Satellite navigation signal acquisition method and device and storage medium

Abstract

A method, apparatus, and storage medium for acquiring satellite navigation signals are disclosed. The method includes: performing a first acquisition of the satellite navigation signal based on first acquisition parameters, and determining a first acquisition result, the first acquisition result including: first carrier frequency domain information and first code phase; determining second acquisition parameters based on the first acquisition result and the first acquisition parameters, wherein the bandwidth parameters in the first and second acquisition parameters are different, and the bandwidth parameters include one or more of: frequency interval, coherent integration duration, and incoherent integration times; performing a second acquisition of the satellite navigation signal based on the second acquisition parameters, and determining a second acquisition result, the second acquisition result including: second carrier frequency domain information and second code phase; and determining the acquisition state of the satellite navigation signal based on the second carrier frequency domain information, the second code phase, and the first code phase, the acquisition state including: successful acquisition and false alarm acquisition. This application has the technical effect of improving the accuracy of false alarm acquisition identification.

Description

Technical Field

[0001] This disclosure relates to the field of satellite navigation and positioning technology, and in particular to a method, apparatus and storage medium for acquiring satellite navigation signals. Background Technology

[0002] Satellite navigation signal acquisition is a fundamental step in satellite navigation receiver signal processing. It is used to detect and estimate the pseudo-random code phase and Doppler frequency shift in the received satellite navigation signal, providing initial parameters for subsequent tracking and resolution stages in the navigation process. Because satellite navigation signals reach the ground with extremely low power and exhibit significant Doppler frequency shift and uncertainty in the pseudo-random code phase, the receiver needs to search for and detect the target signal in a two-dimensional code phase-frequency space. Therefore, the efficiency of satellite navigation signal acquisition is a crucial consideration. Summary of the Invention

[0003] In view of this, the present disclosure provides a method, apparatus and storage medium for capturing satellite navigation signals. By capturing satellite navigation signals multiple times and adjusting the current capture parameters using bandwidth parameters, the accuracy of satellite navigation signal capture is improved and false alarms are reduced.

[0004] In a first aspect, a method for acquiring satellite navigation signals is provided, comprising: performing a first acquisition of the satellite navigation signal based on first acquisition parameters, and determining a first acquisition result, the first acquisition result including: first carrier frequency domain information and first code phase; determining second acquisition parameters based on the first acquisition result and the first acquisition parameters, wherein the bandwidth parameters in the first acquisition parameters and the second acquisition parameters are different, and the bandwidth parameters include one or more of: frequency interval, coherent integration duration and incoherent integration times; performing a second acquisition of the satellite navigation signal based on the second acquisition parameters, and determining a second acquisition result, the second acquisition result including: second carrier frequency domain information and second code phase; and determining the acquisition state of the satellite navigation signal based on the second carrier frequency domain information, the second code phase and the first code phase, the acquisition state including: acquisition valid and acquisition false alarm.

[0005] The above satellite navigation signal acquisition method, by performing two acquisitions and adjusting the bandwidth parameters differently between the first and second acquisitions, constructs different acquisition scales for the two acquisition processes. This reduces the randomness of satellite navigation signal acquisition caused by noise or interference, improves the reliability of false alarm state determination, reduces the probability of false alarms entering the subsequent positioning process for processing, and improves satellite navigation positioning efficiency.

[0006] Optionally, the first carrier frequency domain information includes at least the following information: a first frequency domain main peak value, a first frequency domain main peak frequency value, and a first noise peak value; the first code phase includes: a first main peak code phase; the second carrier frequency domain information includes at least: a second frequency domain main peak value, a second frequency domain main peak frequency value, and a second noise peak value; the second code phase includes: a second main peak code phase.

[0007] Optionally, based on the first acquisition result and the first acquisition parameters, the second acquisition parameters are determined, including: determining a first ratio of the first frequency domain main peak value to the first noise peak value, and obtaining a first frequency threshold; when the first ratio is greater than or equal to the first frequency threshold, using the first frequency domain main peak frequency value in the first acquisition result as the carrier center frequency in the second acquisition parameters; and determining the second acquisition parameters based on the first acquisition parameters and a preset set of bandwidth parameter coefficients, wherein the set of bandwidth parameter coefficients includes: frequency interval coefficient, coherent integration duration coefficient, and non-coherent integration number coefficient.

[0008] Optionally, the acquisition method further includes: when the first ratio is less than the first frequency threshold, reconfiguring the first acquisition parameters and continuing the acquisition of satellite navigation signals.

[0009] Optionally, determining the second capture parameter based on the first capture parameter and a preset set of bandwidth parameter coefficients includes: adjusting at least one bandwidth parameter among the bandwidth parameters of the first capture parameter through the set of bandwidth parameter coefficients. The adjustment of the bandwidth parameter includes one or more of the following: reducing the frequency interval, increasing the coherent integration duration, and adjusting the number of non-coherent integrations.

[0010] Optionally, the acquisition status of the currently acquired satellite navigation signal is determined based on the second carrier frequency domain information, the second code phase, and the first code phase, including: determining a second ratio of the second frequency domain main peak value to the second noise peak value, and obtaining a second frequency threshold; when the second ratio is greater than or equal to the second frequency threshold, the acquisition status of the satellite navigation signal is determined based on the first code phase and the second code phase; the method further includes: when the second ratio is less than the second frequency threshold, reconfiguring the first acquisition parameters and continuing the acquisition of the satellite navigation signal.

[0011] Optionally, determining the acquisition status of the satellite navigation signal based on the first code phase and the second code phase includes: determining the code phase deviation based on the first code phase and the second code phase; comparing the code phase deviation with a preset code phase threshold; determining the acquisition status of the satellite navigation signal as valid acquisition when the code phase deviation is less than the code phase threshold; and determining the acquisition status of the satellite navigation signal as a false alarm when the code phase deviation is greater than or equal to the code phase threshold.

