GNSS receiver, control method thereof, storage medium, program product, and electronic device

Abstract

The invention relates to the technical field of GNSS chips, and discloses a GNSS receiver and a control method thereof, a storage medium, a program product and electronic equipment. The GNSS receiver comprises a digital front end, a tracking module and a positioning module, the tracking module comprises a plurality of tracking loops and a vector parameter estimation module, and the tracking loops are used for tracking digital intermediate frequency satellite signals to obtain initial tracking results of the tracking loops; and performing auxiliary tracking on the digital intermediate frequency satellite signal by using the auxiliary information corresponding to each tracking loop to obtain an actual tracking result of each tracking loop. The vector parameter estimation module is used for generating auxiliary information corresponding to each tracking loop, so that each tracking loop performs auxiliary tracking on the digital intermediate frequency satellite signal by using the corresponding auxiliary information to obtain an actual tracking result; and the positioning module is used for performing positioning calculation on the actual tracking result to obtain an actual positioning result of each tracking loop. The GNSS receiver provided by the invention is simple in structure, good in robustness and better in performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of GNSS chips, in particular to a GNSS receiver, a control method thereof, a storage medium, a program product and an electronic device. BACKGROUND

[0002] The positioning and tracking technology based on the Global Navigation Satellite System (GNSS) is a key technology for realizing high-precision positioning and navigation by using data of multiple satellites. The principle is to calculate the time difference of signal propagation by receiving signals from different satellite systems, such as signals from GPS, Beidou, GLONASS, Galileo, etc., and to determine the three-dimensional coordinates of the receiving terminal by combining satellite position information and using the principle of triangulation. This technology has been widely used in many fields due to its all-weather, global coverage and high-precision characteristics.

[0003] The GNSS receiver is a key device for positioning, navigation and timing by receiving signals of the Global Navigation Satellite System. Its core principle is to capture radio frequency signals transmitted by multiple satellites through an antenna, demodulate, decode and measure pseudorange by a signal processing unit, combine satellite orbit parameters and clock correction information, and use a triangulation algorithm to achieve centimeter to millimeter level precision position solution. It is widely used in surveying, autonomous driving, agriculture and other fields. Some existing GNSS receivers have simple structure and good robustness, but the tracking performance is poor. Some other GNSS receivers have good tracking performance, but the results are complex and the robustness is poor. SUMMARY

[0004] Therefore, the present application provides a GNSS receiver, a control method thereof, a storage medium, a program product and an electronic device. The GNSS receiver provided by the present application has simple structure and good robustness. The present application can use the information of multiple channels to help the assisted channel to eliminate the influence of dynamics, realize significant improvement of the tracking sensitivity of the weak signal channel in the case of strong dynamic change, realize output of the carrier phase information of the weak signal channel at lower signal strength after assisted elimination of clock dynamic noise, and realize stable tracking of the weak signal channel when the clock frequency offset is affected by temperature change. Moreover, the GNSS receiver of the present application can flexibly switch between the traditional receiver and the multi-loop assisted tracking mechanism, and is more convenient to debug.

[0005] In a first aspect, the present application provides a GNSS receiver, comprising a digital front end, a tracking module and a positioning module, the digital front end, the tracking module and the positioning module being connected in sequence, The digital front end is configured to convert the received analog intermediate frequency satellite signal into a digital intermediate frequency satellite signal. The tracking module comprises a plurality of tracking loops and a vector parameter estimation module, each tracking loop being connected to the digital front-end, the vector parameter estimation module and the positioning module, and each tracking loop corresponding to one satellite channel; Each tracking loop is configured to track the digital intermediate frequency satellite signal to obtain initial tracking results of the tracking loops when the GNSS receiver is started and the vector parameter estimation module is in an unstarted state, and to perform auxiliary tracking on the digital intermediate frequency satellite signal by using auxiliary information corresponding to each tracking loop to obtain actual tracking results of the tracking loops in a case where the vector parameter estimation module is in a started state; the auxiliary information corresponding to each tracking loop is generated by the vector parameter estimation module; The vector parameter estimation module is configured to generate auxiliary information corresponding to each tracking loop in a case where initial positioning results of the tracking loops and measurement information of the tracking loops both satisfy a set requirement; The auxiliary information is configured to determine an actual running state of the vector parameter estimation module in combination with actual tracking situations of the tracking loops, and to cause each tracking loop to perform auxiliary tracking on the acquired digital intermediate frequency satellite signal by using the corresponding auxiliary information to obtain actual tracking results of the tracking loops in a case where the vector parameter estimation module is determined to be in the started state; The positioning module is configured to perform positioning calculation on the initial tracking results of the tracking loops to obtain initial positioning results of the tracking loops, and to perform positioning calculation on the actual tracking results of the tracking loops to obtain actual positioning results of the tracking loops.

