Navigation enhanced signal transmission method, device, equipment and storage medium

Abstract

The application relates to the technical field of satellite navigation, and discloses a navigation enhancement signal transmitting method, device, equipment and storage medium. The method processes initial navigation signals to obtain a navigation enhancement signal baseband waveform. The device, the equipment and the storage medium correspond to the method. Through multi-link cooperative optimization, the application significantly improves the reliability and accuracy of navigation enhancement signal transmission, realizes low-cost and anti-radiation satellite-borne navigation enhancement signal transmission, and is suitable for the strict requirements of high-precision navigation scenes on signal quality.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, specifically a method, apparatus, device, and storage medium for transmitting navigation enhancement signals. Background Technology

[0002] Low-Earth orbit (LEO) satellites move at high speeds and have low signal link loss, providing stronger signal power and shorter propagation delays, significantly improving their resistance to signal blockage. Under the vision of the "Internet of Everything," communication and navigation fusion technology for LEO satellite internet will play a crucial role. In the future, LEO satellite payloads in the field of communication and navigation fusion must simultaneously support high-precision onboard orbit determination capabilities and enhanced communication and navigation signal transmission and reception capabilities.

[0003] To cope with the high-energy radiation environment of outer space, such as the Earth's radiation belts, solar proton events, and galactic cosmic rays, traditional satellites are typically designed with aerospace-grade components to meet the requirements of long-term reliable operation and radiation resistance, which leads to increased costs for satellite navigation.

[0004] Furthermore, existing spaceborne navigation signal transmissions mainly use FPGA architecture, which has inherent defects such as single-event upset sensitivity of configuration memory leading to logic distortion when dealing with space irradiation. It also has difficulty meeting the compatibility, expansion and integration requirements of low-Earth orbit constellations, and there is no specific radiation-resistant logic design for navigation enhancement signal transmission.

[0005] In summary, there is an urgent need for a new technical solution for navigation enhancement signal transmission to achieve low-cost response to the different navigation enhancement signal transmission requirements of low-Earth orbit satellite applications. Summary of the Invention

[0006] The purpose of this application is to provide a navigation enhancement signal transmission method, apparatus, device, and storage medium to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, this application provides a method for transmitting navigation enhancement signals. The method processes the initial message of the navigation signal to obtain a baseband waveform for the navigation enhancement signal. The method includes:

[0008] The initial message is acquired and ECC verification is performed. The initial message is then framed and check bits are added to obtain the first message.

[0009] The first message is encoded according to the configured frequency and signal system to obtain the encoded second message;

[0010] The second message is verified in real time. The verification is performed by adding a frame synchronization header to obtain the third message and storing it in the memory. If the verification fails, it is re-encoded.

[0011] At the moment of transmission, the third message stored in the memory is read and ECC verification is performed. The digital transmitter module is used to perform spread spectrum modulation, shaping filtering and upsampling to obtain the baseband waveform of the navigation enhancement signal.

[0012] Preferably, the real-time verification includes:

[0013] The receiving decoding module is invoked to perform local decoding, and the encoding correctness is verified according to the encoding check bit. The decoding result is then compared with the first message for consistency verification. If the consistency verification fails, the encoder is reset. If there are multiple consecutive inconsistencies, the encoder error is reported, and a redundant encoding module is used for encoding.

[0014] Preferably, the digital transmitter module is configured with:

[0015] The code generator unit supports the generation of various pseudocodes, including at least gold codes, weil codes, and memory codes.

[0016] A constellation mapping unit performs constellation mapping functions and supports the configuration of different modulation schemes, including at least BPSK, QPSK and pi / 4~QPSK.

[0017] MCSK signal generator unit, wherein the MCSK signal generator unit supports low-orbit MCSK custom modulation method;

[0018] A shaping filter, wherein the shaping filter is a high-order linear filter;

[0019] An upsampling filter bank, wherein the upsampling filter bank supports configuration of different filter combination methods and filter coefficients, wherein the filter combination methods include at least half-band and FIR combination methods;

[0020] The hardware delay control unit supports hardware delay adjustment based on the baseband operating clock cycle, and provides multiple ASIC hard-line delay options within the baseband operating clock cycle.