[0012] Optionally, the first acquisition parameter further includes a first intermediate frequency (IF) data address offset, and the second acquisition parameter further includes a second IF data address offset; performing a first acquisition of the satellite navigation signal based on the first acquisition parameter includes: reading the IF data of the satellite navigation signal for first acquisition according to the starting position determined by the first IF data address offset; performing a second acquisition of the satellite navigation signal based on the second acquisition parameter includes: reading the IF data of the satellite navigation signal for second acquisition according to the starting position determined by the second IF data address offset; determining the code phase deviation based on the first code phase and the second code phase further includes: determining a first corrected code phase by subtracting the first code phase from the first IF data address offset, determining a second corrected code phase by subtracting the second code phase from the second IF data address offset, calculating the absolute value of the difference between the second corrected code phase and the first corrected code phase, and determining the code phase deviation.

[0013] Secondly, a satellite navigation signal acquisition device is provided, comprising: a parameter configuration module for configuring first acquisition parameters and second acquisition parameters; a signal acquisition module for performing a first acquisition of the satellite navigation signal based on the first acquisition parameters and determining a first acquisition result, the first acquisition result including: first carrier frequency domain information and first code phase; the parameter configuration module is further configured to determine a second acquisition parameter based on the first acquisition result and the first acquisition parameters, wherein the bandwidth parameters in the first acquisition parameters and the second acquisition parameters are different, and the bandwidth parameters include one or more of: frequency interval, coherent integration duration and non-coherent integration times; the signal acquisition module is further configured to perform a second acquisition of the satellite navigation signal based on the second acquisition parameters and determine a second acquisition result, the second acquisition result including: second carrier frequency domain information and second code phase; and a result processing module for determining the acquisition state of the satellite navigation signal based on the second carrier frequency domain information, the second code phase and the first code phase, the acquisition state including: acquisition valid and acquisition false alarm.

[0014] Thirdly, the same computer-readable storage medium includes instructions stored thereon, wherein, when executed by a processor, the satellite navigation signal acquisition method provided in the first aspect is executed. Attached Figure Description

[0015] The accompanying drawings used in the description of the embodiments of this disclosure are briefly introduced below:

[0016] Figure 1 A flowchart illustrating a method for capturing satellite navigation signals provided in some embodiments of this disclosure is shown.

[0017] Figure 2 A flowchart illustrating a second capture parameter determination method provided in some embodiments of this application is shown;

[0018] Figure 3A flowchart illustrating a method for determining the acquisition status of a currently acquired satellite navigation signal, provided in some embodiments of this application, is shown.

[0019] Figure 4 A flowchart illustrating a method for determining the acquisition status of satellite navigation signals provided in some embodiments of this application is shown.

[0020] Figure 5 This application illustrates a satellite navigation signal acquisition device provided in some embodiments;

[0021] Figure 6 Another satellite navigation signal acquisition device provided in some embodiments of this application is shown;

[0022] Figure 7 The diagram illustrates a method flow chart of a satellite navigation signal acquisition device provided in some embodiments of this application. Detailed Implementation

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure, examples of implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0024] To keep the drawings simple, each figure only schematically shows the parts relevant to the embodiment, and they do not represent the actual structure of the product. In addition, for the sake of clarity and ease of understanding, some figures only schematically show parts of components with the same structure or function, and there may actually be more or fewer components with the same structure or function.

[0025] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as “first”, “second”, etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects; furthermore, they do not represent the quantity of related objects. “Multiple” includes two or more, and other quantifiers are similar. “ / ” is used to describe the relationship between related objects, indicating an “or” relationship between them. “And / or” is used to describe the relationship between related objects, including any combination relationship between them, such as “a and / or b” including: “a alone”, “b alone”, or “a and b”. “One or more” or “at least one” of multiple objects refers to any object or any combination of multiple objects, such as “one or more of a1, a2, a3” or “at least one of a1, a2, a3” including: “a1 alone”, “a2 alone”, “a3 alone”, “a1 and a2”, “a1 and a3”, “a2 and a3”, or “a1, a2 and a3”.

[0026] Satellite navigation systems are widely used in various scenarios, including vehicles, aviation, maritime, unmanned platforms, and portable terminals. When a receiver powers on, changes frequency, recovers from obstruction, or rebuilds from a lost-lock condition, it must first acquire satellite navigation signals to confirm available satellites and thus propel the system into normal operation. The acquisition phase directly impacts the overall stability of the positioning service. In actual deployments, acquisition decisions are susceptible to the combined effects of various factors. For example, environmental obstructions and multipath propagation can alter reception conditions, and the movement of the receiver's platform and differences in equipment can introduce state fluctuations. If the measures taken to handle these fluctuations during acquisition are not robust enough, recognition lag can occur, causing delayed confirmation of satellites that should proceed to subsequent processing, affecting system startup efficiency and availability; or non-target components may be identified as target satellites, thus occupying processing channels and scheduling opportunities in subsequent stages. Although such misjudgments are usually eliminated in later stages, they cause resource consumption and redundancy before elimination, reducing the overall efficiency of the positioning system. Therefore, without significantly increasing system complexity, it is worthwhile to focus on how to maintain better robustness in acquisition decisions under different scenarios and platform conditions, and reduce the probability of misjudgments entering subsequent processing. This application provides a method, apparatus, and storage medium for acquiring satellite navigation signals. By designing multiple acquisition stages and configuring acquisition parameters with different bandwidth parameters during different acquisition operations, the current satellite acquisition status is determined based on preset frequency thresholds and code phase thresholds after obtaining the acquisition result. This reduces the probability of false alarms and prevents false alarm satellites from entering the tracking channel, thus avoiding the waste of tracking resources.

