A satellite signal processing method, device, apparatus and storage medium

Abstract

The application discloses a satellite signal processing method, device and equipment and a storage medium, and comprises the following steps: determining the interference intensity of a satellite signal input by an antenna through a control chip, and determining the interference state of the satellite signal according to the interference intensity; determining a target path through path switching of a radio frequency switch according to the interference state, wherein the target path comprises a high-precision straight-through path or an anti-interference path; and processing the satellite signal through the target path and sending the satellite signal to a positioning receiver. By monitoring the interference intensity of the satellite signal, switching different target paths through the radio frequency switch according to different interference states, and processing the satellite signal through the determined target path, the anti-interference path is used when positioning is affected by strong interference, and the high-precision straight-through path is used when strong interference does not affect positioning, so that the dynamic balance between precision and anti-interference is realized, and the single antenna can be used for both high-precision positioning and anti-interference.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation and positioning technology, and in particular to a satellite signal processing method, apparatus, device, and storage medium. Background Technology

[0002] With the full completion and operation of the BeiDou Navigation Satellite System, it has been widely used in transportation, power, and communication. In specific operational scenarios such as dynamic positioning and autonomous driving, traditional meter-level or even ten-meter-level positioning accuracy is no longer sufficient to meet mission requirements. High-precision positioning technologies such as precise point positioning and real-time dynamic differential technology have emerged. However, these technologies place stringent requirements on the performance indicators of the receiving antenna, the most important of which is the stability of the phase center. This is related to whether the phase of the satellite signal carrier involved in the calculation can be continuous, thus affecting the final positioning accuracy. At the same time, in modern information warfare and complex electromagnetic environments, satellite navigation signals are susceptible to interference from the natural environment, such as ionospheric disturbances, multipath effects, and malicious human interference, such as deceptive interference and suppression interference. This can seriously affect the stable operation of the BeiDou system globally and its high-precision positioning services.

[0003] Ordinary measurement antennas, commonly used in surveying and mapping, have a stable phase center, with a phase center variation of ±2mm after calibration. However, they lack resistance to suppression interference, leading to decreased positioning accuracy or even malfunction in complex electromagnetic environments. Adaptive nulling anti-interference antennas, on the other hand, can filter out interference signals and output clean satellite signals to the positioning receiver, ensuring normal operation even in interference-prone environments. However, their weighting coefficients are constantly adjusted, converged, and changed, causing the phase of the output signal to change over time. This does not meet the stability requirements of high-precision positioning for the phase center. Summary of the Invention

[0004] This invention provides a satellite signal processing method, apparatus, device, and storage medium to obtain high-precision, interference-resistant satellite signals.

[0005] According to a first aspect of this invention, a satellite signal processing method is provided, applied to an antenna system, the antenna system including a control chip and a radio frequency switch, the method comprising:

[0006] The interference intensity of the satellite signal input to the antenna is determined by the control chip, and the interference state of the satellite signal is determined based on the interference intensity, wherein the interference state includes being affected by interference or not being affected by interference.

[0007] The target path is determined by switching the path through the radio frequency switch according to the interference state, wherein the target path includes a high-precision direct path or an anti-interference path;

[0008] The satellite signal is processed through the target path and sent to the positioning receiver.

[0009] According to another aspect of the present invention, a satellite signal processing apparatus is provided, the apparatus comprising: an interference state determination module, configured to determine the interference intensity of a satellite signal input to an antenna via a control chip, and to determine the interference state of the satellite signal based on the interference intensity, wherein the interference state includes being affected by interference or not being affected by interference;

[0010] The target path determination module is used to determine the target path by switching the path through an RF switch according to the interference state, wherein the target path includes a high-precision direct path or an anti-interference path;

[0011] The satellite signal processing module is used to process the satellite signal through the target path and send it to the positioning receiver.

[0012] According to another aspect of the present invention, a terminal device is provided, the terminal device comprising: one or more processors;

[0013] Storage device for storing one or more programs.

[0014] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a storage medium for computer-executable instructions is provided, on which a computer program is stored, which, when executed by a processor, implements the method as described in any of the embodiments of the present invention.

[0016] The technical solution of this invention monitors the interference intensity of satellite signals and switches different target paths through a radio frequency switch according to different interference states. The satellite signals are then processed through the determined target paths. This achieves a dynamic balance between accuracy and anti-interference when positioning is affected by strong interference and a high-precision direct path when not affected by strong interference. This allows a single antenna to handle both high-precision positioning and anti-interference scenarios.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a satellite signal processing method provided in Embodiment 1 of the present invention;

[0020] Figure 2 This is a schematic diagram of an antenna system according to Embodiment 1 of the present invention;

[0021] Figure 3 This is a flowchart of a satellite signal processing method provided in Embodiment 2 of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of a satellite signal processing device according to Embodiment 3 of the present invention;

[0023] Figure 5 This invention provides a structural block diagram of a terminal device. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, apparatus, product, or terminal device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or terminal devices.