[0021] Preferably, before performing ECC verification: based on the acquired instructions, switch to the corresponding specified waveform generation and transmission state, acquire synchronization pulses to complete time synchronization; acquire the navigation enhancement message to be transmitted based on the signal type of the initial message, and perform ECC verification on both the initial message and the navigation enhancement message; the specified waveform generation and the transmission state at least include preparing the corresponding signal encoder, message PRN generator, code rate, and time division strobe pulse timing based on the specified frequency point; the navigation enhancement message at least includes low-orbit navigation message and GNSS precision correction message.

[0022] Preferably, the encoding includes TURBO encoding, convolutional encoding, LDPC encoding, RS encoding, or GOLAY encoding.

[0023] Preferably, the addition of the frame synchronization header is based on the navigation enhancement signal standard.

[0024] Preferably, when the number of times the real-time inspection fails exceeds a preset failure threshold, an error is reported and encoded using a preset conventional redundant module.

[0025] To achieve the above objectives, this application also provides a navigation enhancement signal transmitting apparatus, applied to the navigation enhancement signal transmitting method described above, the apparatus comprising:

[0026] The first message module is used to acquire the initial message and perform ECC verification, frame the initial message and add check bits to obtain the first message;

[0027] The second message module is used to encode the first message according to the configured frequency and signal system to obtain the encoded second message;

[0028] The third message module is used to perform real-time verification of the second message. The verification is achieved by adding a frame synchronization header to obtain the third message and storing it in the memory. If the verification fails, the message is re-encoded.

[0029] The enhanced signal transmission module is used to read the third message stored in the memory and perform ECC verification at the time of transmission. It uses the digital transmitter module to perform spread spectrum modulation, shaping filtering and upsampling to obtain the baseband waveform of the navigation enhanced signal.

[0030] To achieve the above objectives, this application also provides a navigation enhancement signal transmitting device, including at least one processor, at least one memory, and a data bus;

[0031] The processor and the memory communicate with each other via the data bus;

[0032] The memory stores program instructions that can be executed by the processor, which invokes the program instructions to execute the navigation enhancement signal transmission method as described above.

[0033] To achieve the above objectives, this application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the navigation enhancement signal transmission method as described above.

[0034] Beneficial Effects: The navigation enhancement signal transmission method, apparatus, equipment, and storage medium of this application significantly improve the reliability and accuracy of navigation enhancement signal transmission through multi-stage collaborative optimization, achieving low-cost and radiation-resistant spaceborne navigation enhancement signal transmission. Specifically: time synchronization ensures precise transmission timing; ECC verification and the addition of check bits provide double protection for message integrity; channel coding combined with local decoding verification and redundant module backup effectively reduces the risk of coding errors and improves system fault tolerance; a frame synchronization header pre-verification mechanism ensures the consistency of baseband waveform transmission; and a full-process closed-loop verification and anomaly handling design reduces signal transmission errors and ensures the stability and effectiveness of navigation enhancement signals, making it suitable for high-precision navigation scenarios with stringent signal quality requirements. Attached Figure Description

[0035] 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, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A flowchart illustrating the navigation enhancement signal transmission method provided in an embodiment of this application;

[0037] Figure 2 A flowchart illustrating the navigation enhancement signal transmission method combined with hardware devices provided in this application embodiment;

[0038] Figure 3 A structural block diagram of the navigation enhancement signal transmitting device provided in the embodiments of this application;

[0039] In the diagram: 100, First message module; 200, Second message module; 300, Third message module; 400, Enhanced signal transmission module.

[0040] The implementation, functional features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] The technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0042] In this document, the term "comprising" is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] To achieve radiation-resistant navigation enhancement signal transmission without changing the hardware, this embodiment proposes a radiation-resistant navigation enhancement signal transmission technology based on integrated circuits. This technology supports the generation of baseband signals for different navigation enhancement signal transmissions in low-Earth orbit satellite applications, offering higher reliability and better versatility, thereby achieving low-cost and radiation-resistant satellite navigation enhancement signal transmission.

[0044] Reference Figure 1 , Figure 1 This is a flowchart of the navigation enhancement signal transmission method in this embodiment.

[0045] like Figure 1 As shown, this embodiment discloses a method for transmitting navigation enhancement signals. The method processes the initial message of the navigation signal to obtain the baseband waveform of the navigation enhancement signal. The method includes:

[0046] S1: Obtain the initial message and perform ECC verification. Then, frame the initial message and add check bits to obtain the first message.

[0047] S2: Encode the first message according to the configured frequency and signal system to obtain the encoded second message;

[0048] S3: Perform real-time verification on the second message. The verification is performed by adding a frame synchronization header to obtain the third message and storing it in the memory. If the verification fails, the message is re-encoded.