[0027] The following description is in conjunction with the accompanying drawings:

[0028] Please refer to Figure 1This illustration shows a flowchart of a satellite navigation signal acquisition method provided in some embodiments of this disclosure. The satellite navigation signal acquisition method includes at least the following steps:

[0029] S110: Perform a first acquisition of the satellite navigation signal based on the first acquisition parameters, and determine the first acquisition result. The first acquisition result includes: first carrier frequency domain information and first code phase.

[0030] S120: Based on the first acquisition result and the first acquisition parameters, determine the second acquisition parameters, wherein the bandwidth parameters in the first acquisition parameters and the second acquisition parameters are different, and the bandwidth parameters include one or more of the following: frequency interval, coherent integration duration and incoherent integration number;

[0031] S130: Perform a second acquisition of the satellite navigation signal based on the second acquisition parameters, and determine the second acquisition result, which includes: second carrier frequency domain information and second code phase;

[0032] S140: Based on the second carrier frequency domain information, the second code phase and the first code phase, determine the acquisition status of the satellite navigation signal. The acquisition status includes: successful acquisition and false alarm.

[0033] In the above satellite navigation signal acquisition methods, acquisition refers to the process by which the receiver confirms the existence of the target satellite navigation signal and generates an initial carrier frequency and initial code phase for subsequent processing. Before the receiver performs the first acquisition of the satellite navigation signal, the processing object, search area, resolution granularity, and related operation control parameters can be set by configuring the first acquisition parameters, thereby determining the first acquisition result. Among them, the first carrier frequency domain information is the estimated carrier frequency obtained when the target satellite signal is acquired for the first time under the first acquisition parameter configuration, which represents the Doppler frequency of the signal relative to the receiver's local reference within the first acquisition time window; the first code phase is the estimated target satellite pseudo-random code phase (or equivalent delay) obtained during the first acquisition, which can represent the relative alignment position of the received signal pseudo-code sequence and the local pseudo-code at a preset time point. The first acquisition result and the first frequency threshold can be used to determine whether the satellite navigation signal acquisition under the first acquisition operation is successful, preparing for the second acquisition process. If the carrier frequency of the current first acquisition result can meet the threshold requirement, it means that the frequency domain judgment formed by the first acquisition has reached or exceeded the preset threshold, and the existence of the target satellite navigation signal under this acquisition has sufficient frequency domain evidence. To further reduce the false alarm probability, the first acquisition parameters can be adjusted based on the current configuration to determine the second acquisition parameters before performing the second acquisition. The first acquisition has established the processing baseline for this task; therefore, the second acquisition parameters cannot deviate too far from the baseline of the first acquisition, otherwise, it will lose comparability with the first result and make it difficult to effectively verify the first acquisition result. Therefore, this application can determine the second acquisition parameters by adjusting the bandwidth parameter in the first acquisition parameters. For example, by adjusting the frequency interval parameter, the step size between adjacent candidate frequency points in the search space can be adjusted. The size of the frequency interval affects the frequency resolution and the number of search points. A smaller interval is beneficial for refining frequency estimation and reducing the risk of mismatch, but the computational load increases; a larger interval can shorten the search time, but may produce a larger frequency mismatch error. Another example is adjusting the coherent integration duration, i.e., adjusting the signal accumulation duration to improve or reduce the significance of signal-to-noise ratio while maintaining phase consistency. Alternatively, the number of incoherent integrations can be adjusted to change the number of accumulations in amplitude of multiple coherent integration results, reducing the impact of instantaneous fluctuations on the statistical stability of the signal. Furthermore, the differences in bandwidth parameters in this application can be due to variations in all types of bandwidth parameters, such as different frequency intervals, coherent integration durations, and incoherent integration counts for both the first and second acquisition parameters. Alternatively, some parameters can be different, such as having the same frequency interval for two parameters but different coherent integration durations and incoherent integration counts, or having the same frequency interval and coherent integration duration but different incoherent integration counts. The adjustment of these bandwidth parameters can be specifically set based on the conditions and requirements of the technician during satellite navigation signal acquisition.After configuring the second acquisition parameters, a second acquisition is performed to further determine the second carrier frequency domain information and the second code phase, followed by a determination of the acquisition status. This determination process can be conducted in two stages: first, it is determined whether the frequency domain determination after the second acquisition has reached or exceeded the current threshold requirement, thus determining whether the acquired satellite navigation signal actually exists. If it can be determined that it exists, then it is determined whether the code phase of the two acquisitions meets the current code phase threshold requirement. During the determination of the code phase threshold, it is determined whether the pseudo-code alignment of the two acquisitions for the same satellite signal is consistent. If they are consistent, it indicates that the two acquisitions corroborate each other within the allowable deviation, and it can be concluded that the first and second acquisition results originate from the same real target. If they are inconsistent, it indicates that the two acquisitions differ in pseudo-code alignment, meaning that an alignment mismatch has occurred in the first or second acquisition, which can be judged as a false alarm. Therefore, the differentiated bandwidth parameter adjustment in this application can construct different acquisition scales for the two acquisition processes, thereby reducing the randomness of satellite navigation signal acquisition caused by noise or interference, improving the reliability of false alarm status determination, reducing the probability of false alarms entering subsequent positioning processes for processing, and improving satellite navigation positioning efficiency.

[0034] In some embodiments of this application, the first carrier frequency domain information includes at least the following information: a first frequency domain dominant peak value, a first frequency domain dominant peak frequency value, and a first noise peak value; the first code phase includes: a first dominant peak code phase; the second carrier frequency domain information includes at least the following information: a second frequency domain dominant peak value, a second frequency domain dominant peak frequency value, and a second noise peak value; the second code phase includes: a second dominant peak code phase.

