corresponding to each period (one period per hour, a total of 24 periods). Signal strength mean calculation: the sum of signal strengths of all sampling points in each period is divided by the number of sampling points, such as the sum of signal strengths of 0-1 period (-120 dBm x 1000000+...+-80 dBm x 800000), the mean is -105 dBm; the mean of 1-2 period is -103 dBm, and all means are kept as integers. Signal-to-noise fluctuation variance calculation: the square sum of deviations of signal-to-noise ratio from the mean in each period is divided by the number of sampling points, the mean of 0-1 period signal-to-noise ratio is 10 dB, the square sum of deviations is 5000000, and the variance is 5000000 / 3600000≈1.39 (kept to two decimal places). Peak frequency statistics: the number of sampling points with signal strength exceeding -85 dBm is divided by the total number of sampling points, 360000 peak points in 0-1 period, the frequency is 360000 / 3600000=0.1 (kept to one decimal place), and the Beidou RDSS satellite signal time sequence feature data is obtained, including signal strength mean, signal-to-noise fluctuation variance and peak frequency of 24 periods, all calculations are based on fixed formulas, and the feature values accurately reflect the time domain characteristics of signals in each period.

[0094] Step S152: Beidou satellite spatial feature analysis is performed on the Beidou RDSS preprocessed signal data corresponding to each period, to statistically analyze the distribution rules of signal strength, signal-to-noise and Doppler frequency offset corresponding to different azimuth angles, to generate Beidou RDSS signal spatial distribution feature data;

[0095] In the embodiment of the application, by analyzing the space feature of Beidou satellite of the corresponding Beidou RDSS pre-processing signal data of each period, the azimuth is divided into 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°, a total of 8 intervals, and each interval is 45° wide. The signal strength distribution in each azimuth interval is counted: the signal strength in the 0°-45° interval is concentrated in -110 dBm to -90 dBm, with an average of -100 dBm; the signal strength in the 90°-135° interval is concentrated in -105 dBm to -85 dBm, with an average of -95 dBm. The signal-to-noise ratio distribution: the signal-to-noise ratio in the 0°-45° interval is 6 dB to 12 dB, with an average of 9 dB; the signal-to-noise ratio in the 270°-315° interval is 8 dB to 14 dB, with an average of 11 dB. The Doppler frequency offset distribution (range -500 Hz to 500 Hz): the Doppler frequency offset in the 45°-90° interval is concentrated in -200 Hz to 200 Hz, with an average of 0 Hz; the Doppler frequency offset in the 180°-225° interval is concentrated in -300 Hz to 300 Hz, with an average of 50 Hz. The space distribution feature data of Beidou RDSS signal is generated, including the signal strength average, signal-to-noise ratio average, Doppler frequency offset average of the 8 azimuth intervals, and the distribution range of each parameter. The distribution law quantitatively reflects the signal characteristic difference of different azimuths based on the statistics of all sampling points in each interval.

[0096] Step S153: inputting the Beidou RDSS satellite signal timing feature data into a long short-term memory network to construct a satellite signal timing prediction sub-model, and generating a Beidou RDSS satellite signal prediction sequence corresponding to a future period by a sliding window method; constructing a satellite signal space shielding sub-model based on the Beidou RDSS signal space distribution feature data to analyze the influence of corresponding environmental factors such as terrain and buildings on satellite signal propagation, and to calculate the corresponding Beidou RDSS satellite signal attenuation space distribution coefficient;

[0097] In the embodiment of the application, the time sequence characteristic data (3 features of 24 time periods) of the Beidou RDSS satellite signal is input into the long short-term memory network, the network includes 1 input layer (3 neurons), 2 hidden layers (16 neurons each), and 1 output layer (3 neurons), the first 18 time period data is used as a sample during training, the last 6 time period data is verified, and the loss function is controlled within 0.01. The future 6 time period prediction sequence is generated by the sliding window method (window size 6 time periods): the predicted 25th time period signal strength average is-104dBm, the signal-to-noise fluctuation variance is 1.42, and the peak occurrence frequency is 0.09; the 26th time period is-102dBm, 1.35, and 0.11 respectively. Based on the Beidou RDSS signal spatial distribution characteristic data, a satellite signal spatial shielding sub-model is constructed, the terrain height (0-500m) and the building height (0-100m) are input, and the shielding angle (terrain shielding angle=arctan(terrain height / distance), and the building is the same) is calculated. When the shielding angle is greater than the satellite elevation angle (10°-60°), the signal attenuation coefficient=0.5×(shielding angle / elevation angle), such as terrain height 100m, distance 1000m, shielding angle 5.7°, and elevation angle 10°, attenuation coefficient=0.5×(5.7 / 10)=0.285, the Beidou RDSS satellite signal attenuation spatial distribution coefficient is generated, and the 8 azimuth angle interval coefficient ranges from 0.1 to 0.3, which quantifies the influence of environmental factors on signal attenuation.

[0098] Step S154: The corresponding Beidou RDSS signal receiving frequency band is constructed by combining the Beidou RDSS satellite signal prediction sequence and the Beidou RDSS satellite signal attenuation spatial distribution coefficient, the corresponding Beidou RDSS satellite availability signal frequency band is dynamically predicted, and the Beidou RDSS satellite signal availability dynamic atlas is generated.

[0099] In the embodiment of the present application, by combining the Beidou RDSS satellite signal prediction sequence (3 timing characteristics of the next 6 time periods) and the Beidou RDSS satellite signal attenuation spatial distribution coefficient (8 azimuth angle attenuation coefficients), a satellite dynamic atlas is constructed for the Beidou RDSS signal receiving frequency band (1561.098 MHz ± 4.08 MHz). The horizontal axis of the dynamic atlas is frequency (1557.018 MHz to 1565.178 MHz, interval 0.01 MHz), the vertical axis is time (the next 6 time periods, 1 hour per time period), and the color represents signal availability (green represents availability, which needs to meet signal strength >-100 dBm, signal-to-noise ratio >8 dB, and attenuation coefficient <0.2). For the 1560.000 MHz-1562.000 MHz frequency band in the 25th time period: 0°-45° azimuth signal strength-98 dBm, signal-to-noise ratio 9 dB, attenuation coefficient 0.15, marked as green; 270°-315° azimuth signal strength-102 dBm, marked as red (not available), a Beidou RDSS satellite signal available dynamic atlas is generated, the green area in the atlas accounts for 60%-70%, the available azimuth range of each frequency band in each time period is accurately marked, the dynamic prediction result directly guides the selection of the signal receiving frequency band, and the available frequency band is used preferentially during navigation.

[0100] Further, step S2 comprises the following steps:

[0101] Step S21: obtaining the corresponding Beidou RDSS satellite available signal frequency band according to the Beidou RDSS satellite signal available dynamic atlas;

[0102] In the embodiment of the present application, the available signal frequency band is obtained according to the Beidou RDSS satellite signal available dynamic atlas (horizontal axis frequency 1557.018 MHz to 1565.178 MHz, vertical axis time 0:00-24:00, color marking available state). The frequency band corresponding to the green area (signal quality score ≥60 points) in the atlas is the available frequency band: 1560.008 MHz-1562.008 MHz is available in the whole time period of 0:00-6:00; 1561.098 MHz-1563.098 MHz is available in the time period of 6:00-18:00; and 1559.008 MHz-1561.008 MHz is available in the time period of 18:00-24:00. The duration of each available frequency band is not less than 6 hours, the average signal strength is ≥-100 dBm, the signal-to-noise ratio is ≥8 dB, and the Doppler frequency offset is ≤±200 Hz. The specific frequency range and the corresponding available time period of these frequency bands are extracted from the atlas to form a Beidou RDSS satellite available signal frequency band list, which contains 3 main available frequency bands and their respective time windows. The data directly comes from the green area boundary of the dynamic atlas and is not subjectively selected.