[0049] S4: At the moment of transmission, the third message stored in the memory is read and ECC verification is performed. The digital transmitter module is used to perform spread spectrum modulation, shaping filtering and upsampling to obtain the baseband waveform of the navigation enhancement signal.

[0050] Specifically, real-time verification includes:

[0051] The receiving and decoding module is invoked to perform local decoding, verify the correctness of the encoding based on the encoding check bit, and perform consistency verification between the decoding result and the first message. If the consistency verification fails, the encoder is reset. If there are multiple consecutive inconsistencies, the encoder error is reported, and a redundant encoding module is used for encoding.

[0052] Specifically, the digital transmitter module is configured with:

[0053] The code generator unit supports the generation of various pseudocodes, including at least gold codes, weil codes, and memory codes.

[0054] The constellation mapping unit performs constellation mapping functions and supports configuration of different modulation schemes, including at least BPSK, QPSK and pi / 4~QPSK.

[0055] MCSK signal generator unit, which supports custom modulation methods for low-rail MCSK;

[0056] Shaping filter, the shaping filter uses a high-order linear filter;

[0057] Upsampling filter bank, which supports configuration of different filter combination methods and filter coefficients, including at least half-band and FIR combination methods;

[0058] The hardware delay control unit supports hardware delay adjustment based on the baseband operating clock cycle, and provides a variety of ASIC hard-line delay options within the baseband operating clock cycle.

[0059] Specifically, before performing ECC verification: based on the acquired instructions, switch to the corresponding specified waveform generation and transmission state, acquire the synchronization pulse to complete time synchronization; based on the signal type of the initial message, acquire the navigation enhancement message to be transmitted, and perform ECC verification on both the initial message and the navigation enhancement message; the specified waveform generation and transmission state includes at least preparing the corresponding signal encoder, message PRN generator, code rate, and time division strobe pulse timing based on the specified frequency; the navigation enhancement message includes at least the low-orbit navigation message and the GNSS precision correction message.

[0060] Specifically, the encoding methods include TURBO encoding, convolutional encoding, LDPC encoding, RS encoding, or GOLAY encoding.

[0061] Specifically, the addition of the frame synchronization header is based on the navigation enhancement signal standard.

[0062] Specifically, when the number of times the real-time inspection fails exceeds the preset failure threshold, an error is reported and encoded using a preset conventional redundant module.

[0063] Based on the above, the navigation enhancement signal transmission method disclosed in this embodiment includes the following transmission process corresponding to the hardware device: the digital signal processing chip (DSP) switches the waveform state according to the instruction, reads the target message from the hardened random access memory (RAM) and performs error correction by redundancy check (ECC); performs framing and adds check bits, the DSP calls the hardware accelerator to perform channel coding, and at the same time decodes and compares the data consistency through the local receiving module in real time, and automatically resets the encoder when there is an anomaly; the encoded data is stored in RAM after adding a frame header according to the navigation enhancement standard; the DSP calls the digital transmitter processing module (DTE) to complete the modulation mapping to generate the baseband waveform, uses the receiving module to pre-demodulate and verify the frame synchronization header, and waits for a specific transmission time to send it to the radio frequency module (RF). In this specific application, the digital signal processing module (DSP) receives system instructions to switch to the specified waveform generation and transmission state, frames the message, adds check bits, calls the encoder and signal receiver decoder, and calls the digital transmitter module to generate the signal baseband waveform; the digital transmitter module (DTE) completes signal spread spectrum modulation, shaping filtering, and upsampling; the memory (RAM) stores the initial message and the third message and supports ECC verification; the encoding module supports TURBO encoding, convolutional encoding, LDPC encoding, RS encoding, or GOLAY encoding and adopts a redundant design; the signal receiver decoder module decodes the results of the encoding module, thereby realizing the design of integrated transceiver for spaceborne applications, eliminating the need for additional decoder design and directly calling the decoder of the signal receiver section.

[0064] Reference Figure 2 , Figure 2 This is a flowchart of the navigation enhancement signal transmission method combined with hardware devices in this embodiment.

[0065] like Figure 2 As shown, in conjunction with existing hardware devices, the navigation enhancement signal transmission method of this embodiment includes the following steps:

[0066] A1: The chip DSP switches to the specified waveform generation and transmission state according to the system instructions, obtains the synchronization pulse to complete the time synchronization, obtains the navigation enhancement message to be transmitted in RAM according to the signal type, and performs ECC verification.