[0035] In the above embodiments, after the first capture, a frequency domain detection statistical chart can be formed on a preset frequency-code phase candidate set to characterize the target presence intensity of each candidate point. The first frequency domain main peak value is the global maximum value in the detection statistical chart, the corresponding frequency coordinate is defined as the first frequency domain main peak frequency value, and the corresponding code phase coordinate is defined as the first main peak code phase. To obtain the first noise peak value, a preset region can be set in the detection statistical chart with the frequency and code phase of the main peak as the center, and the average value of the remaining peaks after removing this region is taken as the first noise peak value. Alternatively, the first noise peak value can also be determined by the representative peak value in the set of remaining peaks. During the second capture, a frequency domain detection statistical chart is also formed to obtain the second frequency domain main peak value, the second frequency domain main peak frequency value, the second main peak code phase, and the second noise peak value.

[0036] Figure 2 A flowchart illustrating a method for determining a second capture parameter according to some embodiments of this application is shown. Step S120 determines the second capture parameter based on the first capture result and the first capture parameter, including:

[0037] S210: Determine the first ratio of the first frequency domain main peak value to the first noise peak value, and obtain the first frequency threshold;

[0038] S220: Compare the first ratio with the first frequency threshold;

[0039] S230: When the first ratio is greater than or equal to the first frequency threshold, the first frequency domain main peak frequency value in the first acquisition result is used as the carrier center frequency in the second acquisition parameter; based on the first acquisition parameter and the preset set of bandwidth parameter coefficients, the second acquisition parameter is determined, wherein the set of bandwidth parameter coefficients includes: frequency interval coefficient, coherent integration duration coefficient and non-coherent integration number coefficient.

[0040] S240: When the first ratio is less than the first frequency threshold, reconfigure the first acquisition parameters and continue acquiring satellite navigation signals.

[0041] By determining the first ratio using the first dominant peak value and the first noise peak value in the first frequency domain, a relative intensity index can be obtained to judge whether the first acquisition result is sufficiently reliable. Relative intensity (i.e., the comparison between the dominant peak value and the noise peak value) is more reliable than simply looking at the peak size, and is less affected by overall gain fluctuations or scale changes. When the first ratio reaches the first frequency threshold, it indicates that a candidate with clear contrast has emerged under the current configuration of the first acquisition parameters. At this point, generating the second acquisition parameters can both utilize the effective information from the first acquisition and make necessary differences in the bandwidth parameters. Conversely, when the first ratio does not reach the first frequency threshold, the directly derived second acquisition parameters will amplify unreliable references, easily extending random events to subsequent processes, thereby increasing the risk of false alarms. This application, on the one hand, binds the reliability of the second acquisition to that of the first acquisition, reducing unnecessary verification and wasted computing power; on the other hand, by creating appropriate differences in the bandwidth parameters of the acquisition parameters, it provides independent and mutually corroborating evidence for the final judgment, helping to reduce the probability of false alarms entering subsequent stages and maintaining overall resource control.

[0042] In the process of determining the second acquisition parameters, the first frequency domain peak frequency value in the first acquisition result can be used as the carrier center frequency of the second acquisition parameter to ensure that the two acquisitions revolve around the same frequency. Using the first frequency domain peak frequency value as the center of the second acquisition allows the search and energy accumulation of the second acquisition to be focused on a high-confidence frequency neighborhood. On the one hand, this significantly reduces the mismatch in the second acquisition, ensuring phase consistency even with finer step sizes or longer integration windows, avoiding phase drift and loss of integration gains due to excessive frequency differences. On the other hand, from an efficiency perspective, verification can be completed within a controlled bandwidth, reducing the traversal and comparison of irrelevant frequency domains, and lowering the chance of noise peaks far from the confidence interval being amplified. This improves the robustness of the results after the second acquisition and reduces the probability of false alarms entering subsequent stages.

[0043] In some embodiments of this application, determining a second capture parameter based on a first capture parameter and a preset set of bandwidth parameter coefficients includes: adjusting at least one bandwidth parameter among the bandwidth parameters of the first capture parameter, wherein adjusting the bandwidth parameter includes: reducing the frequency interval, increasing the coherent integration duration, and adjusting one or more of the incoherent integration times.

[0044] The bandwidth parameters can be controllably adjusted using a set of bandwidth parameter coefficients. For example, one or more of the frequency interval, coherent integration duration, and non-coherent integration counts in the first acquisition parameters can be adjusted according to preset bandwidth parameter coefficients. For instance, coefficients less than 1 can be used to make the frequency interval in the second acquisition parameter smaller than that in the first acquisition parameter, or coefficients greater than 1 but within a certain range can be used to make the coherent integration duration in the second acquisition parameter greater than that in the first acquisition parameter. Alternatively, the bandwidth parameters can be determined based on the design requirements of the second acquisition, resulting in bandwidth parameters greater than or less than the non-coherent integration counts in the first acquisition parameter. This set of bandwidth parameter coefficients creates differences in the acquisition parameter configurations between the two acquisitions. Furthermore, the second acquisition parameters should not differ too much from the first acquisition parameters; otherwise, the signal gain may be too weak, leading to failure to acquire the corresponding satellite during the second acquisition process. By anchoring the carrier center to the main peak frequency value in the first frequency domain and rationally configuring the first acquisition parameters using the set of bandwidth parameter coefficients, the second acquisition process maintains frequency anchoring consistency, avoids invalid out-of-domain searches, and thus improves the efficiency of the false alarm determination process. The adjustment coefficients in the set of bandwidth parameter coefficients can be fixed values ​​preset by technicians, or they can be adjusted by technicians according to the actual capture process (such as the first capture result). In other words, the adjustment coefficients in the set of bandwidth parameter coefficients can be fixed values ​​or variable values, thereby improving the flexibility of bandwidth parameter adjustment.