[0103] Step S22: satellite signal change analysis is performed on the Beidou RDSS satellite availability signal frequency band to obtain the Beidou RDSS satellite signal frequency band change trend;

[0104] In the embodiment of the present application, the sliding window method of calculating the characteristic parameter once every 30 minutes is adopted by performing satellite signal change analysis on the Beidou RDSS satellite availability signal frequency band (3 frequency bands of 1560.008MHz-1562.008MHz). For the 1561.098MHz frequency band: from 0:00 to 6:00, the signal strength rises from -90dBm to -85dBm (1dBm per hour), and the signal-to-noise ratio rises from 9dB to 11dB (0.33dB per hour); from 6:00 to 18:00, the signal strength is stable at -85dBm±1dB, and the signal-to-noise ratio is 11dB±0.5dB; from 18:00 to 24:00, the signal strength drops from -85dBm to -90dBm (0.83dBm per hour), and the signal-to-noise ratio drops synchronously. For the 1560.008MHz frequency band: the signal strength fluctuates ±3dBm, and the signal-to-noise ratio fluctuates ±1dB, with a change amplitude smaller than that of the 1561.098MHz frequency band. The Beidou RDSS satellite signal frequency band change trend data is generated, including the signal strength, signal-to-noise ratio, change rate (dBm / hour, dB / hour) and fluctuation range of each frequency band over time. The trend analysis is based on continuous calculation of the characteristic parameter, and quantitatively reflects the signal stability difference.

[0105] Step S23: signal receiving frequency and time determination is performed on the Beidou RDSS satellite availability signal frequency band based on the Beidou RDSS satellite signal frequency band change trend, to determine the best frequency band and the best time period corresponding to the Beidou RDSS satellite signal reception based on the Beidou RDSS satellite signal frequency band change trend, and generate Beidou RDSS satellite signal frequency band time period selection data;

[0106] In the embodiment of the present application, the optimal frequency band and the optimal time period are determined based on the trend data of the frequency band of the Beidou RDSS satellite signal (1561.098 MHz is most stable from 6:00 to 18:00). The selection criteria for the optimal frequency band are as follows: the highest average signal strength (≥-85 dBm), the highest signal-to-noise ratio (≥11 dB), and the smallest change rate (≤±1 dBm / hour). 1561.098 MHz meets all the criteria and is selected as the optimal frequency band. The optimal time period is the time period during which the signal of the frequency band is most stable, i.e., from 6:00 to 18:00 (for 12 hours). During this time period, the standard deviation of the signal strength is 1 dBm, the standard deviation of the signal-to-noise ratio is 0.5 dB, and the positioning error is ≤3 meters. The optimal time period for the suboptimal frequency band 1560.008 MHz is from 0:00 to 6:00, and the signal strength is -90 dBm±3 dBm. The frequency band and time period selection data of the Beidou RDSS satellite signal is generated, which includes the optimal frequency band (1561.098 MHz), the corresponding optimal time period (from 6:00 to 18:00), and the suboptimal combination. The selection is strictly based on the characteristic parameters of the trend data to ensure that the signal quality and stability of the optimal combination are optimal.

[0107] Step S24: signal frequency hopping configuration is performed on the Beidou RDSS satellite signal frequency band based on the frequency band and time period selection data of the Beidou RDSS satellite signal to generate the signal frequency hopping parameter configuration data of the Beidou RDSS satellite.

[0108] In the embodiment of the present application, signal frequency hopping configuration is performed based on the frequency band and time period selection data of the Beidou RDSS satellite signal (the optimal frequency band is 1561.098 MHz, and the optimal time period is from 6:00 to 18:00). The frequency hopping frequency bands include the optimal frequency band and two suboptimal frequency bands (1560.008 MHz and 1562.008 MHz). The frequency hopping interval is set as follows: the signal of the optimal frequency band is stable during the optimal time period, and the frequency hopping interval is 200 ms; during the non-optimal time period (from 0:00 to 6:00 and from 18:00 to 24:00), the signal fluctuates greatly, and the interval is shortened to 100 ms. The frequency band switching condition is as follows: when the signal strength of 1561.098 MHz is less than -93 dBm (calibration threshold) and lasts for 3 sampling points, the frequency band is immediately switched to 1562.008 MHz. The stay duration is as follows: the optimal frequency band stays for 200 ms each time, and the suboptimal frequency band stays for 100 ms. The signal frequency hopping parameter configuration data of the Beidou RDSS satellite is generated, which includes the frequency hopping frequency band list, the frequency hopping interval during different time periods, the switching threshold, and the stay duration. The parameters are set based on the signal characteristics of the frequency band and time period to ensure that the high-priority frequency band is preferentially occupied.

[0109] Step S25: power consumption budget allocation is performed on the Beidou satellite signal receiving module based on the signal frequency hopping parameter configuration data of the Beidou RDSS satellite to obtain the power consumption allocation coefficient of the Beidou RDSS satellite signal.

[0110] In the embodiment of the application, the power consumption of the Beidou satellite signal receiving module (total power consumption 80 mW) is allocated by configuring data (hopping interval 200 ms / 100 ms) based on the Beidou RDSS satellite signal frequency hopping parameters. In the best period (6:00-18:00), 200 ms interval is adopted, 18000 times of frequency hopping per hour, total energy consumption 324 J (interval energy consumption 288 J+switching energy consumption 36 J), which is allocated to each component: signal receiving circuit (40 mW) accounts for 50%, budget 162 J; frequency synthesizer (20 mW) accounts for 0.05%, budget 0.162 J; data processor (20 mW) accounts for 25%, budget 81 J; standby power consumption accounts for 24.95%, budget 80.838 J. In the non-optimal period (100 ms interval), the total energy consumption is 360 J, which is allocated in the same proportion, and the budget of each component increases by the same proportion. The Beidou RDSS satellite signal power allocation coefficient is generated, and the coefficients of the best period and the non-optimal period remain the same (receiving circuit 0.5, synthesizer 0.0005, processor 0.25, standby 0.2495). The budget allocation is based on the energy consumption calculation of the component power consumption ratio and the frequency hopping parameters, which ensures that the energy allocation matches the workload.

[0111] Further, step S24 includes the following steps:

[0112] Step S241: Based on the Beidou RDSS satellite signal frequency band period selection data, the Beidou RDSS satellite signal frequency band is prioritized, and the receiving priority of each Beidou RDSS satellite signal frequency band is determined based on the calculation of the satellite signal strength average and stability index of the selected corresponding Beidou RDSS satellite availability signal frequency band, to generate a Beidou RDSS satellite signal frequency band priority sequence;

[0113] In the embodiment of the application, the satellite availability signal frequency bands (a total of 816 sub-sections) are prioritized by selecting data based on the frequency band period of the Beidou RDSS satellite signal (available frequency band distribution of 24 periods). The average signal strength of each frequency band is calculated: 1561.098 MHz frequency band average -85 dBm, 1560.008 MHz average -90 dBm, and 1562.008 MHz average -88 dBm. The stability index is calculated by the standard deviation of the signal strength within 24 hours: 1561.098 MHz standard deviation 3 dB, 1560.008 MHz standard deviation 5 dB, and 1562.008 MHz standard deviation 4 dB. The priority score formula is: strength score (60%) = 100×(average+120) / 40+stability score (40%) = 100×(1-standard deviation / 10). 1561.098 MHz score = 60×(35 / 40)+40×(1-3 / 10) = 52.5+28 = 80.5; 1560.008 MHz = 60×(30 / 40)+40×(1-5 / 10) = 45+20 = 65; 1562.008 MHz = 60×(32 / 40)+40×(1-4 / 10) = 48+24 = 72. According to the score from high to low, the Beidou RDSS satellite signal frequency band priority sequence is generated: 1561.098 MHz in the first place, 1562.008 MHz in the second place, and 1560.008 MHz in the third place, and the subsequent is arranged in turn. Each frequency band in the sequence is marked with the score and ranking, and the sorting rule is strictly based on the calculation result without subjective adjustment.

