Authorization code signal receiver autonomous integrity test method, device, equipment and medium

Abstract

The application discloses a method and device for testing the self-integrity of a code signal receiver, equipment and a medium. The application tests in a real signal environment, and the reference signal used for testing is a real signal containing environmental factors in the sky. The test result is fully reliable. The application uses an official code signal for testing, and the signal used for testing is consistent with the real signal in the sky. The test result is fully reliable. The application strictly controls the time, type and satellite number of the injected anomaly in the real signal in the sky, thereby improving the reliability of the test result. The application has the ability to test multiple sets of equipment at the same time, thereby reducing the test time and improving the test efficiency in a large-scale production or batch test scenario. The application has universality, realizes the forwarding application of the real code signal in the sky, solves the problem that an interface control file cannot be generated due to the non-publication of the code, and is suitable for testing the self-integrity of a code receiver of a GNSS and a low-orbit navigation system.

Description

Technical Field

[0001] This application relates to the field of navigation receiver testing technology, and in particular, to a method, apparatus, equipment, and medium for testing the autonomous integrity of an authorized code signal receiver. Background Technology

[0002] The receiver autonomous integrity monitoring technology performs consistency checks on positioning results based on redundant observations, enabling fault detection and elimination to ensure high-precision positioning. This technology has been widely used for reliability monitoring of GNSS systems, and it is also applicable to reliability monitoring of low-Earth orbit satellite navigation systems currently under construction.

[0003] Current technology for testing the autonomous integrity of authorized code signal receivers typically involves using a signal simulator in a laboratory environment to broadcast test code signals. Specifically, pseudorange or Doppler anomalies are randomly injected onto one or more visible satellites, and the receiver under test switches to receive the test code signal to test its autonomous integrity. Alternatively, in a real-world telescope environment, the receiver under test can be configured to receive official authorized code signals and undergo long-term signal monitoring. When anomalies are detected in the actual telescope signal, the receiver's autonomous integrity is tested. However, current testing methods have the following problems:

[0004] 1) In a laboratory environment, the test code authorized satellite navigation signal simulated by the navigation signal simulator is a pure signal, which is very different from the real signal in the sky environment, which includes environmental factors such as multipath, obstruction, interference, noise, and power fading. Therefore, the test is insufficient.

[0005] 2) In the laboratory environment, the authorized signals simulated by the navigation signal simulator and received by the receiver under test are test code signals, not the official code signals used in the real environment, which leads to insufficient testing and unreliable test results.

[0006] 3) In the context of satellite communication, the time and type of abnormality in the real authorization code signal are unknown. When judging the autonomous integrity function of the receiver, there is a problem that the standard source used for comparison is unclear, which leads to unreliable results.

[0007] The above problems not only exist in the autonomous integrity test of GNSS global satellite navigation system license code signal receivers, but also in the autonomous integrity test of low-Earth orbit satellite navigation system license code signal receivers. Summary of the Invention

[0008] This application provides a method for testing the autonomous integrity of an authorization code signal receiver, which addresses the technical problems of insufficient testing and unreliable test results in existing testing techniques for the autonomous integrity function of authorization code signal receivers.

[0009] This application is achieved through the following solution:

[0010] The method for testing the autonomous integrity of an authorized code signal receiver includes the following steps:

[0011] Receive satellite signals from the sky, complete system synchronization, and complete state initialization.

[0012] Calibrate the link delay of each signal relayed by multiple antennas and the link delay of a single antenna relayed to ensure that the delays of the two links are consistent.

[0013] The outdoor sky signal is forwarded to the indoor area by a single antenna. The forwarding signal power is set so that at least one authorized code signal receiver located indoors can normally receive the sky signal forwarded by the single antenna and output the positioning result.

[0014] Based on the signal reception status of the authorized code signal receiver under test and the test requirements, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency point, and satellite number, and the forwarding signal power is set to forward the outdoor sky signal to the indoor authorized code signal receiver under test. This allows the authorized code signal receiver under test to receive the sky signal forwarded by the multi-antenna normally without any injected abnormalities, while not affecting the reception of other sky signals forwarded by the single antenna and the stable output of positioning results.

[0015] According to the test requirements, abnormal information is randomly injected into the un-injected sky signal relayed by multiple antennas, and the start time and end time of the abnormal state are set.

[0016] The autonomous integrity function of the authorized code signal receiver under test is determined based on the signal anomaly monitoring and positioning of the sky signal after receiving the injected abnormal information from multiple antennas.