[0045] Figure 3 The diagram illustrates a flowchart of a method for determining the acquisition state of a currently acquired satellite navigation signal according to some embodiments of this application. Step S140 determines the acquisition state of the currently acquired satellite navigation signal based on a second acquisition result, a first code phase, a second frequency threshold, and a code phase threshold, including:

[0046] S310: Determine the second ratio of the second frequency domain main peak value to the second noise peak value, and obtain the second frequency threshold;

[0047] S320: Compare the second ratio with the second frequency threshold;

[0048] S330: When the second ratio is greater than or equal to the second frequency threshold, the acquisition status of the satellite navigation signal is determined based on the first code phase and the second code phase;

[0049] S340: When the second ratio is less than the second frequency threshold, reconfigure the first acquisition parameters and continue acquiring satellite navigation signals.

[0050] In the above embodiments, the second frequency domain main peak value and the second noise peak value are obtained based on the second acquisition result, and then the second ratio is calculated. A relative intensity measure replaces a simple absolute amplitude measure, thereby significantly improving the comparability and stability of threshold judgment in different application scenarios. The second ratio can, to a certain extent, make the same frequency threshold transferable across different devices, scenarios, and parameter configurations. Furthermore, the second ratio can suppress occasional peak phenomena and is less likely to be misled by the overall gain, thus reducing the probability of false (noise) peaks meeting the threshold. The second ratio is compared with the second frequency threshold for judgment. When the judgment result is "pass," the acquisition status of the satellite navigation signal can be further determined using the first code phase, the second code phase, and the code phase threshold. When the second judgment result is unsuccessful, it indicates that the second acquisition result obtained with the currently configured second acquisition parameters (such as the intensity ratio of the main peak to the noise) has not reached the corresponding threshold. Therefore, it is insufficient to determine that the result has verifiable credibility, and the frequency domain evidence of the target's existence is insufficient. This may be due to factors such as a low signal-to-noise ratio, frequency / time configuration mismatch, or insufficient contrast caused by interference. Subsequent processing should not be based on these second acquisition parameters. Instead, the first acquisition parameters should be reconfigured, and the first acquisition should be performed again, continuing the search according to the aforementioned strategy. By first gating with the second ratio and the second frequency threshold, it is ensured that code phase consistency confirmation is only performed when sufficient frequency domain evidence exists. Subsequently, the equivalent minimum difference between the two code phases is used for independent verification with the code phase threshold, thereby effectively reducing the probability of randomness or interference peaks being misjudged as targets. Continuing to re-perform the first acquisition when the frequency threshold judgment fails avoids passing unreliable results to subsequent stages, thereby improving the reliability of the acquisition status judgment and reducing resource consumption caused by false alarms entering subsequent processing.

[0051] Figure 4 The diagram illustrates a flowchart of a method for determining the acquisition status of a satellite navigation signal according to some embodiments of this application. Step S330 determines the acquisition status of the satellite navigation signal based on a first code phase, a second code phase, and a code phase threshold, including:

[0052] S410: Determine the code phase deviation based on the first code phase and the second code phase;

[0053] S420: Compare the code phase deviation with the preset code phase threshold;

[0054] S420: When the code phase deviation is less than the code phase threshold, the acquisition status of the satellite navigation signal is determined to be valid.

[0055] S430: When the code phase deviation is greater than or equal to the code phase threshold, the acquisition status of the satellite navigation signal is determined to be a false alarm.

[0056] The above method performs a consistency check on the code phases obtained from the first and second acquisitions to confirm whether the two estimates originate from the same satellite signal. Specifically, the difference between the first and second code phases is taken and its absolute value is calculated as a deviation measure of the pseudo-code alignment positions. This absolute deviation (code phase deviation) is then compared with a preset code phase threshold. When the absolute deviation is less than the code phase threshold, the two estimates are considered to be mutually corroborating within the allowable deviation, and the acquisition status is determined to be valid. When the absolute deviation is greater than or equal to the code phase threshold, the two estimates are considered to be inconsistent in pseudo-code alignment, and the acquisition status is determined to be a false alarm. By introducing a thresholded consistency check on the two code phases, it is possible to effectively distinguish between stable alignment of the same real signal and accidental peak over-threshold or code phase misalignment. This reduces the probability of false alarms without increasing unnecessary implementation burden, avoids invalid channel occupation, and improves the reliability of acquisition determination and the overall utilization efficiency of system resources.

[0057] In some embodiments of this application, the second acquisition process includes: determining the frequency search range of the second acquisition based on a preset frequency neighborhood width, centered on the first frequency domain main peak frequency value; and determining the code phase search range of the second acquisition based on a preset code phase neighborhood width, centered on the first main peak code phase. During the second acquisition, the first frequency domain main peak frequency value given by the first acquisition is used as the frequency center, and the range is symmetrically expanded on both sides of this center according to the preset frequency neighborhood width, thus forming the frequency search range of the second acquisition. The frequency search range can be discretized according to the frequency steps adopted by the second acquisition, and boundary clipping and alignment processing are performed when the frequency exceeds the frequency band allowed by the receiver. Correspondingly, the first main peak code phase given by the first acquisition is used as the code phase center, and the range is symmetrically expanded on both sides of this center according to the preset code phase neighborhood width, forming the code phase search range of the second acquisition. This code phase search range is equivalently processed according to the pseudo-code period. If the neighborhood crosses the endpoint of the pseudo-code period, it is mapped to the sum of two consecutive intervals within the period to ensure complete coverage of the equivalent neighborhood of the center position. The aforementioned neighborhood width is a preset parameter that can be used to limit the two-dimensional search outline during the second acquisition. Its value and setting method are not limited here and can be set by technicians according to the acquisition requirements of satellite navigation signals.