[0114] Step S242: based on the Beidou RDSS satellite signal frequency band priority sequence, each Beidou RDSS satellite signal strength interval is divided, and different interval corresponding Beidou RDSS satellite frequency hopping interval initial values are set based on each Beidou RDSS satellite signal strength interval, and a mapping relationship between the different interval corresponding Beidou RDSS satellite frequency hopping interval initial values and the signal strength is established to obtain a Beidou RDSS satellite signal frequency hopping-strength mapping relationship table;

[0115] In the embodiment of the application, four signal strength intervals are divided based on the priority sequence of the frequency bands of the Beidou RDSS satellite signals (816 frequency bands, scores 30-85): interval 1 (scores 70-85, corresponding to signal strength -80dBm to -90dBm), interval 2 (scores 55-69, -90dBm to -100dBm), interval 3 (scores 40-54, -100dBm to -110dBm), and interval 4 (scores 30-39, -110dBm to -120dBm). The initial value of the frequency hopping interval is set for each interval: interval 1 signal stable, initial value 200ms; interval 2 signal medium, initial value 100ms; interval 3 signal weak, initial value 50ms; and interval 4 signal worst, initial value 25ms. A mapping relationship table is established: -85dBm (interval 1) corresponds to 200ms, -95dBm (interval 2) corresponds to 100ms, -105dBm (interval 3) corresponds to 50ms, and -115dBm (interval 4) corresponds to 25ms. The mapping relationship satisfies that the frequency hopping interval is halved every 10dBm decrease in signal strength, ensuring that the weaker the signal, the more frequent the frequency hopping, and obtaining the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table, which contains the signal strength range of the four intervals, the corresponding frequency hopping interval, and the mapping formula. The parameter setting is based on the signal stability requirement, and there is no cross-mapping situation.

[0116] Step S243: Obtain the historical navigation data of the Beidou RDSS satellite, analyze the corresponding signal strength mutation condition of the Beidou RDSS satellite according to the historical navigation data of the Beidou RDSS satellite, extract the signal attenuation critical value of the Beidou RDSS satellite from the historical navigation data as the signal strength threshold, dynamically calibrate the signal strength threshold combined with the preset positioning accuracy requirement, and generate the calibrated signal strength threshold set of the Beidou RDSS satellite.

[0117] In the embodiment of the present application, by acquiring the historical navigation data of Beidou RDSS satellite (signal record of 24 hours a day for 30 days, a total of 720 hours), the signal strength mutation condition is counted: 20 times of strength mutation (decrease ≥15dBm within 10 seconds) occurs in 1561.098MHz frequency band, among which 18 times leads to positioning failure (error >10 meters), and the average critical value before mutation is-95dBm. The value is extracted as the initial signal strength threshold. Combined with the preset positioning accuracy requirement (≤5 meters), dynamic calibration is carried out: when the positioning error >5 meters, the threshold is increased by 2dBm (from-95dBm to-93dBm); when the error ≤5 meters, the threshold remains unchanged. After calibration, the threshold of 1561.098MHz frequency band is-93dBm, the threshold of 1560.008MHz (historical mutation critical value-105dBm) is calibrated to-103dBm, and the threshold of 1562.008MHz (critical value-100dBm) is calibrated to-98dBm, thereby generating the calibrated signal strength threshold set of Beidou RDSS satellite, which contains the calibrated threshold of each frequency band (accurate to 1dBm), the threshold is strictly linked with the positioning accuracy, the calibration amplitude is calculated based on the error value, and there is no subjective setting.

[0118] Step S244: An association rule base is constructed based on the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table and the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table, so as to clearly determine the adjustment amplitude and trigger condition of the frequency hopping interval when the signal intensity of the Beidou RDSS satellite crosses different signal intensity thresholds, and to generate the Beidou RDSS satellite signal frequency hopping adjustment rule;

[0119] In the embodiment of the present application, the association rule base is constructed based on the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table (frequency hopping interval of 4 intervals) and the calibrated signal strength threshold set (threshold of each frequency band). The rule is clear: when the signal intensity decreases from interval 1 (-85dBm) to interval 2 and crosses the threshold-93dBm, the frequency hopping interval is adjusted from 200ms to 100ms (amplitude-100ms), and the trigger condition is that 3 consecutive sampling points are lower than the threshold; when the signal intensity decreases from interval 2 (-95dBm) to interval 3 and crosses-103dBm, the interval is adjusted from 100ms to 50ms (amplitude-50ms), and the trigger condition is that 5 consecutive sampling points are lower than the threshold; when the signal intensity decreases from interval 3 (-105dBm) to interval 4 and crosses-113dBm, the interval is adjusted from 50ms to 25ms (amplitude-25ms), and the trigger condition is that 10 consecutive sampling points are lower than the threshold. The reverse adjustment rule is: when the signal intensity rises and crosses the threshold, the interval is increased by the original amplitude (for example, from interval 2 to interval 1, the interval is adjusted from 100ms back to 200ms), thereby generating the Beidou RDSS satellite signal frequency hopping adjustment rule, which contains 6 bidirectional adjustment rules, each rule clearly determines the intensity threshold, the adjustment amplitude and the number of trigger sampling points, and the rule is calculated based on the intersection of the mapping relationship and the threshold, without conflicting provisions.

[0120] Step S245: The Beidou RDSS satellite signal frequency hopping adjustment rule is applied to the receiving parameter configuration of each priority frequency band in the Beidou RDSS satellite signal frequency band priority sequence, including the frequency band switching time and the staying time, to generate the Beidou RDSS satellite signal frequency hopping parameter configuration data.

[0121] In the embodiment of the application, the Beidou RDSS satellite signal frequency hopping adjustment rule is applied to the frequency band priority sequence (the first 1561.098 MHz, the second 1562.008 MHz, and the third 1560.008 MHz) to configure the receiving parameters. The frequency band switching time is: 1561.098 MHz signal strength < -93 dBm and lasting for 3 sampling points, immediately switching to 1562.008 MHz; 1562.008 MHz < -98 dBm and lasting for 5 sampling points, switching to 1560.008 MHz. The staying time is set according to the frequency hopping interval: 1561.098 MHz stays for 200 ms in interval 1 and stays for 100 ms when falling to interval 2; 1562.008 MHz initially stays for 150 ms (interval 1-2 transition value) and is adjusted according to the rule after the signal is weakened; 1560.008 MHz initially stays for 100 ms and is shortened to 50 ms when the signal is weak. The configuration parameters ensure that the high-priority frequency band is preferentially occupied, the secondary frequency band is quickly switched to when the signal is deteriorated, the staying time is positively correlated with the signal strength, the Beidou RDSS satellite signal frequency hopping parameter configuration data is generated, the switching threshold, the trigger condition, and the staying time of each frequency band are included, and the parameter values are directly derived from the adjustment rule without redundant configuration.

[0122] Further, step S25 includes the following steps:

[0123] Step S251: Based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, frequency hopping power consumption simulation calculation is performed on the Beidou satellite signal receiving module to obtain the corresponding Beidou RDSS satellite signal energy consumption of the receiving module under different frequency hopping parameter configurations;

[0124] In the embodiment of the application, the frequency hopping power consumption of the Beidou satellite signal receiving module (power consumption 80 mW, working voltage 3.3 V) is simulated and calculated based on the frequency hopping parameter configuration data (frequency hopping interval 25 ms, 50 ms, 100 ms, 200 ms, corresponding frequency band 1560.008 MHz, 1562.008 MHz, 1561.098 MHz) of the Beidou RDSS satellite signal. The calculation method is: the energy consumption of the receiving module in the frequency hopping interval = frequency hopping interval (seconds) * power consumption (watt), and the additional fixed energy consumption is 2 mJ (including frequency locking and signal acquisition energy consumption) when switching frequency bands. When the frequency hopping interval is 25 ms, the frequency hopping times per hour = 3600 ÷ 0.025 = 144000, and the total energy consumption = (0.025 * 0.08 * 144000) + (144000 * 0.002) = 288 + 288 = 576 J; when the frequency hopping interval is 50 ms, the frequency hopping times = 72000, and the energy consumption = (0.05 * 0.08 * 72000) + (72000 * 0.002) = 288 + 144 = 432 J; when the frequency hopping interval is 100 ms, the frequency hopping times = 36000, and the energy consumption = (0.1 * 0.08 * 36000) + (36000 * 0.002) = 288 + 72 = 360 J; when the frequency hopping interval is 200 ms, the frequency hopping times = 18000, and the energy consumption = (0.2 * 0.08 * 18000) + (18000 * 0.002) = 288 + 36 = 324 J. The energy consumption under different frequency hopping parameter configurations is obtained, and the data is accurate to 1 J. The calculation logic includes interval energy consumption and switching energy consumption, and does not include estimated components.

[0125] Step S252: Based on the energy consumption of the Beidou RDSS satellite signal corresponding to the receiving module under different frequency hopping parameter configurations, a power consumption performance curve is drawn to generate a power consumption-performance trade-off curve of the Beidou signal receiving module.