[0017] Furthermore, receiving satellite signals from the sky completes the system synchronization operation and status initialization, specifically including the following steps:

[0018] Based on satellite signals received in a real-world space environment, the system performs space-time synchronization, clock discipline, and ephemeris acquisition. Time synchronization provides a reference time when anomaly functions are set up during a specified time period. Clock discipline maintains strict space-time synchronization and provides a reference clock when Doppler anomaly injection is performed. Ephemeris acquisition calculates the azimuth and elevation angles of each real satellite, providing the target satellite angle for real-time control of multi-antenna azimuth.

[0019] Furthermore, the multi-antenna relay uses an active phased array antenna, and the number of T / R components of the active phased array antenna is determined by the number of satellites to be relayed and the beam gain.

[0020] Furthermore, the number of T / R components in the active phased array antenna meets the relay requirements of 1 to 2 satellites, and the beam gain corresponding to each satellite meets the test requirements.

[0021] Furthermore, the multi-antenna relay adopts a high-gain receiving antenna group, which includes several gimbals whose azimuth rotation range is 0~360° and elevation angle is 0~90°, which are controlled in real time by external commands. Each gimbal is equipped with a corresponding high-gain receiving antenna. The total number of high-gain receiving antennas is determined by the number of systems and satellites that need to be relayed.

[0022] Furthermore, the total number of high-gain receiving antennas is 1 to 2.

[0023] Furthermore, when the single antenna forwards the sky signal, it adopts an active omnidirectional receiving antenna. The sky signal forwarded by the single antenna includes signals from all satellites at the GNSS satellite navigation system frequency and the low-orbit satellite navigation system frequency, and is consistent with the sky signal for the receiver of the license code signal under test to receive and locate.

[0024] Furthermore, based on the signal reception status of the receiver receiving the license code signal under test and the test requirements, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency point, and satellite number, and the forwarding signal power is set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include:

[0025] Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, the satellite number and its azimuth and elevation angles that meet the test requirements are calculated and selected.

[0026] By controlling the azimuth parameters of each pan-tilt unit in the high-gain receiving antenna group in real time to point to the corresponding system, frequency, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The forwarding signal power is set to achieve high-gain forwarding signal output when multiple antennas are forwarding. The outdoor sky signal is forwarded to the indoor authorized code signal receiver under test through a directional passive transmitting antenna, so that the authorized code signal receiver under test can normally receive the sky signal forwarded by multiple antennas without injection of abnormalities, while not affecting the reception of other sky signals forwarded by a single antenna and the stable output of positioning results.

[0027] Furthermore, based on the signal reception status of the receiver receiving the license code signal under test and the test requirements, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency point, and satellite number, and the forwarding signal power is set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include:

[0028] Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, the satellite number and its azimuth and elevation angles that meet the test requirements are calculated and selected.

[0029] By controlling the phase and amplitude parameters of each T / R component of the active phased array antenna in real time to point to the corresponding system, frequency, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The forwarding signal power is set to achieve high-gain forwarding signal output when multiple antennas are forwarded. The outdoor sky signal is forwarded to the indoor authorized code signal receiver through a directional passive transmitting antenna, so that the authorized code signal receiver under test can normally receive the sky signal forwarded by multiple antennas without injection of abnormalities, while not affecting the reception of other sky signals forwarded by a single antenna and the stable output of positioning results.

[0030] Furthermore, the randomly injected abnormal information includes pseudorange anomalies and Doppler anomalies. The pseudorange anomalies are achieved by changing the time delay of each input signal relayed by the multi-antenna system, and the Doppler anomalies are achieved by changing the reference frequency of each input signal relayed by the multi-antenna system.

[0031] Furthermore, based on testing requirements, abnormal information is randomly injected into the un-injected anomaly-injected sky signal relayed by multiple antennas. Before setting the start and end times of the abnormal state, the following steps are also included:

[0032] Observe the carrier-to-noise ratio (CNR) of the sky signal received by the license code signal receiver under test. When the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is found to be greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and only then can the next step be performed.

[0033] This application also provides, in another aspect, a device for testing the autonomous integrity of an authorization code signal receiver, including:

[0034] The satellite synchronization module is used to receive satellite signals to complete system synchronization and state initialization.

[0035] The delay calibration module is used to calibrate the link delay of each signal forwarded by multiple antennas and the link delay of a single antenna forwarded signal, so that the delay of the two links is consistent.

[0036] The single-antenna repeater module is used to forward outdoor sky signals to indoors via a single antenna. The forwarding signal power is set so that at least one authorized code signal receiver located indoors can normally receive the sky signals forwarded by the single antenna and output the positioning results.

[0037] The multi-antenna repeater module is used to control the azimuth parameters of the multi-antenna repeater to point to the corresponding system, frequency point, and satellite number according to the signal reception status of the license code signal receiver under test and the test requirements. It also sets the repeater signal power to forward the outdoor sky signal to the indoor license code signal receiver under test, so that the license code signal receiver under test can normally receive the sky signal forwarded by the multi-antenna without any injected abnormalities, while not affecting the reception of other sky signals forwarded by the single antenna and the stable output of positioning results.