[0006] In a possible implementation of the first aspect, each tracking loop comprises a correlator, an integrator, a loop discriminator, a loop filter and a local signal generator, and the correlator, the integrator, the loop discriminator, the loop filter and the local signal generator are connected in sequence.

[0007] In a possible implementation of the first aspect, an output end of the loop discriminator is further connected to an input end of the vector parameter estimation module, and an output end of the vector parameter estimation module is connected to an input end of the local signal generator.

[0008] In a possible implementation of the first aspect, an output end of the loop discriminator is further connected to an input end of the vector parameter estimation module, and an output end of the vector parameter estimation module is connected to an input end of the local signal generator. The control method comprises the following steps: In a case where the initial positioning results of the tracking loops are determined and the measurement information of the tracking loops all meet the set requirements, the vector parameter estimation module is in an open state, and the vector parameter estimation module generates the assistance information corresponding to the tracking loops; According to the assistance information of the tracking loops and actual tracking situations of the tracking loops, an actual running state of the vector parameter estimation module is controlled. In a case where the vector parameter estimation module is in the open state, the tracking loops are controlled to perform assisted tracking on the acquired digital intermediate frequency satellite signals by using the assistance information corresponding to the tracking loops, actual tracking results of the tracking loops are obtained, and the actual tracking results of the tracking loops are respectively subjected to positioning calculation by the positioning module, and actual positioning results of the tracking loops are obtained.

[0009] In a possible implementation of the second aspect, the tracking loops are controlled to track the digital intermediate frequency satellite signals by the following manner, and the initial tracking results of the tracking loops are obtained: The signal strength of the digital intermediate frequency satellite signals and the assistance information of the tracking loops are determined. The tracking parameters of the tracking loops are determined according to the signal strength of the digital intermediate frequency satellite signals and the quality of the assistance information of the tracking loops, wherein the tracking parameters of the tracking loops include the bandwidth and the integration time of the tracking loops. The tracking loops are controlled to track the digital intermediate frequency satellite signals by using the corresponding tracking parameters, and the initial tracking results of the tracking loops are obtained.

[0010] In a possible implementation of the second aspect, the vector parameter estimation module generates the assistance information corresponding to the tracking loops by the following manner: The vector parameter estimation module generates the assistance information corresponding to the tracking loops according to the Doppler error and the phase error output by the loop discriminator of each tracking loop and the positioning result output by the positioning module, and the measurement period of the Doppler error and the phase error is related to the signal strength of the digital intermediate frequency satellite signals.

[0011] In a possible implementation of the second aspect, the measurement information includes pseudo-range, Doppler and carrier phase.

[0012] In a third aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions make an electronic device execute the control method of the GNSS receiver in the second aspect and any possible implementation of the second aspect when executed on the electronic device.

[0013] In a fourth aspect, the present application provides a computer program product, which comprises instructions for implementing the control method of the GNSS receiver as in the second aspect and any possible implementation of the second aspect when the instructions are executed by one or more processors.

[0014] In a fifth aspect, the present application provides an electronic device, which comprises: a memory for storing instructions, and one or more processors, which execute the control method of the GNSS receiver as in the second aspect and any possible implementation of the second aspect when the instructions are executed by the one or more processors.

[0015] Compared with the prior art, the present application has the following beneficial effects: The GNSS receiver of the present application comprises a plurality of tracking loops and a vector parameter estimation module. The vector parameter estimation module of the present application is used to generate auxiliary information corresponding to each tracking loop in the case that the initial positioning result of each tracking loop and the measurement information of each tracking loop both meet the set requirements; the auxiliary information is used to determine the actual running state of the vector parameter estimation module in combination with the actual tracking situation of each tracking loop; and in the case that the vector parameter estimation module is determined to be in an open state, each tracking loop uses the corresponding auxiliary information to perform auxiliary tracking on the acquired digital intermediate frequency satellite signal, so as to obtain the actual tracking result of each tracking loop. The GNSS receiver provided by the present application uses the auxiliary information corresponding to each tracking loop generated by the vector parameter estimation module to perform auxiliary tracking on the digital intermediate frequency signal of each tracking loop. In this way, even if the signal of a certain tracking loop is relatively weak, the tracking sensitivity of the weak signal can be improved by using the auxiliary tracking information, the dynamic influence received by the assisted loop can be eliminated by using the auxiliary information, the sensitivity of the weak signal channel can be significantly improved in the case of strong dynamic change, the weak signal channel can output the carrier phase information at a lower signal strength after eliminating the clock dynamic noise by assistance, and the weak signal channel can still be stably tracked when the clock frequency offset is affected by temperature change by assistance. The GNSS receiver provided by the present application has simple structure and good robustness.