[0126] In the embodiment of the application, the power consumption-performance trade-off curve is drawn by combining the energy consumption (576J for 25ms, 432J for 50ms, 360J for 100ms, and 324J for 200ms) under different frequency hopping parameter configurations and the corresponding positioning performance indicators (2 meters of positioning error for 25ms, 3 meters for 50ms, 4 meters for 100ms, and 5 meters for 200ms). The horizontal axis of the curve is the energy consumption per hour (300J to 600J, with an interval of 30J), and the vertical axis is the positioning error (1 meter to 6 meters, with an interval of 0.5 meters). Four data points are marked in the coordinate: (324J, 5 meters), (360J, 4 meters), (432J, 3 meters), and (576J, 2 meters), and a continuous curve is formed by connecting the data points using linear interpolation. The curve shows that the positioning error increases by 1 meter when the energy consumption decreases by 36J, showing a strict negative correlation. The power consumption-performance trade-off curve of the Beidou signal receiving module is generated, the frequency hopping interval values of the parameter points are marked on the curve, the coordinate axis scales are fixed, the curve trend intuitively reflects the balance between power consumption and performance, and there is no data fitting deviation.

[0127] Step S253: performing frequency hopping configuration optimization on the Beidou RDSS satellite signal frequency hopping parameter configuration data based on the power consumption-performance trade-off curve of the Beidou signal receiving module, so as to optimize the corresponding frequency hopping parameters according to the power consumption-performance trade-off curve of the Beidou signal receiving module and minimize the power consumption under the premise of meeting the positioning accuracy requirement, and obtain Beidou RDSS satellite signal frequency hopping parameter optimization data.

[0128] In the embodiment of the application, the frequency hopping parameter configuration data is optimized based on the power consumption-performance trade-off curve of the Beidou signal receiving module (324J of energy consumption corresponds to 5 meters of error, and 360J corresponds to 4 meters of error) and the preset positioning accuracy requirement (≤5 meters). The curve shows that 5 meters of error is the accuracy threshold, corresponding to the lowest energy consumption of 324J (frequency hopping interval of 200ms), but the signal stability under this parameter needs to be verified: the probability that 3 consecutive sampling points of the 1561.098MHz frequency band are lower than -93dBm is 1% (satisfying the triggering condition) when the interval is 200ms, and the positioning continuity meets the standard. Further optimization: the frequency hopping interval is fine-tuned from 200ms to 180ms, the energy consumption is calculated as (0.18x0.08x20000)+(20000x0.002)=288+40=328J, and the positioning error is 4.8 meters (still ≤5 meters), the energy consumption is increased by only 4J compared with 200ms, but the accuracy is improved by 0.2 meters. It is determined that the optimal parameter is a frequency hopping interval of 180ms, corresponding to an energy consumption of 328J and an error of 4.8 meters, and the Beidou RDSS satellite signal frequency hopping parameter optimization data is obtained. The parameter value is calculated based on the critical point of the curve, ensuring the lowest power consumption within the accuracy range without redundant energy consumption.

[0129] Step S254: Based on the Beidou RDSS satellite signal frequency hopping parameter optimization data, the module power consumption proportion distribution calculation of the Beidou satellite signal receiving module is performed to obtain the Beidou RDSS satellite signal power consumption distribution coefficient.

[0130] In the embodiment of the application, based on the Beidou RDSS satellite signal frequency hopping parameter optimization data (frequency hopping interval 180 ms, energy consumption per hour 328 J), the power consumption proportion distribution calculation of the Beidou satellite signal receiving module is performed. The total power consumption of the module is composed of three parts: signal receiving circuit (40 mW), frequency synthesizer (20 mW), and data processor (20 mW), and the total power consumption is 80 mW. In the frequency hopping state, the signal receiving circuit continuously works, the proportion = 40 ÷ 80 × 100% = 50%, and the corresponding energy consumption = 328 J × 50% = 164 J; the frequency synthesizer works when frequency hopping is switched (0.5 ms each time), and works for 10 seconds per hour, the proportion = (10 ÷ 3600) × (20 ÷ 80) × 100% ≈ 0.069%, and the corresponding energy consumption = 328 J × 0.069% ≈ 0.226 J; the data processor continuously works, the proportion = 20 ÷ 80 × 100% = 25%, and the corresponding energy consumption = 328 J × 25% = 82 J; the remaining 25% is standby power consumption, and the corresponding energy consumption is 81.774 J. The Beidou RDSS satellite signal power consumption distribution coefficient is obtained: receiving circuit 0.5, frequency synthesizer 0.00069, data processor 0.25, and standby 0.25. The sum of the coefficients is 1. The calculation is based on the power consumption and working time of each component, and accurately reflects the energy distribution proportion.

[0131] Further, step S3 includes the following steps:

[0132] Step S31: By inputting the Beidou RDSS satellite signal power consumption distribution coefficient into the corresponding power management unit and formulating the power supply scheme of the Beidou satellite signal receiving module corresponding to the Beidou RDSS receiving circuit, the switching conditions of the sleep, work and standby states are determined to generate the state switching rule set of the Beidou RDSS satellite receiving module;

[0133] In the embodiment of the application, the power consumption distribution coefficient of the Beidou RDSS satellite signal (0.5 for the receiving circuit, 0.00069 for the frequency synthesizer, 0.25 for the data processor, and 0.25 for the standby state) is input into the power management unit, the unit outputs a voltage of 3.3V, and supports switching of three working states. The power supply scheme is formulated: only the real-time clock is powered in the sleep state (current 10mA, power consumption 33mW), all modules are powered in the working state (current 90mA, power consumption 297mW), and the receiving circuit and the frequency synthesizer are turned off in the standby state (current 30mA, power consumption 99mW). The switching conditions are clear: enter sleep when there is no signal reception requirement for 5 seconds; switch from sleep to work when a frequency hopping wake-up instruction (3.3V, 1ms pulse) is received; switch to standby when the working state lasts for 100ms and no signal is captured; switch to work when a signal frequency band is detected in the standby state, and generate a set of Beidou RDSS satellite receiving module state switching rules, including the power supply range, current threshold and four switching conditions of the three states. The rules are formulated based on the power consumption distribution coefficient and the circuit characteristics, and there is no state conflict.

[0134] Step S32: Based on the set of Beidou RDSS satellite receiving module state switching rules, a corresponding sleep-wake timing is designed, and based on the sleep-wake timing, the wake-up interval and the working time of different Beidou RDSS receiving circuits are calculated to obtain the Beidou RDSS satellite signal power supply timing planning data.

[0135] In the embodiment of the application, based on the set of Beidou RDSS satellite receiving module state switching rules, the sleep-wake timing is designed: the wake-up-working-standby cycle is performed once every 200ms (matching the frequency hopping interval). The wake-up interval is fixed at 200ms, starting from the sleep state (0ms), the receiving circuit is woken up at 10ms, the frequency synthesizer is started at 15ms, and the data processor is activated at 20ms (entering the working state); the working time is set to 50ms, and the signal reception is completed at 70ms, and the standby state is switched to; the circuit is woken up again at 200ms, and the cycle is repeated. The working time of different circuits is calculated: the receiving circuit works from 10ms to 70ms (60ms), the frequency synthesizer works from 15ms to 70ms (55ms), the data processor works from 20ms to 70ms (50ms), and the standby state lasts for 130ms (70ms-200ms), to obtain the Beidou RDSS satellite signal power supply timing planning data, including the wake-up time point, the working time, and the standby time of each circuit. The timing design is synchronized with the frequency hopping parameters to ensure that the circuit only consumes energy at necessary time periods.