[0038] The anomaly injection module randomly injects anomaly information into the non-anomaly-injected sky signal relayed by multiple antennas according to the test requirements, and sets the start time and end time of the anomaly state.

[0039] The autonomous integrity judgment module is used to determine whether the autonomous integrity function of the authorized code signal receiver under test is normal based on the signal anomaly monitoring and positioning status after the receiver receives the injected abnormal information from multiple antennas.

[0040] Furthermore, it also includes:

[0041] The carrier-to-noise ratio (CNR) monitoring module is used to observe the CNR changes of the sky signal received by the license code signal receiver under test. When it is observed that the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and only then can the next step be performed.

[0042] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the autonomous integrity test method for the authorization code signal receiver.

[0043] This application also provides a storage medium including a stored program that, when the program is executed, controls the device where the storage medium is located to perform the steps of the authorization code signal receiver autonomous integrity test method.

[0044] Compared with the prior art, this application has the following advantages:

[0045] This application provides a method, apparatus, device, and medium for testing the autonomous integrity of an authorization code signal receiver. The method is used to test the autonomous integrity of an authorization code receiver with injected official codes under a real-world astronomical signal environment. It is applicable to authorization code signal receivers for GNSS global satellite navigation systems and low-Earth orbit satellite navigation systems. Compared with existing technologies, it has the following advantages:

[0046] 1) This application was tested in a real-world signal environment. The reference signal used for the test was a real signal in the real-world environment that included environmental factors such as multipath, obstruction, interference, noise, and power fading. The test results are fully reliable.

[0047] 2) This application uses official code signal testing, and the test signal is consistent with the actual signal for the sky, so the test results are fully reliable;

[0048] 3) This application enables controllable abnormal signals. The time, type, and satellite number of the injected abnormality into the real signal are all strictly controllable, thereby improving the reliability of the test results.

[0049] 4) This application has the ability to test multiple sets of equipment simultaneously, which reduces testing time and improves testing efficiency in large-scale production or batch testing scenarios;

[0050] 5) The test method of this application is universal, realizes the forwarding application of the real authorization code signal, solves the problem that the authorization code signal cannot be generated due to the non-disclosure of the interface control file, and is applicable to the autonomous integrity function test of the authorization code receiver of all GNSS and low orbit navigation systems.

[0051] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0054] Figure 1 This is a schematic diagram of the autonomous integrity testing device for a satellite license code signal receiver according to a preferred embodiment of this application;

[0055] Figure 2 This is a schematic flowchart of the authorization code signal receiver autonomous integrity test method according to a preferred embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the autonomous integrity testing device module for the authorization code signal receiver according to a preferred embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the autonomous integrity testing device module for the authorization code signal receiver according to another preferred embodiment of this application;

[0058] Figure 5 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application;

[0059] Figure 6 This is an internal structural diagram of a computer device according to a preferred embodiment of this application. Detailed Implementation

[0060] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0061] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0062] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an authorization code signal receiver autonomous integrity testing device capable of performing the above functions. Figure 1 As shown, the satellite license code signal receiver autonomous integrity test device includes a satellite navigation signal transponder. The transponder is connected to an external receiving antenna as a single active omnidirectional antenna, meeting the frequency band signal transmission requirements of GNSS and LEO satellite navigation systems. It is also connected to an external high-gain antenna array and a passive directional transmitting antenna installed indoors, meeting the frequency band requirements for GNSS and LEO satellite navigation signals. The transponder is also connected to system control equipment, including an electronic device and system software running on it, connected to the transponder via control cables. This control equipment is used to control system equipment operation and monitor system equipment status. The license code receiver under test consists of 1 to n sets, including GNSS and LEO satellite navigation signal receivers, arranged within the signal coverage area of ​​the transmitting antenna in the indoor environment.

[0063] like Figure 2 As shown, a preferred embodiment of this application provides a method for testing the autonomous integrity of an authorization code signal receiver, including the following steps:

[0064] S1. Receive satellite signals to complete system synchronization and state initialization.

[0065] S2. Calibrate the link delay of each signal relayed by multiple antennas and the link delay of a single antenna relayed to ensure that the delays of the two links are consistent.

[0066] S3. The outdoor sky signal is forwarded to the indoor area via a single antenna. The forwarding signal power is set so that at least one authorized code signal receiver located indoors can normally receive the sky signal forwarded by the single antenna and output the positioning result.

[0067] S4. Based on the signal reception status of the authorized code signal receiver under test and the test requirements, control the azimuth parameters of the multi-antenna forwarding to point to the corresponding system, frequency point, and satellite number, and set the forwarding signal power to forward the outdoor sky signal to the indoor authorized code signal receiver under test.