[0058] In some embodiments of this application, the first acquisition parameter further includes: a first intermediate frequency (IF) data address offset; the second acquisition parameter further includes: a second IF data address offset; performing a first acquisition of the satellite navigation signal based on the first acquisition parameter includes: reading the IF data of the satellite navigation signal to perform the first acquisition according to the starting position determined by the first IF data address offset; performing a second acquisition of the satellite navigation signal based on the second acquisition parameter includes: reading the IF data of the satellite navigation signal to perform the second acquisition according to the starting position determined by the second IF data address offset; determining the code phase deviation based on the first code phase and the second code phase further includes: subtracting the first code phase from the first IF data address offset to determine a first corrected code phase, subtracting the second code phase from the second IF data address offset to determine a second corrected code phase, and subtracting the second corrected code phase from the first corrected code phase and taking the absolute value to determine the code phase deviation.

[0059] In this application, to further identify false alarm signals, the first acquisition parameter can also be configured with a first intermediate frequency (IF) data address offset, and the second acquisition parameter can also be configured with a second IF data address offset. In satellite navigation receivers, IF data is typically stored in contiguous storage space. This embodiment achieves differentiated processing in the time dimension by changing the starting position of data reading. In the first acquisition stage, the system reads a preset first IF data address offset. During acquisition, the system does not start reading from the starting zero address of the storage space, but instead reads the IF data of the satellite navigation signal based on the starting position determined by the first IF data address offset for the first acquisition. For example, skipping the first N sampling points and starting from the (N+1)th point as the currently processed data. This yields the first acquisition result. In the second acquisition stage, the system reads a preset second IF data address offset (e.g., it can be set to 0 or a value different from the first offset). During acquisition, the system reads the IF data of the satellite navigation signal based on the starting position determined by the second IF data address offset for the second acquisition, thereby obtaining the second acquisition result. The false alarm detection process based on code phase deviation is problematic because the data readout starting points of the two acquisitions are different, resulting in measured code phases that are relative to their respective readout starting points. To determine whether the two acquisitions correspond to the same real satellite signal, it is necessary to eliminate the systematic deviation caused by the different starting points and normalize them to a unified time reference for comparison. The system calculates the difference between the first code phase obtained from the first acquisition and the first intermediate frequency (IF) data address offset to determine the first corrected code phase. This value represents the phase position of the signal relative to the absolute time zero point after deducting the artificially introduced address offset. Then, the difference between the second code phase obtained from the second acquisition and the second IF data address offset is calculated to determine the second corrected code phase. Finally, the difference between the second corrected code phase and the first corrected code phase is calculated, and its absolute value is taken to determine the code phase deviation. When this code phase deviation is compared with a preset code phase threshold, if the code phase deviation is less than the threshold, it indicates that the two acquisition results point to the same signal position after time reference alignment, and the acquisition is deemed valid; otherwise, it is deemed a false alarm. This application artificially creates a time difference in signal processing by introducing different IF data address offsets in the first and second acquisition stages. For genuine satellite navigation signals, which are continuous and stable in time, the corrected phase after deducting the offset should remain consistent regardless of the starting address from which the signal is read (i.e., the code phase deviation approaches zero). However, random noise exhibits significant differences in behavior across different time windows and cannot pass this consistency check. This mechanism effectively eliminates accidental noise peaks at the physical level, significantly reducing the probability of false alarms.

[0060] Figure 5This application illustrates a satellite navigation signal acquisition device 500 according to some embodiments. The satellite navigation signal acquisition device 500 includes: a parameter configuration module 510 for configuring first acquisition parameters and second acquisition parameters; a signal acquisition module 520 for performing a first acquisition of the satellite navigation signal based on the first acquisition parameters and determining a first acquisition result, the first acquisition result including: first carrier frequency domain information and first code phase; the parameter configuration module 510 is further used to determine a second acquisition parameter based on the first acquisition result, the first acquisition parameters, and a first frequency threshold, wherein the bandwidth parameters in the first acquisition parameters and the second acquisition parameters are different, and the bandwidth parameters include one or more of: frequency interval, coherent integration duration, and incoherent integration count; the signal acquisition module 520 is further used to perform a second acquisition of the satellite navigation signal based on the second acquisition parameters and determine a second acquisition result, the second acquisition result including: second carrier frequency domain information and second code phase; and a result processing module 530 for determining the acquisition status of the currently acquired satellite navigation signal based on the second acquisition result, the first code phase, and the second frequency threshold, the acquisition status including: acquisition valid and acquisition false alarm.

[0061] The above division of units is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the above units can be implemented by a processor calling software; for example, the detection device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to realize the functions of each unit. The processor can be, for example, a general-purpose processor, such as a central processing unit (CPU), and the memory can be internal or external to the device. Alternatively, the above units can be implemented as hardware circuits. The functions of some or all units can be realized through the design of the hardware circuit, which can be understood as one or more processors. For example, in some embodiments, the hardware circuit is an application-specific integrated circuit (ASIC), which implements the functions of some or all units by designing the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD), which can include a large number of logic gates. The logical relationships between the logic gates are configured through a configuration file, thereby realizing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling programs, or entirely through hardware circuits, or partially through processor calling programs with the remaining parts implemented through hardware circuits.

[0062] Figure 6 Another satellite navigation signal acquisition device provided in some embodiments of this application is illustrated. The satellite navigation signal acquisition device 600 includes:

[0063] Initialize first acquisition parameters module 610: Used to initialize the first acquisition parameters, including the first acquisition DFT frequency interval FreQ_C1, the first acquisition noncoherent integration number Ncoh_C1, and the first acquisition coherent integration time Coh_C1.

[0064] The first acquisition logic function module 620 is used to achieve carrier frequency and code phase matching to complete satellite acquisition.