[0026] Example 1

[0027] Figure 1This is a flowchart illustrating a satellite signal processing method provided in an embodiment of the present invention. This embodiment is applicable to situations where satellite signals are processed according to different interference conditions. The method can be executed by a satellite signal processing device, which can be implemented in hardware and / or software, and can be integrated into a terminal device. Figure 1 As shown, the method includes:

[0028] Step S101: The interference intensity of the satellite signal input to the antenna is determined by the control chip, and the interference state of the satellite signal is determined based on the interference intensity.

[0029] Optionally, the interference intensity of the satellite signal input to the antenna is determined by the control chip, including: acquiring the real-time power intensity of the satellite signal input to the antenna and determining the power ratio based on the real-time power intensity; determining the actual power intensity and the attenuation power associated with the actual power intensity based on the power ratio; determining the input power intensity based on the actual power intensity and the attenuation power, and using the input power intensity as the interference intensity.

[0030] Optionally, the real-time power intensity of the satellite signal input to the antenna is obtained, and the power ratio is determined based on the real-time power intensity, including: obtaining the average power quantization value of each channel of the antenna, and taking the maximum average power quantization value as the real-time power intensity of the satellite signal; obtaining the noise floor power under interference-free conditions, and normalizing the real-time power intensity based on the noise floor power to determine the power ratio.

[0031] Among them, such as Figure 2 The diagram shows the structure of the antenna system in this embodiment. The antenna system includes a control chip and an RF switch, as well as conventional antenna structures such as a beacon multiplexer and multiple channels. This embodiment does not limit the specific structure included in the antenna system, and the antenna system in this embodiment can be deployed without changing the existing receiver back-end architecture. B3-2, B3-3, B1-4, B1-5, and B2 / B3 are antenna channels. This embodiment only uses five channels as an example and does not limit the number of channels in the antenna. The controller chip receives satellite signals from each channel in real time through an adapter board, for example, by acquiring 2024 consecutive digital signals from each channel in real time. And calculate the average power quantization value for each channel based on this data. As shown in the following formula (1):

[0032]

[0033] in, This is the average power quantization value. Let i be the i-th digital signal in the channel. The average value is the digital signal value. In this embodiment, the average power quantization value of each channel can be obtained by calculating using the above formula (1), and the average power quantization values ​​of each channel are compared. The average power quantization value with the largest value is selected as the real-time power intensity of the satellite signal. In addition, after obtaining the real-time power intensity in this embodiment, the power ratio can be obtained by normalization calculation using the following formula (2):

[0034]

[0035] in, For real-time power intensity, This represents the noise floor power under interference-free conditions. The power ratio is used. In this embodiment, after obtaining the power ratio, the actual power intensity is determined according to the following formula (3):

[0036]

[0037] in, For actual power intensity, This refers to the power ratio. In practical applications, because the intensity of interference signals is often very high, far exceeding the antenna's input dynamic range, a digitally controlled attenuator is added at the antenna input front end. Therefore, the above-mentioned... It may be obtained through attenuation using a digitally controlled attenuator; therefore, in this embodiment, when obtaining... At the same time, when it is determined that a data attenuator is being applied, the attenuation power associated with the actual power intensity will also be obtained. The input power intensity is calculated using the following formula (4):

[0038]

[0039] in, For input power intensity, For actual power intensity, To attenuate the power, and after obtaining the input power intensity through the above formula, the obtained input power intensity can be used as the interference intensity. Of course, this embodiment is only an example and does not limit the specific method of determining the interference intensity.

[0040] Optionally, the interference status of the satellite signal can be determined based on the interference intensity, including: obtaining a pre-set interference threshold; determining whether the interference intensity is greater than the interference threshold; if so, determining the interference status as affected by interference; otherwise, determining the interference status as unaffected by interference.

[0041] Specifically, in this embodiment, the control chip calculates the interference intensity within each complete continuous time period and compares multiple interference intensities within that period with a threshold value. When all interference intensities are greater than the preset interference threshold value, it is considered that strong interference is stable and the interference state is determined to be affected by interference. When several interference intensities are less than the interference threshold value, it is considered that the interference is unstable and insufficient to affect navigation and positioning and the interference state is determined to be unaffected by interference.

[0042] Step S102: Determine the target path by switching the path through an RF switch according to the interference status. The target path includes a high-precision direct path or an anti-interference path.

[0043] Optionally, the target path can be determined by switching the path using an RF switch based on the interference status, including: when the interference status is affected by interference, the current transmission path can be switched to an anti-interference path using an RF switch; when the interference mode is unaffected by interference, the transmission path can be switched to a high-precision straight-through path using an RF switch.