[0068] S5. According to the test requirements, randomly inject abnormal information into the un-injected sky signal relayed by multiple antennas, and set the start time and end time of the abnormal state.

[0069] S6. Based on the signal anomaly monitoring and positioning of the sky signal after the authorized code signal receiver receives the injected abnormal information from multiple antennas, determine whether the autonomous integrity function of the authorized code signal receiver under test is normal.

[0070] This embodiment provides a method for testing the autonomous integrity of an authorization code signal receiver. This method is used to test the autonomous integrity of an authorization code receiver that has been injected with the official code under a real-world astronomical signal environment. It is applicable to authorization code signal receivers for GNSS global navigation satellite systems and low-Earth orbit satellite navigation systems. Compared with existing technologies, it has the following advantages:

[0071] 1) This embodiment was tested in a real-world satellite signal environment. The reference signal used for the test was a real signal in the satellite environment that included environmental factors such as multipath, obstruction, interference, noise, and power fading. The test results are fully reliable.

[0072] 2) This embodiment uses the official code signal for testing. The test signal is consistent with the actual signal transmitted to the sky, and the test results are fully reliable.

[0073] 3) This application enables controllable abnormal signals. The time, type, and satellite number of the injected abnormality into the real signal are all strictly controllable, thereby improving the reliability of the test results.

[0074] 4) This embodiment has the ability to test multiple sets of equipment simultaneously, which reduces testing time and improves testing efficiency in large-scale production or batch testing scenarios;

[0075] 5) The test method in this embodiment is universal, realizes the forwarding application of the real authorization code signal, solves the problem that the authorization code signal cannot be generated due to the non-disclosure of the interface control file, and is applicable to the autonomous integrity function test of the authorization code receiver of all GNSS and low orbit navigation systems.

[0076] Specifically, receiving satellite signals from the sky to complete system synchronization and state initialization includes the following steps:

[0077] S11. Based on the satellite signals received in the actual space environment, complete space time synchronization, clock discipline, and ephemeris acquisition. The time synchronization is used to provide reference time information when setting abnormal functions during a specified time period; the clock discipline is used to maintain strict space clock synchronization and provide a reference clock when injecting Doppler anomalies; the ephemeris acquisition is used to calculate the azimuth and elevation angles of each real satellite in the space, and to provide the target satellite angle when realizing real-time control of multi-antenna azimuth.

[0078] This embodiment involves initializing the test environment. A test environment is established by deploying an autonomous integrity test device for the license code signal receiver in a spacious, real-world sky-monitoring environment. The device receives sky-monitoring signals and performs sky-monitoring time synchronization, clock discipline, and ephemeris acquisition. This provides the necessary preparation to ensure that subsequent broadcast test signals maintain strict synchronization with the same satellite signals when no anomalies are injected. Simultaneously, in conjunction with step S2, clock synchronization and signal forwarding link delay calibration of the satellite navigation signal transponder are completed. This ensures that the frequency and delay of multi-antenna forwarding signals without anomalies are consistent with those of single-antenna forwarding signals. This allows the tested license code signal receiver to simultaneously receive co-frequency signals from both modules, while maintaining the reference clock of the output forwarding signal consistent with the sky-monitoring signal, thus meeting the testing requirements of the test device.

[0079] Preferably, the multi-antenna relay uses an active phased array antenna, and the number of T / R components of the active phased array antenna is determined by the number of satellites to be relayed and the beam gain.

[0080] This embodiment employs an active phased array antenna for multi-antenna forwarding. The number of T / R components in the active phased array antenna is determined by the number of satellites to be forwarded and the beam gain. By adjusting the phase and amplitude parameters of the T / R components of the active phased array antenna, the signal can be directed to the corresponding system, frequency, and satellite number. By setting the forwarding signal power, the outdoor signal can be forwarded to the indoor authorized code signal receiver under test. The structure is simple and easy to control. At the same time, the number of satellites that can be broadcast is unlimited and can be determined according to the number of satellites to be forwarded and the beam gain, which fully meets the testing requirements of the authorized code signal receiver under test and improves the test coverage and the reliability of the test results.

[0081] Preferably, the number of T / R components of the active phased array antenna meets the relay requirements of 1 to 2 satellites, and the beam gain corresponding to each satellite meets the test requirements.

[0082] Unlike the previous embodiments, in this embodiment, the T / R component of the active phased array antenna used for testing can receive and forward signals from 1 to 2 satellites, and the beam gain corresponding to each satellite meets the testing requirements. This satisfies the autonomous integrity function test requirements while avoiding the problem of too many abnormal satellites causing too few satellites to participate in positioning, which would lead to a decrease in positioning accuracy.