[0065] The first acquisition result processing and second acquisition initialization module 630 is used for the first acquisition result processing. During the determination process, this module first checks whether the first acquisition result meets the acquisition threshold, i.e., the ratio of the first frequency domain main peak value peak10 to the first noise peak value peak11, determining the first ratio peaks1. When the first ratio peaks1 is greater than the second frequency threshold TH_F1, the first acquisition is considered successful. Then, the first frequency domain main peak frequency value CarrFQ_C1R0 from the first acquisition result is used to initialize the carrier center frequency of the second acquisition. Simultaneously, the second acquisition parameters are configured using differential bandwidth parameters. The second acquisition DFT frequency interval FreQ_F1, the second acquisition non-coherent integration times Ncoh_F1, and the second acquisition coherent integration time Coh_F1 are determined based on the bandwidth parameter coefficient set. The second acquisition parameters satisfy the following formula 1:

[0066] Formula 1

[0067] Wherein, N1 is the adjustment coefficient for the first acquisition frequency interval, N2 is the adjustment coefficient for the first number of incoherent integrations, and N3 is the adjustment coefficient for the first coherent integration time.

[0068] The configuration of the second acquisition coherent integration time Coh_F1 can change the peak noise power distribution and eliminate false alarm satellites. The second acquisition non-coherent integration count Ncoh_F1 = Ncoh_C1 * N3, where N3 ∈ [0.8, 1.2] has a similar effect to the coherent integration time. The second acquisition parameters and the first acquisition parameters should not differ too much; otherwise, the signal gain will not be sufficient, and the corresponding satellite may not be acquired. When adjusting the first acquisition parameters to determine the second acquisition parameters, only one of the second acquisition coherent integration time Coh_F1 and the second acquisition non-coherent integration count Ncoh_F1 needs to be adjusted.

[0069] The second acquisition logic function module 640 has a similar function to the first acquisition logic function module 620, and is used to achieve carrier frequency and code phase matching to complete satellite acquisition.

[0070] The second acquisition result processing module 650 is used to process the second acquisition result and perform false alarm identification. This module first determines whether the second acquisition result meets the acquisition threshold, i.e., the ratio of the second frequency domain main peak value peak20 to the second noise peak value peak21, to determine the second ratio peaks2. When the second ratio peaks2 is greater than the second frequency threshold TH_F1, a second false alarm identification is performed, judging the relationship between the code phase deviation Corabs and the code phase threshold TH_Cor. When the code phase deviation Corabs is greater than the code phase threshold TH_Cor, the acquisition is considered valid; otherwise, it is a false alarm. The code phase deviation Corabs can be determined by subtracting the first code phase Cor0_C1 from the second code phase Cor0_F1.

[0071] During the operation of the satellite navigation signal acquisition device 600, Figure 7 The illustration shows a flowchart of a method for capturing satellite navigation signals using a satellite navigation signal acquisition device, provided in some embodiments of this application. The method includes:

[0072] S710: Configure the first acquisition parameters, including: the first acquisition DFT frequency interval FreQ_C1, the first acquisition noncoherent integration count Ncoh_C1, and the first acquisition coherent integration time Coh_C1, and configure the first intermediate frequency data address offset CodePhase_C1;

[0073] S720: After obtaining the parameter configuration, the first capture logic function module 620 starts to execute the first capture;

[0074] S730: Wait for the first acquisition to complete. The data obtained from the first acquisition result includes: the first frequency domain main peak value peak10, the first code phase Cor0_C1, the first frequency domain main peak frequency value CarrFQ_C1R0, and the first noise peak value peak11.

[0075] S740: Process the first acquisition result and determine whether the first ratio peaks1 of (peak10 / peak11) is greater than the first frequency threshold TH_C1;

[0076] S750: When it is determined through step S730 that the first ratio peaks1 is greater than the first frequency threshold TH_C1, configure the second acquisition parameters. The configuration parameters include: carrier center frequency, second acquisition DFT frequency interval FreQ_F1, second acquisition noncoherent integration times Ncoh_F1 and second acquisition coherent integration time Coh_F1, and configure the second intermediate frequency data address offset CodePhase_F1.

[0077] S760: After the second capture logic function module 640 obtains the parameter configuration, it begins to execute the second capture process;

[0078] S770: Wait for the second acquisition to complete, and obtain the second acquisition result, including: the second frequency domain main peak value peak20, the second code phase Cor0_F1, and the second noise peak value peak21;

[0079] S780: Process the second acquisition result. Determine whether the second ratio peaks2 formed by (peak20 / peak21) is greater than the second frequency threshold TH_F1 and determine whether the code phase deviation Cohabs < the code phase threshold TH_Cor, where the code phase deviation Cohabs = abs((Cor0_F1-CodePhaseF1)-(Cor0_C1-CodePhaseC1)) < TH_Cor;

[0080] S790: When it is determined whether the second ratio peaks2 is greater than the second frequency threshold TH_F1, the satellite acquisition is successful and the process proceeds to the start tracking logic; otherwise, the first acquisition is performed again.

[0081] For details on the implementation and beneficial effects of the above methods and steps, please refer to the above embodiments; they will not be repeated here.

[0082] Based on the same technical concept, this application also provides a computer-readable storage medium including instructions stored thereon, wherein, when executed by a processor, the satellite navigation signal acquisition method provided in the first aspect is executed.

[0083] The processor described above is a circuit with signal processing capabilities. In some implementations, the processor can be a circuit with instruction read and execute capabilities, such as a CPU, microprocessor, graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor can achieve certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to achieve the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), or deep learning processing unit (DPU). As can be seen, each unit in the above-described device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types. Furthermore, each unit in the above-described device can be integrated in whole or in part, or can be implemented independently. In some embodiments, these units are integrated together and implemented as a system-on-chip (SOC). This SOC may include at least one processor for implementing any of the above methods or for implementing the functions of each unit in the above-described device.