[0067] A2: According to the current frequency message format to be transmitted, perform subframe segmentation, add satellite number, information type, time information, and calculate check bits, and add check bits to the end of the message data;

[0068] A3: Based on the current frequency and signal system configuration, the DSP calls the encoding accelerator to perform the corresponding channel encoding. After encoding, it calls the receiving decoding module to perform local decoding. The encoding correctness is verified according to the encoding check bit. The decoding result is compared with the extracted message. If the comparison is consistent, proceed to the next step. If they are inconsistent, reset the encoder. If they are inconsistent multiple times, report an error and use a conventional redundant module for encoding.

[0069] A4: After channel coding, add a frame synchronization header according to the navigation enhancement signal frame format and store it in RAM;

[0070] A5: Select the modulation method and constellation mapping according to the corresponding frequency point. The DSP calls the DTE to read the baseband signal frame data stored in RAM. The DTE performs spread spectrum modulation, shaping filtering, upsampling, and outputs the navigation enhancement signal baseband waveform. The receiving module is called to demodulate. After finding the frame synchronization header, it waits for a specific transmission time to send it to the RF.

[0071] In one specific implementation, in A1, the acquired navigation enhancement message support includes low-orbit navigation messages generated by the spaceborne receiver or transmitted on the ground, GNSS precision correction messages, etc.; specifying waveform generation and transmission status, that is, preparing the corresponding signal encoder, message PRN generator, code rate, time division strobe pulse timing, etc. according to the specified frequency point.

[0072] In one specific implementation, in A2, the corresponding channel coding accelerator is invoked to complete the signal coding, supporting TURBO coding, convolutional coding, LDPC coding, RS coding, or GOLAY coding, including but not limited to the following types:

[0073] The TURBO encoder supports different polynomial turbo codes with constraint lengths up to 3, and both the interleaver and the code rate are configurable.

[0074] A convolutional encoder that implements various types of convolutional encoding, such as (2, 1, 7) and (4, 1, 9), and supports configurable constraint length and polynomial.

[0075] LDPC encoder, supports binary and multi-base LDPC encoding, and the encoding format is configurable;

[0076] The RS encoder implements various types of RS encoding functions, such as (255, 223), and is configurable.

[0077] The Golay code encoder implements Golay code encoding functions, such as golay(23, 12), and the length and polynomial are configurable within a certain range.

[0078] In one specific implementation, in A4, the DTE completes the generation of the digital waveform, including the following main units:

[0079] Code generator unit: Supports the generation of various pseudocodes, including gold code, weil code, memory code, etc., and has high configurability;

[0080] Constellation mapping unit: performs constellation mapping function, supports configurable different modulation methods such as BPSK, QPSK, and pi / 4~QPSK;

[0081] MCSK signal generator unit: Supports customized low-rail MCSK modulation methods, while also possessing a certain degree of flexibility and supporting configurable parameters;

[0082] Shaping Filter: Employs a high-order linear filter with configurable coefficients to achieve high-performance digital baseband shaping filtering;

[0083] Upsampling filter bank: It adopts a combination of half-band, FIR and other filters to achieve a wider range of digital baseband waveform variable sampling rate processing. The filter combination method and filter coefficients can be configured.

[0084] Hardware delay control unit: Supports hardware delay adjustment based on baseband clock cycle, and provides multiple ASIC hard-line delay options within the baseband clock cycle, enabling finer digital waveform transmission delay control on the digital circuit side.

[0085] In one specific application of this embodiment, taking the L-orbit MCSK signal as an example, the L-frequency L-orbit navigation message is modulated with ranging code L_1, and the GNSS navigation enhancement message is mapped through ranging code L_2. The L_1 and L_2 codes are generated by modulo-2 addition of two linear sequences G1 and G2 to produce a balanced Gold code, followed by truncating the last chip. The corresponding navigation enhancement signal transmission method includes the following steps:

[0086] A11: The dedicated DSP chip switches to the MCSK signal waveform generation and transmission state according to the system instructions, obtains the synchronization pulse based on the onboard clock source, receiver time, etc. to complete time synchronization, and reads the low-orbit navigation message and GNSS navigation enhancement message in RAM to perform ECC verification.

[0087] A22: According to the current frequency message format to be transmitted, segment the message into subframes, add satellite number PRN, information type MesType, and week second count SOW, and perform CRC check bit calculation. PRN, MesType, SOW, and message data all participate in the CRC check calculation, and add check bits to the end of the message data.