[0136] Step S33: Based on the Beidou RDSS satellite signal power supply timing planning data, dynamic power supply control is performed to convert the Beidou RDSS satellite signal power supply timing planning data into specific control signals, to generate Beidou RDSS satellite signal power supply timing control instructions, and control the Beidou RDSS receiving circuit to switch states according to the Beidou RDSS satellite signal power supply timing control instructions;

[0137] In the embodiment of the application, dynamic power supply control is performed based on the Beidou RDSS satellite signal power supply timing planning data (wake-up interval 200ms, working period 10ms-70ms). The planning data is converted into control signals: the 10th ms outputs the receiving circuit wake-up signal (3.3V, 1ms pulse), the 15th ms outputs the frequency synthesizer start signal (3.3V, 1ms pulse), the 20th ms outputs the data processor activation signal (3.3V, 1ms pulse), and the 70th ms outputs the standby switching signal (3.3V, 2ms pulse). The control signals are transmitted through the GPIO interface of the power management unit, with a level error of ≤±0.1V and a pulse width deviation of <0.1ms. The circuit state switching strictly follows the instructions: at 10ms, the receiving circuit switches from sleep (10mA) to work (50mA), at 15ms, the frequency synthesizer starts (the current increases to 70mA), at 20ms, the data processor is activated (the current increases to 90mA), and at 70ms, all modules enter standby (the current decreases to 30mA), generating the Beidou RDSS satellite signal power supply timing control instructions, containing 4 timing instructions and corresponding current change thresholds, the control process has no delay or false triggering, and the power consumption is distributed according to the planning.

[0138] Step S34: Based on the Beidou RDSS satellite signal power supply timing control instructions, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is performed, the received Beidou RDSS satellite signal is demodulated and decoded, and the corresponding positioning information is extracted to obtain the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode.

[0139] In the embodiment of the application, the signal receiving operation in the ultra-low power consumption mode is performed by using the timing control instruction based on the Beidou RDSS satellite signal power supply, and the signal receiving circuit is locked to the 1561.098 MHz frequency band in a 10-70 ms working period, the frequency synthesizer provides a stable carrier (error <1 Hz), and the data processor synchronously collects signals. The received Beidou RDSS signal is demodulated by using a coherent demodulation algorithm to extract carrier phase information (accuracy 0.1 radian) and eliminate Doppler frequency offset (within the range of ±200 Hz); decoding processing is performed by using convolution code decoding (code rate 1 / 2) to analyze navigation messages (including ephemeris and time stamp) from the baseband signal. Positioning information is extracted based on the pseudo-range measurement values (error <10 m) of three satellites, and three-dimensional coordinates (longitude accuracy 0.0001°, latitude accuracy 0.0001°, and height accuracy 0.1 m) are calculated by using the least square method to obtain the Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode, and a set of positioning results is output every 200 ms, the average power consumption is 99 mW (reduced by 66% compared with the conventional mode), the positioning accuracy is maintained within 5 m, and the balance between power consumption and performance is achieved.

[0140] Further, the conversion of the Beidou RDSS satellite signal power supply timing planning data into specific control signals in step S33 includes the following steps:

[0141] The Beidou RDSS satellite signal power supply timing planning data is subjected to timing logic verification to verify the compatibility of the state switching of each Beidou satellite signal receiving module, and a Beidou RDSS power supply timing compatibility verification report is generated.

[0142] In the embodiment of the application, the Beidou RDSS satellite signal power supply timing planning data (including the state switching time points of the signal receiving circuit, the frequency synthesizer, and the data processor) is subjected to timing logic verification. The verification content includes whether the time interval of the state switching of each module meets the minimum compatibility threshold: the signal receiving circuit needs 5 ms from sleep to wake-up, the frequency synthesizer needs 10 ms from shutdown to start, and the data processor needs 8 ms from low power consumption to work. There are two conflicts in the planning data: the interval between the wake-up of the signal receiving circuit (10 ms) and the start of the frequency synthesizer (12 ms) is 2 ms <5 ms (minimum compatible interval); and the interval between the switching of the data processor (20 ms) and the sleep of the signal receiving circuit (25 ms) is 5 ms <8 ms. The specific time points and module combinations at which the conflicts occur are recorded by using a timing logic analyzer (sampling rate 1 MHz) to generate a Beidou RDSS power supply timing compatibility verification report, which clearly marks the positions of the two conflicts, the involved modules, the difference between the actual interval and the minimum threshold, and the verification process is based on the fixed parameters of the hardware characteristics without subjective judgment.

[0143] Preferably, the corresponding Beidou RDSS satellite signal power supply time sequence planning data is modified according to the Beidou RDSS power supply time sequence compatibility verification report to adjust the time point corresponding to the state switching of the Beidou satellite signal receiving module with conflict, and Beidou RDSS modified power supply time sequence planning data is obtained.

[0144] In the embodiment of the present application, the power supply time sequence planning data is modified according to the Beidou RDSS power supply time sequence compatibility verification report (two conflicts). For the first conflict (interval 2ms), the frequency synthesizer start time is delayed from the 12th ms to the 15th ms, so that the interval with the signal receiving circuit wake-up is increased to 5ms (equal to the minimum compatible interval); for the second conflict (interval 5ms), the signal receiving circuit sleep time is delayed from the 25th ms to the 28th ms, so that the interval with the data processor switching is increased to 8ms (equal to the minimum threshold). After modification, all state switches are rechecked: signal receiving circuit wake-up (10ms)→frequency synthesizer start (15ms)→data processor switching (20ms)→signal receiving circuit sleep (28ms), each interval is greater than the minimum compatible threshold, and Beidou RDSS modified power supply time sequence planning data is obtained, which contains the modified state switching time points (accurate to 1ms) of each module and interval verification results. The adjustment range is calculated based on the conflict difference value, and the timing logic is ensured to have no compatibility problems.

[0145] Preferably, the Beidou RDSS modified power supply time sequence planning data is converted into a control signal format conforming to the corresponding interface standard of the Beidou RDSS receiving circuit, including a level signal and a pulse width, to generate Beidou RDSS satellite power supply time sequence control original instructions.

[0146] In the embodiment of the present application, the Beidou RDSS modified power supply time sequence planning data (switching time points 10ms, 15ms, 20ms, 28ms) is converted into a control signal format conforming to the receiving circuit interface standard. The level signal adopts TTL standard: high level 3.3V (effective), low level 0V (invalid); the pulse width is set according to the switching action: wake-up / start instruction pulse width 1ms, sleep / close instruction 2ms. The conversion rule is: the 10th ms outputs the signal receiving circuit wake-up instruction (3.3V, 1ms pulse); the 15th ms outputs the frequency synthesizer start instruction (3.3V, 1ms pulse); the 20th ms outputs the data processor switching instruction (3.3V, 1ms pulse); the 28th ms outputs the signal receiving circuit sleep instruction (3.3V, 2ms pulse). The rising edge and falling edge time of the control signal is ≤10ns, which conforms to the signal integrity requirement of the interface, and Beidou RDSS satellite power supply time sequence control original instructions are generated, which contain the level value, pulse width and output time point of the 4 instructions. The format conversion strictly follows the interface standard, and there is no signal parameter deviation.

[0147] Preferably, the original power supply timing control instruction of the Beidou RDSS satellite is simulated and tested to simulate the corresponding power consumption change in the simulation instruction execution process and verify the effectiveness of the original power supply timing control instruction of the Beidou RDSS satellite, so as to generate the signal power supply timing control instruction of the Beidou RDSS satellite.

[0148] In the embodiment of the application, the original power supply timing control instruction of the Beidou RDSS satellite is simulated and tested, and a circuit simulation tool is used to simulate the instruction execution process (time accuracy 1 μs). The current change during execution of each instruction is recorded: the current rises from 10 mA to 50 mA (power consumption increases from 33 mW to 165 mW) when the signal receiving circuit wakes up (10 ms); the current increases to 70 mA (power consumption 231 mW) when the frequency synthesizer starts (15 ms); the current increases to 90 mA (power consumption 297 mW) when the data processor switches (20 ms); the current decreases to 30 mA (power consumption 99 mW) when the signal receiving circuit sleeps (28 ms). Verify the effectiveness of the instruction: all instructions are correctly identified (pulse width error <0.1 ms), the state switching is consistent with the planning, there is no abnormal current spike (≤100 mA), the signal power supply timing control instruction of the Beidou RDSS satellite is generated, which contains the instruction sequence after simulation verification, the current change curve and the power consumption peak value data, the simulation result matches the hardware characteristics, and it is ensured that the instruction can be directly used for circuit control.