[0016] Moreover, the present application makes each tracking loop use the corresponding auxiliary information to perform auxiliary tracking on the acquired digital intermediate frequency satellite signal only in the case that the vector parameter estimation module is in an open state. In this way, the GNSS receiver of the present application can be flexibly switched between the traditional receiver and the multi-loop auxiliary tracking mechanism by controlling the opening or closing of the vector parameter estimation module, so that the debugging is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 An application scenario of vehicle tracking based on GNSS is shown. Figure 2 An architecture diagram of a GNSS receiver is shown. Figure 3 Another architecture diagram of a GNSS receiver is shown. Figure 4 According to some embodiments of the present application, a structure diagram of a GNSS receiver is shown. Figure 5 According to some embodiments of the present application, a flow chart of a control method of a GNSS receiver is shown. Figure 6 A structure block diagram of an electronic device is shown. DETAILED DESCRIPTION

[0018] Illustrative embodiments of the present application include, but are not limited to, a GNSS receiver and a control method thereof, a storage medium, a program product and an electronic device.

[0019] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0020] In order to facilitate understanding of the technical solutions of the present application, first, an application scenario of the technical solutions of the present application will be briefly introduced.

[0021] Figure 1 An application scenario of vehicle tracking based on GNSS is shown, referring to Figure 1 which includes a vehicle 10 and a satellite 20, and a GNSS receiver can be deployed in the vehicle 10. The satellite 20, as a component of GNSS, continuously transmits satellite data containing timestamps and orbit information to the ground. The GNSS receiver built-in the vehicle 10 receives signals from the satellite 20 and other multiple satellites through an antenna, measures the signal propagation time and calculates the pseudo-range, combines the known positions of each satellite, and uses the principle of triangular positioning to calculate the accurate coordinates of the vehicle itself in real time, thereby realizing continuous tracking and position monitoring of the vehicle 10.

[0022] It should be understood that Figure 1 The application scenario shown is only an example of an application scenario of the technical solutions of the present application, and the technical solutions of the present application can also be applied to agricultural and autonomous driving scenarios.

[0023] Figure 2 An architecture diagram of a GNSS receiver is shown, referring to Figure 2 When the intermediate frequency data (i.e. Figure 2The IF data (in the receiver) is processed by the DFE (Digital Electronic Filter) and then enters the tracking module for local signal correlation processing. The result from the correlator is then integrated by an integrator, and finally, a loop discriminator extracts Doppler and code phase information before transmitting it to the positioning module for location calculation, outputting the final positioning result. The intermediate frequency (IF) data is the mid-frequency satellite signal obtained by converting the high-frequency satellite signal from the receiver through the RF module, facilitating subsequent amplification, filtering, and demodulation operations.

[0024] exist Figure 2 In the GNSS receiver architecture shown, each channel in the tracking module tracks and processes signals from different satellites, and each channel remains independent. Figure 2 The channels shown are adjusted according to the current satellite signal strength to achieve effective satellite signal tracking under different environments. However, Figure 2 The GNSS receiver shown has independent channels. When the satellite signal tracked by a certain channel is relatively weak, the tracking performance is poor. The performance difference between channels is even more obvious in complex environments.

[0025] Figure 3 A schematic diagram of another GNSS receiver architecture is shown, for reference. Figure 3 When the intermediate frequency data (i.e. Figure 1 After the IF data in the signal is processed by the DFE, it enters the tracking module for local signal correlation processing. The result output by the correlator is then integrated by the integrator. After passing through the discriminator module, the Doppler and code phase information of the signal is extracted. The extracted result is output to the positioning module. The positioning module calculates and outputs the positioning result based on the input information of each channel satellite and feeds the positioning result back to the tracking module to achieve continuous signal tracking.

[0026] exist Figure 3 The GNSS receiver architecture shown demonstrates how reducing closed-loop feedback within the tracking loop enables coordinated processing of various satellite channels, resulting in enhanced signal tracking capabilities. However, Figure 3 The tighter interconnection structure shown makes the overall structure less robust and increases the difficulty of debugging and optimization.

[0027] To solve the above technical problems, the application provides a GNSS receiver, which adds a vector parameter estimation module to assist the tracking loop processing on the basis of the structure of a traditional GNSS receiver. The basic structure of the traditional GNSS receiver is retained, and the vector parameter estimation module is added, which receives the positioning results input by the positioning module, such as local position, satellite position and speed information, and the output results of the loop discriminator of the tracking loop, calculates the auxiliary information of each independent satellite channel, and then writes the calculated auxiliary information into the corresponding local signal generator of the tracking loop to assist the signal tracking processing of the original tracking loop.