[0083] Preferably, when an active phased array antenna is used for multi-antenna forwarding, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency, and satellite number according to the signal reception status of the receiver receiving the license code signal under test and the test requirements. The forwarding signal power is also set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include:

[0084] S401. Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, calculate and select the satellite number and its azimuth and elevation angle that meet the test requirements.

[0085] S402: By controlling the phase and amplitude parameters of each T / R component of the active phased array antenna in real time to point to the corresponding system, frequency point, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The forwarding signal power is set to achieve high-gain forwarding signal output when multiple antennas are forwarded. The outdoor sky signal is forwarded to the indoor authorized code signal receiver under test through a directional passive transmitting antenna, so that the authorized code signal receiver under test can normally receive the sky signal forwarded by multiple antennas without injection of abnormalities, while not affecting the reception of other sky signals forwarded by a single antenna and the stable output of positioning results.

[0086] In this embodiment, the system control device calculates the satellite azimuth and elevation angles based on the acquired satellite ephemeris. Then, by controlling the phase and amplitude parameters of each T / R component of the active phased array antenna in real time, it maintains continuous real-time tracking of the selected satellite number, achieving high-gain relay signal output from the multi-antenna signal relay module. At this time, the satellite signal output by the multi-antenna signal relay module after receiving the beam signal from the active phased array antenna possesses high carrier-to-noise ratio (CNR) characteristics. This allows the measured license code signal receiver to automatically switch to receiving the satellite signal relayed by multiple antennas simultaneously in the satellite navigation signal transponder, based on the CNR value. Furthermore, the signal reception status can be determined through the satellite signal CNR.

[0087] Preferably, the multi-antenna relay uses a high-gain receiving antenna group, which includes several gimbals whose azimuth rotation range is 0~360° and elevation angle is 0~90°, which can be controlled in real time by external commands. Each gimbal is equipped with a high-gain receiving antenna. The total number of high-gain receiving antennas is determined by the number of systems and satellites that need to be relayed.

[0088] In this embodiment, multi-antenna forwarding employs a high-gain receiving antenna array. This array includes multiple pan-tilt units (PTZs) and high-gain receiving antennas mounted on these units. The number of PTNs and their corresponding high-gain antennas is determined by the number of systems and satellites requiring forwarding. By adjusting the PTN's azimuth parameters to point to the corresponding system, frequency, and satellite number, and setting the forwarding signal power, the outdoor astronomical signal is forwarded to the indoor receiver receiving the measured authorization code signal. The high-gain receiving antennas are active directional antennas, characterized by high gain and narrow beamwidth, supporting frequency bands covering both GNSS and LEO satellite navigation system signal bands. This embodiment offers flexible control and low cost.

[0089] Preferably, the total number of high-gain receiving antennas is 1 to 2.

[0090] Unlike the previous embodiments, in this embodiment, the total number of high-gain receiving antennas used for testing is 1 to 2, and the corresponding gimbals are also 1 to 2. This satisfies the needs of autonomous integrity function testing while avoiding the problem of too many abnormal satellites causing too few satellites to participate in positioning, which would lead to a decrease in positioning accuracy.

[0091] Preferably, when a high-gain receiving antenna array is used for multi-antenna forwarding, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency, and satellite number according to the signal reception status of the receiver receiving the license code signal under test and the test requirements. The forwarding signal power is also set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include:

[0092] S411. Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, calculate and select the satellite number and its azimuth and elevation angle that meet the test requirements.

[0093] S412. By controlling the azimuth parameters of each pan-tilt unit in the high-gain receiving antenna group in real time to point to the corresponding system, frequency, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The forwarding signal power is set to achieve high-gain forwarding signal output when multiple antennas are forwarding. The outdoor sky signal is forwarded to the indoor authorized code signal receiver under test through a directional passive transmitting antenna, so that the authorized code signal receiver under test can normally receive the sky signal forwarded by multiple antennas without injection of abnormalities, while not affecting the reception of other sky signals forwarded by a single antenna and the stable output of positioning results.

[0094] In this embodiment, the system control device calculates the satellite azimuth and elevation angles using the acquired satellite ephemeris, and then controls the gimbal azimuth of the high-gain receiving antenna array in real time to maintain continuous real-time tracking of the selected satellite number, thereby achieving high-gain forwarding signal output from the multi-antenna signal forwarding module. Simultaneously, the high-gain receiving antennas in the high-gain receiving antenna array significantly improve the carrier-to-noise ratio (CNR) of the forwarded satellite signal. This allows the measured license code signal receiver to automatically switch to receiving the satellite signal forwarded by multiple antennas when a single antenna or multiple antennas in the satellite navigation signal transponder are simultaneously forwarding the same satellite signal, based on the CNR value. Furthermore, the signal reception status can be determined by the satellite signal CNR.