[0149] Further, step S4 comprises the following steps:

[0150] Step S41: identifying the navigation error sources of the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode, to identify and analyze the component proportion of satellite ephemeris error, ionospheric delay error and navigation receiver noise error, to generate the Beidou RDSS satellite signal navigation error component proportion data;

[0151] In the embodiment of the application, the navigation error sources of the Beidou RDSS satellite navigation positioning data (1000 groups of data, 1-5 meters of positioning error, every 200 ms) in the ultra-low power consumption mode are identified. The satellite ephemeris error is calculated by comparing the positioning deviation of the known coordinate points, three reference points (error <0.5 meters) are selected, the mean deviation of the ephemeris in 1000 groups of data is 1.2 meters, accounting for 24% of the total error; the ionospheric delay error is separated by the dual-frequency correction method, the mean delay error is 0.8 meters (accounting for 16%) during the day (6:00-18:00), and 0.5 meters (accounting for 10%) at night (18:00-6:00); the navigation receiver noise error is calculated by static test (the equipment is static for 1 hour), the mean deviation caused by noise is 2.5 meters (accounting for 50%). The composition ratio is decomposed according to the total error (5 meters): ephemeris error 24%, ionospheric delay error 26% (day 16%+night 10%), receiver noise error 50%, to generate the Beidou RDSS satellite signal navigation error composition ratio data, including the specific values, proportion and time distribution of the three types of errors, the identification method is based on reference comparison and physical model, and the error proportion sum is 100%.

[0152] Step S42: constructing a corresponding Beidou RDSS satellite navigation error matrix based on the Beidou RDSS satellite signal navigation error composition ratio data, and constructing a positioning error map based on the Beidou RDSS satellite navigation error matrix to obtain a Beidou RDSS satellite navigation positioning error characteristic map;

[0153] In the embodiment of the application, the error matrix is constructed based on the Beidou RDSS satellite signal navigation error composition ratio data (ephemeris 24%, ionosphere 26%, noise 50%), the matrix dimension is 3x3 (corresponding to east, north and height error), and the diagonal elements are the error variances in each direction: east ephemeris error variance (1.2 meters) 2=1.44, ionospheric error variance (0.8 meters) 2=0.64, and noise error variance (2.5 meters) 2=6.25; the north is consistent with the east, and the height error is 1.5 times of the horizontal error (ephemeris 1.8 meters, ionosphere 1.2 meters, and noise 3.75 meters). Based on the error matrix, a positioning error map is drawn, the horizontal axis is the longitude deviation (-3 meters to 3 meters), the vertical axis is the latitude deviation (-3 meters to 3 meters), and the color represents the error probability density (red for high probability). The map shows that the error is concentrated in a radius of 2 meters (accounting for 70%) centered on the origin, and the height error is concentrated in -4.5 meters to 4.5 meters, so as to obtain the Beidou RDSS satellite navigation positioning error characteristic map, which includes the distribution heat map of the plane and height error and the error matrix value. The map and the matrix strictly correspond to each other, and quantitatively reflect the error spatial distribution characteristics.

[0154] Step S43: Obtain the Beidou RDSS satellite navigation auxiliary information, including the motion state data corresponding to the inertial measurement unit, the elevation data corresponding to the barometric altimeter, and the motion speed data corresponding to the speed sensor, and perform time synchronization and coordinate system processing on the Beidou RDSS satellite navigation auxiliary information to generate a Beidou RDSS satellite navigation standard auxiliary information set;

[0155] In the embodiment of the application, the Beidou RDSS satellite navigation auxiliary information is obtained: the inertial measurement unit provides motion state data (acceleration ±1g, angular velocity ±200° / s, sampling rate 10Hz), the barometric altimeter provides elevation data (accuracy ±0.5m, sampling rate 1Hz), and the speed sensor provides motion speed data (accuracy ±0.1m / s, sampling rate 5Hz). The auxiliary information is time-synchronized and unified to the Beidou timestamp (accuracy 1ms), the 10Hz data of the inertial measurement unit is down-sampled to 5Hz (matching the speed sensor), and the barometric altimeter data is interpolated to 5Hz. The coordinate system is the WGS84 coordinate system, the relative coordinates of the inertial measurement unit are converted to absolute coordinates through the initial positioning point, and the speed data is converted to eastward and northward components, to generate a Beidou RDSS satellite navigation standard auxiliary information set, containing the timestamps, coordinate values, and physical quantity units of the three types of auxiliary data, with a synchronization deviation <1ms and a coordinate conversion error <0.1m, to ensure the spatio-temporal matching of the auxiliary information and the positioning data.

[0156] Step S44: Construct an adaptive Kalman filter model corresponding to the Beidou RDSS satellite navigation positioning error feature map, and input the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode and the Beidou RDSS satellite navigation standard auxiliary information set as filter input, and perform multi-source data fusion calculation by dynamically adjusting the filter gain through the Beidou RDSS satellite navigation error matrix to obtain Beidou RDSS satellite signal navigation preliminary corrected positioning data;

[0157] In the embodiment of the application, by constructing an adaptive Kalman filter model based on the error feature map of Beidou RDSS satellite navigation and positioning, the state vector contains position (x, y, z), velocity (vx, vy, vz), and acceleration (ax, ay, az), a total of 9 dimensions. The positioning data (5 Hz) in the ultra-low power mode and the standard auxiliary information set (5 Hz) are used as inputs, and the error matrix is used to dynamically adjust the filter gain: when the ephemeris error ratio is high (> 24%), the position gain is increased to 0.8, when the ionospheric error is high (> 26%), the elevation gain is increased to 0.9, and when the noise error is high (> 50%), the gain is reduced to 0.3. Multi-source data fusion calculation: at the 100th ms, the longitude of the positioning data is 116.3°, the inertial measurement unit calculates 116.3001°, and the fusion is 116.30005° after taking the average; the velocity data is fused in the same way, and the weight is distributed in inverse proportion to the error, to obtain the Beidou RDSS satellite signal navigation preliminary correction positioning data, the positioning error is reduced to within 1.5 meters (60% lower than the original data), the data output frequency is 5 Hz, and the fusion process strictly follows the filter equation, and the gain adjustment is based on the real-time error ratio.

[0158] Step S45: residual error analysis is performed on the Beidou RDSS satellite signal navigation preliminary correction positioning data to identify the corresponding abnormal residual error in the Beidou RDSS satellite signal navigation preliminary correction positioning data by the hypothesis testing method and perform secondary calibration, and eliminate the deviation in the fusion process, to obtain the Beidou RDSS satellite navigation and positioning correction result; based on the Beidou RDSS satellite navigation and positioning correction result, the Beidou RDSS device motion trajectory parameters are calculated, including the trajectory curvature, the motion speed, the turning angle and the cumulative mileage, and the segmented fitting is used for smoothing processing to generate the ultra-low power Beidou RDSS navigation trajectory report.

[0159] In the embodiment of the present application, by residual error analysis on the preliminary corrected positioning data (error within 1.5 meters) of the Beidou RDSS satellite signal navigation, the residual error (mean value 0.3 meters, standard deviation 0.2 meters) of each group of data and the smooth trajectory is calculated. Adopting 3σ hypothesis test (threshold value 0.9 meters), 10 groups of abnormal values (accounting for 1%) with residual error > 0.9 meters are identified, and the secondary calibration is carried out through linear interpolation of adjacent data. Eliminate the fusion deviation: calculate the elevation deviation mean value within 24 hours 0.5 meters, uniformly subtract the value, and make the elevation error drop to ± 0.3 meters. Based on the correction result, the motion trajectory parameters are calculated: the trajectory curvature is calculated by three-point method (the distance between adjacent points is 10 meters, and the curvature at the turning point is 0.1 / m), the motion speed is the distance between adjacent points divided by the time interval (the speed of straight line segment is 5 m / s), the turning angle is calculated by the change of azimuth angle (the maximum turning is 30°), and the cumulative mileage is the total of each segment distance (1000 meters). The piecewise fitting is carried out by using cubic spline curve (every 100 meters a segment), the smooth trajectory deviation is < 0.2 meters after smoothing, and the ultra-low power consumption Beidou RDSS navigation trajectory report is generated, which includes the corrected positioning point, the trajectory parameter table and the smooth trajectory graph. The report data accurately reflects the motion state, and the smoothing processing does not change the trajectory trend.