[0028] The GNSS receiver provided by the application can be flexibly switched between the assisted tracking mode and the non-assisted mode. Specifically, when the GNSS receiver is initially started, each loop works in the non-assisted mode, and signal tracking and positioning calculation are performed in the traditional manner, for example, the tracking mode of the GNSS receiver shown in the figure. Figure 2 The satellite information in the positioning module and the measurement information of each independent tracking loop are detected, and when the above information is all valid, the vector parameter estimation module starts to run, calculates and outputs the auxiliary information of each independent tracking loop according to the positioning results of each channel and the output results of the loop discriminator of each channel. Each tracking loop decides whether to adopt the assisted tracking mode according to the quality of the auxiliary information and the tracking situation of the current loop. In the assisted mode, each loop uses the auxiliary information to realize the tracking of each satellite signal.

[0029] The GNSS receiver 11 provided by the application realizes the cooperative processing of the information among satellites by using the related information of multiple channels to assist the tracking of a single channel, has a simple structure, good robustness and good tracking performance. The related information of multiple channels mentioned here refers to the positioning results of the positioning module 14 of multiple channels and the output results of the loop discriminator 153 of each channel.

[0030] The GNSS receiver 11 provided by the application will be described in detail below. Referring to the figure, Figure 4 The GNSS receiver 11 provided by the application will be described in detail below. Referring to the figure, Figure 4 The GNSS receiver 11 provided by the application includes a digital front end 12, a tracking module 13 and a positioning module 14, and the digital front end 12, the tracking module 13 and the positioning module 14 are connected in sequence.

[0031] The digital front end 12 is used to convert the received analog intermediate frequency satellite signal into a digital intermediate frequency satellite signal.

[0032] The tracking module 13 includes multiple tracking loops 15 and a vector parameter estimation module 16, each tracking loop 15 is connected with the digital front end 12, the vector parameter estimation module 16 and the positioning module 14, and each tracking loop 15 corresponds to one satellite channel.

[0033] Each tracking loop 15 is configured to track the digital intermediate frequency satellite signal to obtain an initial tracking result of the tracking loop 15 when the GNSS receiver 11 is started and the vector parameter estimation module 16 is in the unstarted state.

[0034] With the assistance information generated by the vector parameter estimation module 16, the GNSS receiver 11 can quickly obtain the initial result of each tracking loop 15 when started, and ensure signal acquisition and stable tracking.

[0035] Each tracking loop 15 is also configured to, in the case that the vector parameter estimation module 16 is in the started state, perform assisted tracking on the digital intermediate frequency satellite signal by using the assistance information corresponding to the tracking loop 15 to obtain an actual tracking result of the tracking loop 15, wherein the assistance information corresponding to the tracking loop 15 is generated by the vector parameter estimation module 16. That is, after the vector parameter estimation module 16 is started, the assistance information is used to perform assisted tracking on each loop, which can significantly improve the tracking accuracy, the anti-interference ability and the dynamic adaptability of each channel, especially in a weak signal or high dynamic scene, and more reliable tracking performance is achieved, and the robustness of the GNSS receiver 11 is improved.

[0036] The vector parameter estimation module 16 is configured to, in the case that the initial positioning result of each tracking loop 15 and the measurement information of each tracking loop 15 both meet the set requirements, generate the assistance information corresponding to each tracking loop 15. The assistance information is used to determine the actual running state of the vector parameter estimation module 16 in combination with the actual tracking situation of each tracking loop 15, and in the case that the vector parameter estimation module 16 is determined to be in the started state, each tracking loop 15 uses the corresponding assistance information to perform assisted tracking on the obtained digital intermediate frequency satellite signal to obtain an actual tracking result of the tracking loop 15. In this way, even if the signal of a certain tracking loop 15 is weak, the tracking sensitivity of the weak signal can be improved by using the assisted tracking information, and the dynamic influence received by the assisted loop can be eliminated by using the assistance information. The GNSS receiver 11 provided in the application has simple structure, good robustness, and good tracking performance.

[0037] In the embodiment shown in FIG. 1, the GNSS receiver 11 includes a plurality of tracking loops 15, a vector parameter estimation module 16, and a plurality of channel filters 17. Figure 4 In the embodiment shown in FIG. 1, each tracking loop 15 includes a correlator 151, an integrator 152, a loop discriminator 153, a loop filter 154, and a local signal generator 155, which are connected in sequence. The output end 1531 of the loop discriminator 153 is further connected to the input end 161 of the vector parameter estimation module 16, and the output end 162 of the vector parameter estimation module 16 is connected to the input end 1551 of the local signal generator 155.

[0038] The input of the correlator 151 is: the intermediate frequency satellite signal and the pseudo code and carrier replica generated by the local signal generator 155. The correlator 151 performs early-late correlation processing on the local pseudo code and the intermediate frequency satellite signal, and carrier stripping on the local carrier and the intermediate frequency satellite signal, and outputs correlation integral values, such as the integral results of early, late and instant branches.