[0095] Preferably, when the single antenna forwards the sky signal, an active omnidirectional receiving antenna is used. The sky signal forwarded by the single antenna includes signals from all satellites at GNSS satellite navigation system frequencies and low-orbit satellite navigation system frequencies, and is consistent with the sky signal for use by the receiver of the license code signal under test for positioning.

[0096] Preferably, the randomly injected abnormal information includes pseudorange anomalies and Doppler anomalies. The pseudorange anomalies are achieved by changing the time delay of each input signal relayed by the multi-antenna system, and the Doppler anomalies are achieved by changing the reference frequency of each input signal relayed by the multi-antenna system. The control is simple and reliable.

[0097] Preferably, before randomly injecting abnormal information into the un-injected sky signal relayed by multiple antennas according to test requirements, and setting the start and end times of the abnormal state, the method further includes the following steps:

[0098] S51. Observe the carrier-to-noise ratio (CNR) of the sky signal received by the license code signal receiver under test. When the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and the next step can be performed.

[0099] In this embodiment, the satellite signals relayed by multiple antennas in the satellite navigation signal transponder are amplified by a high-gain receiving antenna, resulting in a high carrier-to-noise ratio (CNR). When the CNR of the un-injected anomaly-infused sky signal received by the license code signal receiver under test is observed to be significantly higher than the CNR of other sky signals received by the same receiver, it indicates that the license code signal receiver under test has successfully received the multi-antenna relayed signal and can proceed to the next step. Observing changes in the CNR to confirm the signal reception status of the license code signal receiver under test prevents anomalies caused by the receiver failing to receive the high-gain satellite signal output from the multi-antenna relay, thus improving the reliability of the test system.

[0100] Preferably, such as Figure 3 As shown, another preferred embodiment of this application also provides an autonomous integrity testing device for an authorization code signal receiver, comprising:

[0101] The sky synchronization module includes a built-in GNSS and low-orbit satellite navigation signal receiver, a high-stability crystal oscillator and corresponding ephemeris analysis, crystal oscillator clock frequency setting and other synchronization programs, which are used to receive sky satellite signals to complete system synchronization operations and complete state initialization.

[0102] The delay calibration module is used to calibrate the link delay of each signal forwarded by multiple antennas and the link delay of a single antenna forwarded signal, so that the delay of the two links is consistent.

[0103] The single-antenna forwarding module mainly includes a signal processing electronic motherboard based on GPU+FPGA and a single-antenna signal forwarding program running on the current motherboard. It is used to forward outdoor sky signals to indoors through single-antenna forwarding, and to set the forwarding signal power so that at least one authorized code signal receiver located indoors can normally receive the sky signals forwarded by the single antenna and output the positioning results.

[0104] The multi-antenna forwarding module mainly consists of a GPU+FPGA-based signal processing electronic motherboard and a multi-antenna signal forwarding program running on the motherboard. It controls the azimuth parameters of the multi-antenna forwarding to the corresponding system, frequency, and satellite number based on the signal reception status of the license code signal receiver under test and the test requirements. It also sets the forwarding signal power to meet the autonomous integrity test requirements of the license code signal receiver. The module forwards outdoor astronomical signals to the indoor license code signal receiver under test, ensuring that the receiver receives the non-abnormal astronomical signals forwarded by the multi-antenna forwarding without affecting the reception of other astronomical signals forwarded by the single antenna and the stable output of positioning results.

[0105] The anomaly injection module randomly injects anomaly information into the non-anomaly-injected sky signals forwarded by the multi-antenna relay module according to the test requirements. It can set the start time and end time of the anomaly state and set the time delay and frequency offset of each signal forwarded by the multi-antenna relay module.

[0106] The autonomous integrity judgment module is used to determine whether the autonomous integrity function of the authorized code signal receiver under test is normal based on the signal anomaly monitoring and positioning status after the receiver receives the injected abnormal information from multiple antennas.

[0107] The authorization code signal receiver autonomous integrity testing device provided in this embodiment adopts the authorization code signal receiver autonomous integrity testing method in the above embodiments, solving the technical problems of insufficient testing and unreliable test results in existing testing technologies for the autonomous integrity function of authorization code signal receivers. Compared with the prior art, the beneficial effects of the authorization code signal receiver autonomous integrity testing device provided in this application are the same as the beneficial effects of the authorization code signal receiver autonomous integrity testing method provided in the above embodiments, and other technical features in the authorization code signal receiver autonomous integrity testing device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0108] Preferably, such as Figure 4 As shown, the autonomous integrity testing device for the authorization code signal receiver also includes:

[0109] The carrier-to-noise ratio (CNR) monitoring module is used to observe the CNR changes of the sky signal received by the license code signal receiver under test. When it is observed that the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and only then can the next step be performed.