[0160] Further, the present application also provides an ultra-low power consumption Beidou RDSS navigation system for executing the ultra-low power consumption Beidou RDSS navigation method as described above, which comprises:

[0161] The Beidou satellite dynamic atlas construction module is used for acquiring the corresponding Beidou RDSS signal receiving frequency band through the Beidou satellite signal receiving module, and performing time period division analysis on the Beidou RDSS signal receiving frequency band to obtain the corresponding Beidou RDSS satellite signal data of each time period; and based on the corresponding Beidou RDSS satellite signal data of each time period, satellite dynamic atlas construction is carried out to generate the Beidou RDSS satellite signal available dynamic atlas.

[0162] The Beidou satellite power consumption budget module is used for performing signal frequency hopping configuration according to the Beidou RDSS satellite signal available dynamic atlas to generate the Beidou RDSS satellite signal frequency hopping parameter configuration data; and based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, power consumption budget allocation is performed on the Beidou satellite signal receiving module to obtain the Beidou RDSS satellite signal power consumption allocation coefficient.

[0163] The ultra-low power consumption navigation positioning module is used for dynamically controlling the Beidou RDSS receiving circuit corresponding to the Beidou satellite signal receiving module based on the power consumption distribution coefficient of the Beidou RDSS satellite signal, so as to generate a Beidou RDSS satellite signal power supply timing control instruction; and based on the Beidou RDSS satellite signal power supply timing control instruction, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is executed, so that the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode is obtained.

[0164] The navigation positioning correction trajectory calculation module is used for correcting the navigation positioning error of the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode, so as to obtain the Beidou RDSS satellite navigation positioning correction result; and based on the Beidou RDSS satellite navigation positioning correction result, the Beidou RDSS device motion trajectory parameter is calculated, so as to generate the ultra-low power consumption Beidou RDSS navigation trajectory report.

[0165] The above description is merely a specific implementation of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A Beidou RDSS navigation method with ultra-low power consumption, characterized in that, The method comprises the following steps: Step S1: obtaining corresponding Beidou RDSS signal receiving frequency bands through a Beidou satellite signal receiving module, and performing time period division analysis on the Beidou RDSS signal receiving frequency bands to obtain Beidou RDSS satellite signal data corresponding to each time period; Based on the Beidou RDSS satellite signal data corresponding to each time period, a satellite dynamic atlas is constructed to generate a Beidou RDSS satellite signal available dynamic atlas; Step S2: configuring signal frequency hopping based on the Beidou RDSS satellite signal available dynamic atlas to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; Based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, power consumption budget allocation is performed on the Beidou satellite signal receiving module to obtain a Beidou RDSS satellite signal power consumption allocation coefficient; wherein step S2 comprises the following steps: Step S21: obtaining corresponding Beidou RDSS satellite availability signal frequency bands based on the Beidou RDSS satellite signal available dynamic atlas; Step S22: performing satellite signal change analysis on the Beidou RDSS satellite availability signal frequency bands to obtain a Beidou RDSS satellite signal frequency band change trend; Step S23: based on the Beidou RDSS satellite signal frequency band change trend, determining the signal receiving frequency time of the Beidou RDSS satellite availability signal frequency bands to determine the optimal frequency band and the optimal time period corresponding to the Beidou RDSS satellite signal receiving based on the Beidou RDSS satellite signal frequency band change trend, and generating Beidou RDSS satellite signal frequency band time period selection data; Step S24: based on the Beidou RDSS satellite signal frequency band time period selection data, configuring signal frequency hopping of the Beidou RDSS satellite availability signal frequency bands to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; wherein step S24 comprises the following steps: Step S241: based on the Beidou RDSS satellite signal frequency band time period selection data, performing frequency band priority sorting on the Beidou RDSS satellite availability signal frequency bands to determine the receiving priority of each Beidou RDSS satellite signal frequency band based on the satellite signal strength average and stability index of the selected corresponding Beidou RDSS satellite availability signal frequency band, and generating a Beidou RDSS satellite signal frequency band priority sequence; Step S242: based on the Beidou RDSS satellite signal frequency band priority sequence, dividing each Beidou RDSS satellite signal strength interval, and based on each Beidou RDSS satellite signal strength interval, setting the initial value of the Beidou RDSS satellite frequency hopping interval corresponding to different intervals, and establishing the mapping relationship between the initial value of the Beidou RDSS satellite frequency hopping interval corresponding to different intervals and the signal strength to obtain a Beidou RDSS satellite signal frequency hopping-intensity mapping table; Step S243: Obtain the Beidou RDSS satellite historical navigation data, analyze the corresponding Beidou RDSS satellite signal strength mutation condition according to the Beidou RDSS satellite historical navigation data, extract the Beidou RDSS satellite signal attenuation critical value as the signal strength threshold from the Beidou RDSS satellite historical navigation data, dynamically calibrate the signal strength threshold combined with the preset positioning accuracy requirement, and generate a Beidou RDSS satellite calibrated signal strength threshold set; Step S244: Based on the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table and the Beidou RDSS satellite signal frequency hopping-intensity mapping relationship table, an association rule base is constructed to clearly define the adjustment range and trigger condition of the frequency hopping interval when the Beidou RDSS satellite signal strength crosses different signal strength thresholds, and a Beidou RDSS satellite signal frequency hopping adjustment rule is generated; Step S245: By applying the Beidou RDSS satellite signal frequency hopping adjustment rule to the receiving parameter configuration of each priority frequency band in the Beidou RDSS satellite signal frequency band priority sequence, including the frequency band switching timing and the stay duration, the Beidou RDSS satellite signal frequency hopping parameter configuration data is generated; Step S25: Based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, the power consumption budget allocation of the Beidou satellite signal receiving module is performed to obtain the Beidou RDSS satellite signal power consumption allocation coefficient; wherein, step S25 includes the following steps: Step S251: Based on the Beidou RDSS satellite signal frequency hopping parameter configuration data, frequency hopping power consumption simulation calculation is performed on the Beidou satellite signal receiving module to obtain the corresponding Beidou RDSS satellite signal energy consumption of the receiving module under different frequency hopping parameter configurations; Step S252: Based on the Beidou RDSS satellite signal energy consumption of the receiving module under different frequency hopping parameter configurations, a power consumption performance curve is drawn to generate a Beidou signal receiving module power consumption-performance trade-off curve; Step S253: Based on the Beidou signal receiving module power consumption-performance trade-off curve, the frequency hopping configuration optimization of the Beidou RDSS satellite signal frequency hopping parameter configuration data is performed to optimize the corresponding frequency hopping parameters according to the Beidou signal receiving module power consumption-performance trade-off curve, and to minimize the power consumption under the premise of meeting the positioning accuracy requirement, to obtain Beidou RDSS satellite signal frequency hopping parameter optimization data; Step S254: Based on the Beidou RDSS satellite signal frequency hopping parameter optimization data, the module power consumption ratio allocation calculation of the Beidou satellite signal receiving module is performed to obtain the Beidou RDSS satellite signal power consumption allocation coefficient; Step S3: Based on the Beidou RDSS satellite signal power consumption allocation coefficient, dynamic power supply control is performed on the corresponding Beidou RDSS receiving circuit of the Beidou satellite signal receiving module to generate a Beidou RDSS satellite signal power supply timing control instruction; based on the Beidou RDSS satellite signal power supply timing control instruction, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is performed to obtain the corresponding Beidou RDSS satellite navigation and positioning data in the ultra-low power consumption mode; Step S4: correcting the navigation positioning error of the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode to obtain a Beidou RDSS satellite navigation positioning correction result; and calculating a Beidou RDSS device motion trajectory parameter based on the Beidou RDSS satellite navigation positioning correction result to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

2. The ultra-low power Beidou RDSS navigation method according to claim 1, characterized in that, Step S1 includes the following steps: Step S11: acquiring a corresponding Beidou RDSS signal receiving frequency band through a Beidou satellite signal receiving module; Step S12: dividing the Beidou RDSS signal receiving frequency band into different time periods to obtain a corresponding Beidou RDSS signal receiving sub-section in each time period; Step S13: performing time period signal statistical analysis on the corresponding Beidou RDSS signal receiving sub-section in each time period to statistically analyze the signal strength, signal-to-noise ratio and Doppler frequency offset data of the corresponding sampling points in each time period to obtain a corresponding Beidou RDSS satellite signal data in each time period; Step S14: performing outlier detection and elimination on the corresponding Beidou RDSS satellite signal data in each time period, and using an interpolation algorithm to perform anomaly completion on the missing sampling points to generate a corresponding Beidou RDSS preprocessed signal data in each time period; Step S15: constructing a satellite dynamic atlas based on the corresponding Beidou RDSS preprocessed signal data in each time period to generate a Beidou RDSS satellite signal available dynamic atlas.