[0039] The integrator 152 performs coherent integration or non-coherent integration processing on the correlation integral values output by the correlator 151 to obtain integral results, which include the integrated correlation power or error value. The error value here can be, for example, the early-late correlation power difference.

[0040] The loop discriminator 153 calculates an error signal from the integral results output by the integrator 152, which includes code phase error, carrier frequency error or carrier phase error.

[0041] The loop filter 154 filters the error output by the loop discriminator 153 and outputs adjustment amounts, such as code phase adjustment amount and carrier frequency adjustment amount.

[0042] The local signal generator 155 generates updated local pseudo code and carrier replica according to the adjustment amounts output by the loop filter 154 and the auxiliary information output by the vector parameter estimation module 16, and feeds back to the input end of the correlator 151. By combining the dynamic adjustment of the loop filter 154 and the auxiliary information of the vector parameter estimation, the local signal generator 155 can generate more accurate pseudo code and carrier replica, so that the correlator 151 outputs higher quality correlation integral values, thereby helping to improve the accuracy, anti-interference and dynamic adaptability of the positioning result. The technical solution of the present application can effectively compensate for signal errors, enhance the tracking ability of weak signals, optimize the error convergence speed, and ultimately realize more stable and reliable navigation and positioning, especially suitable for complex environments or high dynamic scenarios.

[0043] The positioning module 14 is configured to perform positioning calculation on the initial tracking results of each tracking loop 15 to obtain the initial positioning results of each tracking loop 15, and to perform positioning calculation on the actual tracking results of each tracking loop 15 to obtain the actual positioning results of each tracking loop 15.

[0044] The technical solution of the present application effectively improves the tracking and positioning performance of the GNSS receiver 11 through the auxiliary information generated by the vector parameter estimation module 16. In a weak signal or dynamic environment, the auxiliary information can enhance the sensitivity of the tracking loop 15, suppress dynamic interference, and optimize carrier frequency and code phase estimation, thereby significantly improving the accuracy, robustness and stability of the actual positioning result. The actual positioning result combined with the auxiliary tracking has higher anti-interference ability and faster error convergence speed, ensuring more reliable and accurate positioning and tracking in complex scenarios.

[0045] For Figure 4 The GNSS receiver 11 works as shown in the following: After the GNSS receiver 11 is started, it works in an unassisted mode in the initial stage. Each tracking loop 15 selects appropriate parameters according to the current signal strength to track the signal, and sends the tracking result to the positioning module 14 for positioning calculation to obtain the positioning result. At the same time, it is detected whether the satellite position speed and other information in the positioning module 14 is valid, and whether the measurement information of each independent tracking loop 15 is valid. When the above information is all valid, the vector parameter estimation module 16 starts to run. For example, the vector parameter estimation module 16 receives the measurement information of each channel at a period of 20 ms, which can effectively balance the quality and dynamic information perception. The vector parameter estimation module 16 calculates the Doppler information and the change amount of each independent tracking loop 15 according to the received information as auxiliary information output. After each tracking loop 15 receives the auxiliary information, it will decide whether to switch to an assisted tracking mode according to the quality of the auxiliary information and the tracking situation of the current loop. In the assisted mode, the tracking loop 15 writes the auxiliary information into the corresponding local signal generator 155, and adopts the corresponding tracking parameters and tracking strategy. This enables the weak signal channel to improve the tracking sensitivity when the dynamic change is strong, to output the carrier phase information at a lower signal strength, and to maintain stable tracking when the clock frequency offset is affected by temperature change.

[0046] In the whole tracking and positioning process of the GNSS receiver 11, the enabling and disabling of the vector parameter estimation module 16 can be controlled to flexibly switch the working mode of the GNSS receiver 11, ensuring the robustness and flexibility of the system. It is convenient to debug the GNSS receiver 11.

[0047] In addition, the problem that the GNSS receiver 11 cannot stably track when the positioning calculation module is invalid can also be avoided. For example, if the positioning calculation becomes unreliable due to some reasons later, the GNSS receiver 11 provided by the present application can quickly switch back to the traditional mode by disabling the vector parameter estimation module 16. In this case, each tracking loop 15 returns to the independent working state, ensuring that the basic tracking function is not affected until the conditions are suitable for using the assisted mode again.

[0048] Moreover, the quality of the auxiliary information of the vector parameter estimation module 16 is related to the measurement information of each independent channel, and the dynamic ability of the auxiliary information depends on the frequency of the measurement information of each independent channel. By determining the factors of the quality and dynamic ability of the auxiliary information, the performance of the vector parameter estimation module 16 can be optimized. Thus, the quality of the auxiliary information can be better controlled and adjusted, and the tracking performance of the whole system can be improved.