[0110] Compared to the testing apparatus of the aforementioned embodiments, the autonomous integrity testing apparatus for the license code signal receiver provided in this embodiment confirms the signal reception status of the license code signal receiver under test by observing changes in the carrier-to-noise ratio. This can prevent abnormal situations where the autonomous integrity function test fails due to the license code signal receiver under test not receiving the high-gain satellite signal output from the multi-antenna relay, thereby improving the reliability of the testing system.

[0111] like Figure 5 As shown, a preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the authorization code signal receiver autonomous integrity test method in the above embodiments.

[0112] This application provides an electronic device that employs the authorization code signal receiver autonomous integrity testing method described in the above embodiments, thereby addressing the technical problems of insufficient testing and unreliable test results in existing testing techniques for the autonomous integrity function of authorization code signal receivers. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the authorization code signal receiver autonomous integrity testing method provided in the above embodiments, and other technical features of the electronic device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0113] like Figure 6 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 6 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the aforementioned autonomous integrity test method for the license code signal receiver.

[0114] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0115] The computer equipment provided in this application employs the autonomous integrity testing method for the authorization code signal receiver in the above embodiments, thereby solving the technical problems of insufficient testing and unreliable test results in existing testing techniques for the autonomous integrity function of authorization code signal receivers. Compared with the prior art, the beneficial effects of the computer equipment provided in this application are the same as those of the autonomous integrity testing method for the authorization code signal receiver provided in the above embodiments, and other technical features in the electronic device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0116] A preferred embodiment of this application also provides a storage medium, the storage medium including a stored program, which, when the program is executed, controls the device where the storage medium is located to perform the steps of the authorization code signal receiver autonomous integrity test method in the above embodiments.

[0117] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0118] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0119] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language C++ and the embedded programming language C.

[0120] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method for testing the autonomous integrity of an authorization code signal receiver.

[0124] The computer program product provided in this application solves the technical problems of insufficient testing and unreliable test results in existing testing techniques for the autonomous integrity function of authorization code signal receivers. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the autonomous integrity testing method for authorization code signal receivers provided in the above embodiments, and will not be repeated here.

[0125] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0126] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for testing the autonomous integrity of an authorization code signal receiver, characterized in that, Including the following steps: Receive satellite signals from the sky, complete system synchronization, and complete state initialization. Calibrate the link delay of each signal relayed by multiple antennas and the link delay of a single antenna relayed to ensure that the delays of the two links are consistent. The outdoor sky signal is forwarded to the indoor area by a single antenna. The forwarding signal power is set so that at least one authorized code signal receiver located indoors can normally receive the sky signal forwarded by the single antenna and output the positioning result. Based on the signal reception status of the receiver receiving the license code signal under test and the test requirements, control the azimuth parameters of the multi-antenna forwarding to point to the corresponding system, frequency point, and satellite number, and set the forwarding signal power to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. Among them, the carrier-to-noise ratio of the sky signal without injected abnormalities forwarded by the multi-antenna is greater than the carrier-to-noise ratio set value of the sky signal forwarded by the single antenna. According to the test requirements, abnormal information is randomly injected into the un-injected sky signal relayed by multiple antennas, and the start time and end time of the abnormal state are set. The autonomous integrity function of the authorized code signal receiver under test is determined based on the signal anomaly monitoring and positioning of the sky signal after receiving the injected abnormal information from multiple antennas.

2. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, Receiving satellite signals from space completes system synchronization and status initialization, specifically including the following steps: Based on satellite signals received in a real-world space environment, the system performs space-time synchronization, clock discipline, and ephemeris acquisition. Time synchronization provides a reference time when anomaly functions are set up during a specified time period. Clock discipline maintains strict space-time synchronization and provides a reference clock when Doppler anomaly injection is performed. Ephemeris acquisition calculates the azimuth and elevation angles of each real satellite, providing the target satellite angle for real-time control of multi-antenna azimuth.

3. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, The multi-antenna relay uses an active phased array antenna, and the number of T / R components of the active phased array antenna is determined by the number of satellites to be relayed and the beam gain.

4. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 3, characterized in that, The number of T / R components in the active phased array antenna meets the relay requirements of 1 to 2 satellites, and the beam gain corresponding to each satellite meets the test requirements.

5. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, The multi-antenna relay uses a high-gain receiving antenna group, which includes several gimbals whose azimuth rotation range is 0~360° and elevation angle is 0~90°, which can be controlled in real time by external commands. Each gimbal is equipped with a high-gain receiving antenna. The total number of high-gain receiving antennas is determined by the number of systems and satellites that need to be relayed.

6. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 5, characterized in that, The total number of high-gain receiving antennas is 1 to 2.

7. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, When the single antenna forwards the sky signal, it uses an active omnidirectional receiving antenna. The sky signal forwarded by the single antenna includes signals from all satellites at the GNSS satellite navigation system frequency and the low-orbit satellite navigation system frequency, and is consistent with the sky signal for the receiver of the license code signal under test to receive and locate.

8. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 5, characterized in that, Based on the signal reception status of the receiver receiving the license code signal under test and the test requirements, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency, and satellite number, and the forwarding signal power is set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include: Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, the satellite number and its azimuth and elevation angles that meet the test requirements are calculated and selected. By controlling the azimuth parameters of each pan-tilt unit in the high-gain receiving antenna group in real time to point to the corresponding system, frequency, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The forwarding signal power is set to achieve high-gain forwarding signal output when multiple antennas are forwarding. The outdoor sky signal is forwarded to the indoor authorized code signal receiver through a directional passive transmitting antenna.

9. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 3, characterized in that, Based on the signal reception status of the receiver receiving the license code signal under test and the test requirements, the azimuth parameters of the multi-antenna forwarding are controlled to point to the corresponding system, frequency, and satellite number, and the forwarding signal power is set to forward the outdoor sky signal to the indoor receiver receiving the license code signal under test. The specific steps include: Based on the signal reception status of the receiver of the authorized code signal under test and the satellite ephemeris obtained during the system synchronization operation and state initialization, the satellite number and its azimuth and elevation angles that meet the test requirements are calculated and selected. By controlling the phase and amplitude parameters of each T / R component of the active phased array antenna in real time to point to the corresponding system, frequency point, and satellite number, continuous real-time tracking of the selected satellite number is maintained. The power of the relay signal is set to achieve high-gain relay signal output when multiple antennas are relayed. The outdoor sky signal is relayed to the indoor authorized code signal receiver through the directional passive transmitting antenna.

10. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, The randomly injected anomalous information includes pseudorange anomalies and Doppler anomalies. The pseudorange anomalies are achieved by changing the time delay of each input signal relayed by the multi-antenna system, and the Doppler anomalies are achieved by changing the reference frequency of each input signal relayed by the multi-antenna system.

11. The method for testing the autonomous integrity of an authorization code signal receiver according to claim 1, characterized in that, According to the testing requirements, abnormal information is randomly injected into the un-injected sky signal relayed by multiple antennas. Before setting the start and end times of the abnormal state, the following steps are also included: Observe the carrier-to-noise ratio (CNR) of the sky signal received by the license code signal receiver under test. When the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is found to be greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and only then can the next step be performed.

12. An autonomous integrity testing device for an authorization code signal receiver, characterized in that, include: The satellite synchronization module is used to receive satellite signals to complete system synchronization and state initialization. The delay calibration module is used to calibrate the link delay of each signal forwarded by multiple antennas and the link delay of a single antenna forwarded signal, so that the delay of the two links is consistent. The single-antenna repeater module is used to forward outdoor sky signals to indoors via a single antenna. The forwarding signal power is set so that at least one authorized code signal receiver located indoors can normally receive the sky signals forwarded by the single antenna and output the positioning results. The multi-antenna forwarding module is used to control the azimuth parameters of the multi-antenna forwarding to point to the corresponding system, frequency point, and satellite number according to the signal reception status of the license code signal receiver under test and the test requirements, and to set the forwarding signal power to forward the outdoor sky signal to the indoor license code signal receiver under test. The carrier-to-noise ratio of the sky signal without injected abnormalities forwarded by the multi-antenna is greater than the carrier-to-noise ratio set value of the sky signal forwarded by the single antenna. The anomaly injection module randomly injects anomaly information into the non-anomaly-injected sky signal relayed by multiple antennas according to the test requirements, and sets the start time and end time of the anomaly state. The autonomous integrity judgment module is used to determine whether the autonomous integrity function of the authorized code signal receiver under test is normal based on the signal anomaly monitoring and positioning status after the receiver receives the injected abnormal information from multiple antennas.

13. The autonomous integrity testing device for the authorization code signal receiver according to claim 12, characterized in that, Also includes: The carrier-to-noise ratio (CNR) monitoring module is used to observe the CNR changes of the sky signal received by the license code signal receiver under test. When it is observed that the CNR of the sky signal forwarded by multiple antennas without injected abnormalities received by the license code signal receiver under test is greater than the CNR set value of other sky signals received by the license code signal receiver under test, it is determined that the license code receiver under test has successfully received the sky signal forwarded by multiple antennas without injected abnormalities, and only then can the next step be performed.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the autonomous integrity test method for the authorization code signal receiver as described in any one of claims 1 to 11.

15. A storage medium comprising a stored program, characterized in that, When the program is running, it controls the device containing the storage medium to perform the steps of the autonomous integrity test method for the authorization code signal receiver as described in any one of claims 1 to 11.

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