[0084] The computer-readable storage media described above may be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0085] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A method for acquiring satellite navigation signals, characterized in that, include: Based on the first acquisition parameters, the satellite navigation signal is acquired in the first acquisition, and the first acquisition result is determined. The first acquisition result includes: first carrier frequency domain information and first code phase. Based on the first acquisition result and the first acquisition parameters, a second acquisition parameter is determined, wherein the bandwidth parameter of the second acquisition parameter is determined by adjusting the bandwidth parameter of the first acquisition parameter. The bandwidth parameter includes one or more of the following: frequency interval, coherent integration duration, and non-coherent integration count. The adjustment of the bandwidth parameter includes one or more of the following: decreasing the frequency interval, increasing the coherent integration duration, and adjusting the non-coherent integration count. The satellite navigation signal is acquired a second time based on the second acquisition parameters, and a second acquisition result is determined. The second acquisition result includes: second carrier frequency domain information and second code phase. Based on the second carrier frequency domain information, the second code phase and the first code phase, the acquisition status of the satellite navigation signal is determined, and the acquisition status includes: successful acquisition and false alarm.

2. The capture method according to claim 1, characterized in that, The first carrier frequency domain information includes at least the following information: the first frequency domain main peak value, the first frequency domain main peak frequency value, and the first noise peak value; The first code phase includes: the first main peak code phase; The second carrier frequency domain information includes at least the following information: the second frequency domain main peak value, the second frequency domain main peak frequency value, and the second noise peak value; The second code phase includes: the second main peak code phase.

3. The capture method according to claim 2, characterized in that, The step of determining the second capture parameter based on the first capture result and the first capture parameter includes: Determine a first ratio between the first dominant peak value in the frequency domain and the first noise peak value, and obtain a first frequency threshold value; When the first ratio is greater than or equal to the first frequency threshold, the first frequency domain main peak frequency value in the first capture result is used as the carrier center frequency in the second capture parameter; Based on the first capture parameter and a preset set of bandwidth parameter coefficients, the second capture parameter is determined, wherein the set of bandwidth parameter coefficients includes: frequency interval coefficient, coherent integration duration coefficient, and non-coherent integration number coefficient.

4. The capture method according to claim 3, characterized in that, The method further includes: When the first ratio is less than the first frequency threshold, the first acquisition parameters are reconfigured, and the acquisition of the satellite navigation signal continues.

5. The capture method according to claim 3, characterized in that, The determination of the second capture parameter based on the first capture parameter and a preset set of bandwidth parameter coefficients includes: The bandwidth parameters of the second capture parameter are obtained by adjusting at least one bandwidth parameter among the bandwidth parameters of the first capture parameter using the set of bandwidth parameter coefficients.

6. The capture method according to claim 3 or 5, characterized in that, Determining the acquisition status of the currently acquired satellite navigation signal based on the second carrier frequency domain information, the second code phase, and the first code phase includes: Determine a second ratio between the second dominant peak value in the frequency domain and the second noise peak value, and obtain a second frequency threshold value; When the second ratio is greater than or equal to the second frequency threshold, the acquisition status of the satellite navigation signal is determined based on the first code phase and the second code phase. The method further includes: When the second ratio is less than the second frequency threshold, the first acquisition parameters are reconfigured, and the acquisition of the satellite navigation signal continues.

7. The capture method according to claim 6, characterized in that, The step of determining the acquisition status of the satellite navigation signal based on the first code phase and the second code phase includes: The code phase deviation is determined based on the first code phase and the second code phase; Compare the code phase deviation with a preset code phase threshold; When the code phase deviation is less than the code phase threshold, the acquisition status of the satellite navigation signal is determined to be valid. When the code phase deviation is greater than or equal to the code phase threshold, the acquisition status of the satellite navigation signal is determined to be a false alarm.

8. The capture method according to claim 7, characterized in that, The first capture parameter further includes a first intermediate frequency data address offset, and the second capture parameter further includes a second intermediate frequency data address offset; The first acquisition of the satellite navigation signal based on the first acquisition parameter includes: reading the intermediate frequency data of the satellite navigation signal to perform the first acquisition according to the starting position determined by the first intermediate frequency data address offset; The second acquisition of the satellite navigation signal based on the second acquisition parameters includes: reading the intermediate frequency data of the satellite navigation signal and performing the second acquisition according to the starting position determined by the second intermediate frequency data address offset; The step of determining the code phase deviation based on the first code phase and the second code phase further includes: determining a first corrected code phase by subtracting the first code phase from the first intermediate frequency data address offset, determining a second corrected code phase by subtracting the second code phase from the second intermediate frequency data address offset, calculating the absolute value of the difference between the second corrected code phase and the first corrected code phase, and determining the code phase deviation.

9. A satellite navigation signal acquisition device, characterized in that, include: The parameter configuration module is used to configure the first capture parameter and the second capture parameter; The signal acquisition module is used to perform a first acquisition of a satellite navigation signal based on a first acquisition parameter and determine a first acquisition result, wherein the first acquisition result includes: a first carrier frequency domain information and a first code phase; The parameter configuration module is further configured to determine a second capture parameter based on the first capture result and the first capture parameter, wherein the bandwidth parameter of the second capture parameter is determined by adjusting the bandwidth parameter of the first capture parameter, and the bandwidth parameter includes one or more of the following: frequency interval, coherent integration duration and non-coherent integration count; the adjustment of the bandwidth parameter includes one or more of the following: decreasing the frequency interval, increasing the coherent integration duration and adjusting the non-coherent integration count. The signal acquisition module is further configured to perform a second acquisition of the satellite navigation signal based on the second acquisition parameters, and determine a second acquisition result, wherein the second acquisition result includes: second carrier frequency domain information and second code phase; The result processing module is used to determine the acquisition status of the satellite navigation signal based on the second carrier frequency domain information, the second code phase and the first code phase. The acquisition status includes: successful acquisition and false alarm acquisition.

10. A computer-readable storage medium, characterized in that, Includes instructions stored thereon, wherein, when the instructions are executed by a processor, the satellite navigation signal acquisition method as described in any one of claims 1 to 8 is performed.

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