[0049] In addition, the tracking loop 15 decides whether to use the tracking mode without assistance or the tracking mode with assistance according to the quality of the assistance information and the tracking situation of the current loop, so that the loop uses different tracking parameters and tracking strategies. The adaptive tracking mode selection mechanism enhances the flexibility and robustness of the GNSS receiver 11. By dynamically selecting whether to use the assistance mode, the GNSS receiver 11 can maintain the best performance in different signal environments. In a good signal environment, the traditional non-assisted mode can be maintained to simplify the processing, and in a complex environment, the assistance mode can be switched to improve the tracking performance. This flexibility enables the GNSS receiver 11 provided by the present application to better cope with various complex signal environments and ensure tracking stability and accuracy.

[0050] For example, when a tracking loop 15 receives assistance information from the vector parameter estimation module 16, the quality of the assistance information can be evaluated. For example, if the assistance information is calculated based on the data of multiple strong signal channels, its quality is considered to be high. At the same time, the tracking loop 15 also evaluates the current tracking state, such as signal strength, carrier-to-noise ratio, etc. If the assistance information quality is high and the current tracking state is poor, the tracking loop 15 can switch to the assistance mode. In this mode, a narrower carrier loop and code loop bandwidth can be used, the integration time is longer, and more reliance on assistance information is used to maintain tracking. Conversely, if the current signal condition is good and the tracking is stable, even if high-quality assistance information is available, the tracking loop 15 can choose to remain in the non-assisted mode. In this mode, a wider carrier loop and code loop bandwidth can be used, the integration time is shorter, and the tracking mainly relies on its own measurement results. The GNSS receiver provided by the present application has simple structure, good robustness, and better performance in typical scenarios, wherein the typical scenario is the application scenario described above that requires the assistance mode to be turned on.

[0051] The GNSS receiver 11 provided by the present application will be described in detail below. Figure 5 A control method of a GNSS receiver 11 provided by the present application will be described in detail. The control method of a GNSS receiver provided by the present application is applied to the GNSS receiver 11 shown in the above Figure 4 The control method of a GNSS receiver provided by the present application is applied to the GNSS receiver 11 shown in the above Figure 5 The control method of a GNSS receiver provided by the present application includes the following steps: Step S11: When the GNSS receiver 11 is started, the vector parameter estimation module 16 is in an unopened state, the acquired digital intermediate frequency satellite signal is tracked by each tracking loop 15, the initial tracking results of each tracking loop 15 are obtained, and the initial tracking results of each tracking loop 15 are respectively subjected to positioning calculation by the positioning module 14 to obtain the initial positioning results of each tracking loop 15.

[0052] In some embodiments, the digital intermediate frequency satellite signals are tracked by each tracking loop 15 to obtain initial tracking results of each tracking loop 15 in the following way: The signal strength of the digital intermediate frequency satellite signals and the auxiliary information of each tracking loop are determined. The tracking parameters of each tracking loop 15 are determined according to the signal strength of the digital intermediate frequency satellite signals and the quality of the auxiliary information of each tracking loop, wherein the tracking parameters of each tracking loop 15 include the bandwidth and the integration time of each tracking loop 15. The tracking parameters of each tracking loop 15 are controlled to track the digital intermediate frequency satellite signals to obtain initial tracking results of each tracking loop 15.

[0053] The auxiliary information is calculated based on the input information of all channels, and thus the quality of the auxiliary information is calculated based on the signal strength of all channels and the distribution of the channel satellites. The quality of the auxiliary information is measured by the precision range, which can be represented by the standard deviation.

[0054] Step S12: When the initial positioning results of each tracking loop 15 and the measurement information of each tracking loop 15 both meet the set requirements, the vector parameter estimation module 16 is controlled to be in an open state, and the vector parameter estimation module 16 generates auxiliary information corresponding to each tracking loop 15. In some embodiments, the measurement information includes pseudo-range, Doppler, and carrier phase.

[0055] In some embodiments, the vector parameter estimation module 16 generates auxiliary information corresponding to each tracking loop 15 in the following way: The vector parameter estimation module 16 generates auxiliary information corresponding to each tracking loop 15 according to the Doppler error and the phase error output by the loop discriminator 153 of each tracking loop 15 and the positioning results output by the positioning module 14. The measurement period of the Doppler error and the phase error is related to the signal strength of the digital intermediate frequency satellite signals.

[0056] Step S13: The actual running state of the vector parameter estimation module 16 is controlled according to the auxiliary information of each tracking loop 15 and the actual tracking situation of each tracking loop 15.