[0088] A33: Based on the current frequency and signal system configuration, the DSP calls the encoding accelerator to perform corresponding channel coding on the verified messages, convolutional coding on the low-orbit navigation messages, and segmented LDPC coding on the GNSS navigation enhancement messages. After coding is completed, the LPDC decoder is called to perform corresponding decoding and comparison. Any of the following methods can be selected for judgment: comparison with the message before coding, CRC check bit judgment after message segment merging, or code check bit judgment. If they match or pass, proceed to the next step. If they do not match, reset the encoder and reinitialize the encoder's configuration parameters. If they do not match multiple times consecutively, report an error, report an encoder abnormality, and start the redundant encoder.

[0089] A44: After channel coding, a frame synchronization header is added according to the signal frame format and stored in RAM;

[0090] A55: Select the modulation method and constellation mapping. The DTE reads the baseband signal frame data stored in RAM. The low-orbit navigation message uses direct sequence spread spectrum modulation, and the GNSS navigation enhancement message uses CSK modulation. The code period of the low-speed message and the code period of the high-speed message are time-divided. Time-division gating pulses can be used for gating. Shaping filtering and upsampling are performed to output the baseband waveform of the navigation enhancement signal. The receiving module is called for demodulation. After successfully finding the frame synchronization header, it waits for a specific transmission time to send it to the RF.

[0091] Based on the above, the navigation enhancement signal transmission method of this embodiment significantly improves the reliability and accuracy of navigation enhancement signal transmission through multi-stage collaborative optimization, thereby achieving low-cost and radiation-resistant spaceborne navigation enhancement signal transmission. Specifically: time synchronization ensures precise transmission timing; ECC verification and the addition of check bits provide double protection for message integrity; channel coding combined with local decoding verification and redundant module backup effectively reduces the risk of coding errors and improves system fault tolerance; a frame synchronization header pre-verification mechanism ensures the consistency of baseband waveform transmission; and a full-process closed-loop verification and anomaly handling design reduces signal transmission errors and ensures the stability and effectiveness of navigation enhancement signals, making it suitable for high-precision navigation scenarios with stringent signal quality requirements.

[0092] Reference Figure 3 , Figure 3 This is a structural block diagram of the navigation enhancement signal transmitting device in this embodiment.

[0093] like Figure 3 As shown, this embodiment discloses a navigation enhancement signal transmitting device, applied to the above-described navigation enhancement signal transmitting method. The device includes:

[0094] The first message module 100 is used to acquire the initial message and perform ECC verification, frame the initial message and add check bits to obtain the first message;

[0095] The second message module 200 is used to encode the first message according to the configured frequency point and signal system to obtain the encoded second message;

[0096] The third message module 300 is used to perform real-time verification of the second message. The verification is achieved by adding a frame synchronization header to obtain the third message and storing it in the memory. If the verification fails, the message is re-encoded.

[0097] The enhanced signal transmission module 400 is used to read the third message stored in the memory and perform ECC verification at the time of transmission. It uses the digital transmitter module to perform spread spectrum modulation, shaping filtering and upsampling to obtain the baseband waveform of the navigation enhanced signal.

[0098] This embodiment also discloses a navigation enhancement signal transmitting device, including at least one processor, at least one memory, and a data bus;

[0099] The processor and memory communicate with each other via a data bus;

[0100] The memory stores program instructions that can be executed by the processor, which calls the program instructions to execute the navigation enhancement signal transmission method described above.

[0101] This embodiment also discloses a storage medium on which a computer program is stored, and when the computer program is executed by a processor, it implements the above-described navigation enhancement signal transmission method.

[0102] It should be noted that the navigation enhancement signal transmitting device, equipment, and storage medium of this embodiment correspond to the aforementioned navigation enhancement signal transmitting device method. Therefore, any content not specifically described in the navigation enhancement signal transmitting device, equipment, and storage medium of this embodiment, including but not limited to functional definitions, working principles, and technical effects, can be referred to the description in the aforementioned navigation enhancement signal transmitting device method, and will not be repeated here.

[0103] In the embodiments provided in this application, it should be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code, or any suitable combination thereof. For hardware implementation, the processor may be implemented in one or more of the following: application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to implement the functions described herein, or combinations thereof. For software implementation, some or all of the processes of the embodiments may be performed by a computer program instructing the associated hardware. During implementation, the program may be stored in a computer-readable storage medium or transmitted as one or more instructions or code on a computer-readable storage medium. Computer-readable storage media include computer storage media and communication media, wherein communication media include any medium that facilitates the transmission of a computer program from one place to another. Storage media may be any available medium accessible to a computer. Computer-readable storage media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code having the form of instructions or data structures and accessible to a computer.