3. The ultra-low power Beidou RDSS navigation method according to claim 2, characterized in that, Step S15 includes the following steps: Step S151: performing time domain feature extraction on the corresponding Beidou RDSS preprocessed signal data in each time period to extract the signal strength mean value, signal-to-noise fluctuation variance and peak occurrence frequency to obtain Beidou RDSS satellite signal time sequence feature data; Step S152: performing Beidou satellite space domain feature analysis on the corresponding Beidou RDSS preprocessed signal data in each time period to statistically analyze the distribution law of the signal strength, signal-to-noise ratio and Doppler frequency offset corresponding to different azimuth angles to generate Beidou RDSS signal space distribution feature data; Step S153: inputting the Beidou RDSS satellite signal time sequence feature data into a long short-term memory network to construct a satellite signal time sequence prediction sub-model, and generating a Beidou RDSS satellite signal prediction sequence corresponding to a future time period through a sliding window method; constructing a satellite signal space shielding sub-model based on the Beidou RDSS signal space distribution feature data to analyze the influence of terrain, buildings and corresponding environmental factors on satellite signal propagation, and calculating a corresponding Beidou RDSS satellite signal attenuation space distribution coefficient; Step S154: constructing a satellite dynamic atlas for the corresponding Beidou RDSS signal receiving frequency band by combining the Beidou RDSS satellite signal prediction sequence and the Beidou RDSS satellite signal attenuation space distribution coefficient to dynamically predict a corresponding Beidou RDSS satellite availability signal frequency band to generate a Beidou RDSS satellite signal available dynamic atlas.

4. The ultra-low power Beidou RDSS navigation method according to claim 1, characterized in that, Step S3 includes the following steps: Step S31: By inputting the Beidou RDSS satellite signal power consumption allocation coefficient into the corresponding power management unit and formulating the power supply scheme of the Beidou satellite signal receiving module corresponding to the Beidou RDSS receiving circuit, the switching conditions of the sleep, working and standby states are determined to generate the Beidou RDSS satellite receiving module state switching rule set; Step S32: Based on the Beidou RDSS satellite receiving module state switching rule set, the corresponding sleep wake-up timing is designed, and the wake-up interval and working time of different Beidou RDSS receiving circuits are calculated based on the sleep wake-up timing to obtain the Beidou RDSS satellite signal power supply timing planning data; Step S33: Based on the Beidou RDSS satellite signal power supply timing planning data, dynamic power supply control is performed to convert the Beidou RDSS satellite signal power supply timing planning data into specific control signals to generate Beidou RDSS satellite signal power supply timing control instructions, and control the Beidou RDSS receiving circuit to switch states according to the Beidou RDSS satellite signal power supply timing control instructions; Step S34: Based on the Beidou RDSS satellite signal power supply timing control instructions, the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode is executed, the received Beidou RDSS satellite signal is demodulated and decoded, and the corresponding positioning information is extracted to obtain the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode.

5. The ultra-low power Beidou RDSS navigation method according to claim 4, characterized in that, The conversion of the Beidou RDSS satellite signal power supply timing planning data into specific control signals in step S33 includes the following steps: Timing logic verification is performed on the Beidou RDSS satellite signal power supply timing planning data to verify and check the compatibility of the state switching of each Beidou satellite signal receiving module, and a Beidou RDSS power supply timing compatibility verification report is generated; According to the Beidou RDSS power supply timing compatibility verification report, the corresponding Beidou RDSS satellite signal power supply timing planning data is corrected to adjust the time points of the state switching of the Beidou satellite signal receiving module with conflicts to obtain the corrected Beidou RDSS power supply timing planning data; The corrected Beidou RDSS power supply timing planning data is converted into a control signal format conforming to the interface standard of the Beidou RDSS receiving circuit, including a level signal and a pulse width, to generate Beidou RDSS satellite power supply timing control original instructions; The Beidou RDSS satellite power supply timing control original instructions are simulated and tested to simulate the power consumption changes in the instruction execution process and verify the effectiveness of the Beidou RDSS satellite power supply timing control original instructions to generate Beidou RDSS satellite signal power supply timing control instructions.

6. The ultra-low power Beidou RDSS navigation method according to claim 1, characterized in that, Step S4 includes the following steps: Step S41: Navigation error source identification is performed on the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode to identify and analyze the component proportions of satellite ephemeris error, ionospheric delay error and navigation receiving source noise error to generate Beidou RDSS satellite signal navigation error component proportion data; Step S42: Construct a corresponding Beidou RDSS satellite navigation error matrix based on the proportion data of the navigation error components of the Beidou RDSS satellite signal, and construct a positioning error map based on the Beidou RDSS satellite navigation error matrix to obtain a Beidou RDSS satellite navigation positioning error characteristic map; Step S43: Obtain Beidou RDSS satellite navigation auxiliary information, including motion state data corresponding to an inertial measurement unit, elevation data corresponding to a barometric altimeter, and motion speed data corresponding to a speed sensor, and perform time synchronization and coordinate system processing on the Beidou RDSS satellite navigation auxiliary information to generate a Beidou RDSS satellite navigation standard auxiliary information set; Step S44: Construct an adaptive Kalman filter model based on the Beidou RDSS satellite navigation positioning error characteristic map, and use the Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode and the Beidou RDSS satellite navigation standard auxiliary information set as filter inputs, and perform multi-source data fusion calculation by dynamically adjusting the filter gain based on the Beidou RDSS satellite navigation error matrix, to obtain Beidou RDSS satellite signal navigation preliminary correction positioning data; Step S45: Perform residual error analysis on the Beidou RDSS satellite signal navigation preliminary correction positioning data to identify the abnormal residual errors in the Beidou RDSS satellite signal navigation preliminary correction positioning data through hypothesis testing method and perform secondary calibration, and eliminate the bias in the fusion process to obtain a Beidou RDSS satellite navigation positioning correction result; calculate the Beidou RDSS device motion trajectory parameters based on the Beidou RDSS satellite navigation positioning correction result, including trajectory curvature, motion speed, turning angle and cumulative mileage, and perform smoothing processing by using piecewise fitting to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

7. An ultra-low power consumption Beidou RDSS navigation system, characterized in that, The ultra-low power consumption Beidou RDSS navigation system for performing the method according to claim 1 comprises: a Beidou satellite dynamic map construction module for obtaining corresponding Beidou RDSS signal receiving frequency bands through a Beidou satellite signal receiving module, and performing time period division analysis on the Beidou RDSS signal receiving frequency bands to obtain Beidou RDSS satellite signal data corresponding to each time period; and constructing a satellite dynamic map based on the Beidou RDSS satellite signal data corresponding to each time period to generate a Beidou RDSS satellite signal available dynamic map; a Beidou satellite power consumption budget module for performing signal frequency hopping configuration according to the Beidou RDSS satellite signal available dynamic map to generate Beidou RDSS satellite signal frequency hopping parameter configuration data; and performing power consumption budget allocation on the Beidou satellite signal receiving module based on the Beidou RDSS satellite signal frequency hopping parameter configuration data to obtain a Beidou RDSS satellite signal power consumption allocation coefficient; The ultra-low power consumption navigation positioning module is used for dynamically controlling the Beidou RDSS receiving circuit corresponding to the Beidou satellite signal receiving module based on the power consumption distribution coefficient of the Beidou RDSS satellite signal to generate a Beidou RDSS satellite signal power supply timing control instruction; and performing the Beidou RDSS satellite signal receiving operation in the ultra-low power consumption mode based on the Beidou RDSS satellite signal power supply timing control instruction, so as to obtain the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode. The navigation positioning correction trajectory calculation module is used for correcting the navigation positioning error of the corresponding Beidou RDSS satellite navigation positioning data in the ultra-low power consumption mode to obtain a Beidou RDSS satellite navigation positioning correction result; and calculating the Beidou RDSS device motion trajectory parameter based on the Beidou RDSS satellite navigation positioning correction result to generate an ultra-low power consumption Beidou RDSS navigation trajectory report.

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