[0057] The actual running state includes the enabled and disabled states, or also can be called the open and closed states, or the open and unopened states. By controlling the opening or closing of the vector parameter estimation module 16, the GNSS receiver 11 of the present application can be flexibly switched between the traditional receiver 11 and the multi-loop auxiliary tracking mechanism, and the debugging is more convenient.

[0058] Step S14: in the case that the control vector parameter estimation module 16 is in the open state, control each tracking loop 15 to perform assisted tracking on the acquired digital intermediate frequency satellite signal by using the auxiliary information corresponding to each tracking loop 15, to obtain actual tracking results of each tracking loop 15, and perform positioning calculation on the actual tracking results of each tracking loop 15 through the positioning module 14 respectively, to obtain actual positioning results of each tracking loop 15.

[0059] The technical solution of the present application has higher anti-interference capability and faster error convergence speed in combination with the actual positioning results of assisted tracking, and ensures more reliable and accurate positioning tracking in a complex scene.

[0060] It can be understood that the execution order of the above steps S11 to S14 is only an example, and in other embodiments, other execution orders can also be used, and part of the steps can also be split or combined, which is not limited herein.

[0061] For example, each tracking loop 15 can also be individually controlled to use the assisted tracking mode or not according to the auxiliary information of each tracking loop 15 and the actual tracking situation of each tracking loop 15. For example, it is assumed that the tracking loop 15 corresponding to channel 1 in the GNSS receiver 11 is determined to use the assisted tracking mode according to the auxiliary information and the actual tracking situation of the tracking loop 15 corresponding to channel 1, and the output port connected between the local generator in the vector parameter estimation module 16 and channel 1 is enabled, so that the vector parameter estimation module 16 and the local generator in channel 1 are connected. Figure 4 For example, it is assumed that the tracking loop 15 corresponding to channel 1 in the GNSS receiver 11 is determined to use the assisted tracking mode according to the auxiliary information and the actual tracking situation of the tracking loop 15 corresponding to channel 1, and the output port connected between the local generator in the vector parameter estimation module 16 and channel 1 is enabled, so that the vector parameter estimation module 16 and the local generator in channel 1 are connected. Figure 4 For example, it is assumed that the tracking loop 15 corresponding to channel 1 in the GNSS receiver 11 is determined to use the assisted tracking mode according to the auxiliary information and the actual tracking situation of the tracking loop 15 corresponding to channel 1, and the output port connected between the local generator in the vector parameter estimation module 16 and channel 1 is enabled, so that the vector parameter estimation module 16 and the local generator in channel 1 are connected.

[0062] The embodiments of the present application also provide an electronic device 600, as shown in Figure 6 The electronic device 600 includes a memory 601 and one or more processors 602, the memory 601 is used to store instructions, and when the instructions are executed by the one or more processors, the processor executes the control method of the GNSS receiver provided by any of the above embodiments.

[0063] Figure 6 The electronic device 600 shown in the figure also includes a communication interface 603. The processor 602, the memory 601 and the communication interface 603 are connected through a communication bus and complete communication among each other.

[0064] The processor 602 can be a general purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs as described above.

[0065] The communication interface 603 is configured to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), and the like.

[0066] The memory 601 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory can exist independently, and is connected to the processor through a bus. The memory can also be integrated with the processor.

[0067] Embodiments of the present application also provide a computer-readable storage medium, which stores instructions, and the instructions, when executed on an electronic device, cause the electronic device to perform the control method of the GNSS receiver provided in any of the above embodiments.

[0068] Embodiments of the present application also provide a computer program product, which includes instructions for implementing the control method of the GNSS receiver provided in any of the above embodiments when executed by one or more processors.

[0069] Embodiments of the mechanisms disclosed herein can be implemented in hardware, software, firmware, or any combination thereof. Embodiments of the application can be implemented as computer programs or program code executing on programmable systems comprising at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0070] It should be noted that each unit / module mentioned in each device embodiment of the present application is a logical unit / module, and in the physical world, one logical unit / module can be a physical unit / module, or a part of a physical unit / module, or a combination of multiple physical unit / modules, and the physical implementation of each logical unit / module is not the most important. The combination of the functions implemented by these logical units / modules is the key to solving the technical problems proposed by the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce units / modules that are not closely related to solving the technical problems proposed by the present application, which does not mean that the above-mentioned device embodiments do not have other units / modules.

[0071] It should be noted that in the examples and descriptions of the present patent, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including one" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0072] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood that various changes in form and detail can be made therein without departing from the spirit and scope of the application.