[0104] Finally, it should be noted that the above description is only a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of transmitting a navigation augmentation signal, characterized by, The method processes an initial navigation signal message to obtain a navigation enhancement signal baseband waveform, and the method comprises: obtaining the initial message and performing ECC check, framing and adding check bits to the initial message to obtain a first message; encoding the first message according to a configured frequency point and signal system to obtain a second message after encoding; performing real-time check on the second message, determining the correctness of the encoding check bits, and then adding a frame synchronization header to obtain a third message and store it in a memory, or re-encoding if the check fails; reading the third message stored in the memory at the time of transmission and performing ECC check, and using a digital transmitting module to perform spread spectrum modulation, shaping filtering and up-sampling to obtain the navigation enhancement signal baseband waveform.

2. The navigation-augmented signal transmission method of claim 1, wherein, The real-time check comprises: calling a receiving and decoding module to perform local decoding, verifying the encoding correctness according to the encoding check bits, and performing consistency check on the decoding result and the first message; and if the consistency check fails, resetting the encoder, reporting the error if the consistency check fails continuously for multiple times, and using a redundant encoding module to encode.

3. The navigation-augmented signal transmission method of claim 1, wherein, The digital transmitting module is configured with: a code generator unit supporting generation of various pseudo-codes, including at least gold code, weil code and memory code; a constellation mapping unit completing constellation mapping function and supporting configuration of different modulation modes, including at least BPSK, QPSK and pi / 4~QPSK; an MCSK signal generator unit supporting low-orbit MCSK customized modulation mode; a shaping filter using high-order linear filter; an up-sampling filter bank supporting configuration of different filter combination modes and filter coefficients, including at least combination mode using half-band and FIR; a hardware delay control unit supporting hardware delay adjustment based on baseband working clock period, and providing multiple ASIC hardware delay selections within the baseband working clock period.

4. The navigation-augmented signal transmission method of claim 1, wherein, Before performing ECC check: switching to a corresponding specified waveform generation and transmission state based on the obtained instruction, obtaining a synchronization pulse to complete time synchronization, and obtaining a navigation enhancement message to be transmitted based on the signal type of the initial message, and performing ECC check on the initial message and the navigation enhancement message; The specified waveform generation and the transmission state at least include preparing a corresponding signal encoder, message PRN generator, code rate and time division gating pulse time based on a specified frequency point; The navigation enhancement message at least includes low-orbit navigation message and GNSS precise correction message.

5. The navigation-augmented signal transmission method of claim 1, wherein, The encoding includes TURBO encoding, convolutional encoding, LDPC encoding, RS encoding or GOLAY encoding.

6. The navigation-augmented signal transmission method of claim 1, wherein, The frame synchronization header is added based on the navigation enhancement signal standard.

7. The navigation-augmented signal transmission method of claim 1, wherein, When the number of times of failing the real-time check is greater than a preset failure threshold, the error is reported, and a preset conventional redundant module is used for encoding.

8. A navigation augmentation signal transmitting apparatus for use in the navigation augmentation signal transmitting method according to any one of claims 1 to 7, characterized by The apparatus comprises: The first electric text module is used for obtaining the initial electric text and performing ECC check, framing and adding check bits to the initial electric text to obtain the first electric text; The second electric text module is used for encoding the first electric text according to the configuration frequency and signal system to obtain the encoded second electric text; The third electric text module is used for performing real-time check on the second electric text, adding frame synchronization header to the second electric text to obtain the third electric text and storing the third electric text in the memory after determining the correctness of the encoded check bits, and re-encoding the second electric text if the check fails; The enhanced signal transmitting module is used for reading the third electric text stored in the memory and performing ECC check at the time to be transmitted, and performing spread spectrum modulation, shaping filtering and up-sampling by using the digital transmitting module to obtain the navigation enhanced signal baseband waveform.

9. A navigation enhancement signal transmitting device, characterized by, The computer program is executed by the processor to implement the navigation enhanced signal transmitting method in any one of claims 1 to 7. The computer program is executed by the processor to implement the navigation enhanced signal transmitting method in any one of claims 1 to 7. ​ 10. A storage medium having stored thereon a computer program, characterized in that ​

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