Claims

1. A GNSS receiver, characterized in that The GNSS receiver comprises a digital front end, a tracking module and a positioning module, the digital front end, the tracking module and the positioning module are connected in sequence, The digital front end is configured to convert received analog intermediate frequency satellite signals into digital intermediate frequency satellite signals. The tracking module comprises a plurality of tracking loops and a vector parameter estimation module, each tracking loop is connected to the digital front end, the vector parameter estimation module and the positioning module, and each tracking loop corresponds to a satellite channel. Each tracking loop is configured to track the digital intermediate frequency satellite signals to obtain initial tracking results of the tracking loops when the GNSS receiver is started and the vector parameter estimation module is in an unstarted state. And configured to use auxiliary information corresponding to each tracking loop to assist in tracking the digital intermediate frequency satellite signals to obtain actual tracking results of the tracking loops when the vector parameter estimation module is in a started state, wherein the auxiliary information corresponding to each tracking loop is generated by the vector parameter estimation module. The vector parameter estimation module is configured to generate auxiliary information corresponding to each tracking loop when the initial positioning results of each tracking loop and the measurement information of each tracking loop both meet the set requirements. The auxiliary information is configured to determine the actual running state of the vector parameter estimation module in combination with the actual tracking of each tracking loop, and to make each tracking loop use the corresponding auxiliary information to assist in tracking the obtained digital intermediate frequency satellite signals to obtain the actual tracking results of each tracking loop when the vector parameter estimation module is determined to be in the started state. The positioning module is configured to perform positioning calculation on the initial tracking results of each tracking loop to obtain initial positioning results of each tracking loop, and to perform positioning calculation on the actual tracking results of each tracking loop to obtain actual positioning results of each tracking loop.

2. A GNSS receiver according to claim 1, characterized in that Each tracking loop comprises a correlator, an integrator, a loop discriminator, a loop filter and a local signal generator, which are connected in sequence.

3. A GNSS receiver according to claim 2, wherein, The output end of the loop discriminator is further connected to the input end of the vector parameter estimation module, and the output end of the vector parameter estimation module is connected to the input end of the local signal generator.

4. A control method of a GNSS receiver, characterized by, The method is applied to the GNSS receiver of any one of claims 1-3, and the method comprises: When the GNSS receiver is started, the vector parameter estimation module is controlled to be in an unstarted state, the digital intermediate frequency satellite signals obtained are tracked by each tracking loop to obtain initial tracking results of each tracking loop, and the initial tracking results of each tracking loop are respectively subjected to positioning calculation by the positioning module to obtain initial positioning results of each tracking loop. In a case where the initial positioning results of the tracking loops and the measurement information of the tracking loops all meet the set requirements, the vector parameter estimation module is controlled to be in an open state, and the vector parameter estimation module is controlled to generate auxiliary information corresponding to the tracking loops; According to the auxiliary information of the tracking loops and the actual tracking situations of the tracking loops, the actual running state of the vector parameter estimation module is controlled; In a case where the vector parameter estimation module is controlled to be in an open state, the tracking loops are controlled to perform auxiliary tracking on the acquired digital intermediate frequency satellite signals by using the auxiliary information corresponding to the tracking loops, to obtain actual tracking results of the tracking loops, and the actual tracking results of the tracking loops are respectively subjected to positioning calculation by the positioning module to obtain actual positioning results of the tracking loops.

5. The control method of a GNSS receiver according to claim 4, characterized in that, The digital intermediate frequency satellite signals are tracked by the tracking loops in the following manner to obtain initial tracking results of the tracking loops: The signal strength of the digital intermediate frequency satellite signals and the auxiliary information of the tracking loops are determined; The tracking parameters of the tracking loops are determined according to the signal strength of the digital intermediate frequency satellite signals and the quality of the auxiliary information of the tracking loops, wherein the tracking parameters of the tracking loops include the bandwidth and the integration time of the tracking loops; The tracking loops are controlled to track the digital intermediate frequency satellite signals by using the corresponding tracking parameters to obtain the initial tracking results of the tracking loops.

6. The control method of a GNSS receiver according to claim 4, wherein The vector parameter estimation module generates the auxiliary information corresponding to the tracking loops in the following manner: The vector parameter estimation module generates the auxiliary information corresponding to the tracking loops according to the Doppler error and the phase error output by the loop discriminator of each tracking loop and the positioning result output by the positioning module, and the measurement period of the Doppler error and the phase error is related to the signal strength of the digital intermediate frequency satellite signals.

7. The control method of a GNSS receiver according to claim 4, wherein The measurement information includes pseudorange, Doppler, and carrier phase.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, which, when executed on an electronic device, cause the electronic device to perform the control method of the GNSS receiver according to any one of claims 4 to 7.

9. A computer program product, characterised in that, The computer program product includes instructions for implementing the control method of the GNSS receiver according to any one of claims 4 to 7 when executed by one or more processors.

10. An electronic device, comprising: Comprise: a memory for storing instructions, and one or more processors, when the instructions are executed by the one or more processors, the processors perform the control method of the GNSS receiver according to any one of claims 4 to 7.

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