[0044] Specifically, in this embodiment, when the interference state is determined to be affected by interference, if the current path is a high-precision direct path, an RF switch is used to switch the current path to an anti-interference path. If the current path is already in an anti-interference path, the switching action is not repeated. Similarly, when the interference state is determined to be unaffected by interference, if the current path is an anti-interference path, an RF switch is used to switch the current path to a high-precision direct path. If the current path is already in a high-precision direct path, the switching action is not repeated. Here, a high-precision direct path refers to a path where the satellite signal received by the antenna is of high precision and does not require filtering, while an anti-interference path refers to a path where the satellite signal received by the antenna is significantly affected by interference and requires anti-interference operation through a control chip.

[0045] It should be noted that in this embodiment, after the path switching is completed, the system continues to execute the complete "intensity detection - threshold determination - path switching" chain in the main thread loop, collecting and comparing data at a fixed rhythm. When conditions are met, mode switching is triggered promptly. This continuous closed-loop operation ensures both the overall stability and consistency of the system, as well as the real-time performance of detection and switching. This allows the system to respond continuously and agilely to constantly changing environments, thus always meeting the dynamic requirements of the business scenario. Furthermore, the two paths maintain consistency in their operating frequency bands and interfaces, ensuring that the input pattern remains unchanged from the selected path to the subsequent stage. The control chip handles intensity reading calculation, threshold comparison, and entry / recovery determination switching. This embodiment does not involve interference type identification, spectral analysis, or other complex features; intensity is used as the triggering basis. Path switching is executed in the main thread of the program, and a switch is only performed once when the state determination changes, without repeated forced switching.

[0046] Step S103: The satellite signal is processed through the target path and sent to the positioning receiver.

[0047] Optionally, the satellite signal is processed and sent to the positioning receiver via the target path, including: when the target path is determined to be an anti-interference path, the satellite signal is input to the control chip; the satellite signal is filtered by the control chip, and the filtered satellite signal is sent to the positioning receiver via an RF switch.

[0048] Optionally, the satellite signal is processed through the target path and sent to the positioning receiver, including: when the target path is determined to be a high-precision direct path, the satellite signal is directly transmitted to the radio frequency switch; and the satellite signal is sent to the positioning receiver through the radio frequency switch.

[0049] Specifically, when the target path is determined to be an anti-interference path, the received satellite signal flows as follows: adapter board - control chip - RF switch - beacon multiplexer - one-line external communication - positioning receiver. That is, the interfered satellite signal is transmitted to the control chip, where it is filtered. After the interference is removed, it is sent to the beacon multiplexer via the RF switch. The beacon multiplexer combines satellite signals of different frequencies into a single transmission channel and then sends it to the positioning receiver via the one-line external communication. Conversely, when the target path is determined to be a high-precision direct path, the received satellite signal flows as follows: adapter board - RF switch - beacon multiplexer - one-line external communication - positioning receiver. This means the received satellite signal itself has high precision and does not require filtering by the control chip. Therefore, it does not pass through the control chip; instead, it is directly sent to the positioning receiver after multi-frequency combining by the beacon multiplexer.

[0050] In this embodiment, an adaptive switching mechanism for BeiDou is constructed using three elements: "intensity detection, threshold judgment, and mode switching." The antenna port intensity reading is used as the trigger, and the consistency of multiple readings over a continuous period confirms the stable presence of strong interference. The anti-interference control chip completes the entry, hold, and recovery determinations, and a high-isolation RF switch selects the path between the high-precision direct pass and the anti-interference module. Furthermore, this embodiment features clear decision-making criteria and interpretable parameters, relying on objective observation rather than complex models, facilitating large-scale deployment and cross-scenario reuse. The "entry-hold-recovery" process uses the same judgment criteria, ensuring a clear logical loop, predictable behavior, and traceable records. It remains transparent to downstream systems and user operations, fully leveraging high-precision capabilities during periods without strong interference and promptly acquiring necessary protection when strong interference is established. It adapts to various interference scenarios, including narrowband single-tone, broadband noise, frequency sweep / modulation, and pulse-like bursts, thus achieving a dynamic balance between accuracy and availability under different interference conditions.

[0051] It is worth mentioning that in this embodiment, two radio frequency (RF) paths are pre-set at the antenna front end: a high-precision direct path and an anti-interference path. By continuously monitoring the RF signal strength received at the antenna aperture, if multiple measurements over a continuous period show an intensity higher than a set threshold, it is determined that "strong interference is stably present," and the anti-interference path is switched to. If several measurements within this period do not reach the threshold, it is determined that the interference is unstable or insufficient to affect navigation, and the high-precision direct mode is maintained or restored. The switching action is completed by a high-isolation RF switch. The threshold comparison and working state switching are implemented within the device's control chip, without relying on interference type classification or complex models. It only switches to anti-interference when there is indeed strong interference that is stably present, thereby achieving a dynamic balance between "accuracy and anti-interference performance," enabling a single antenna to handle both high-precision positioning and anti-interference usage scenarios. In this embodiment, the intensity reading is obtained from the antenna input side, the anti-interference control chip completes the intensity calculation and threshold comparison, the high-isolation RF switch completes the path selection according to the instructions of the control chip, and always outputs RF signals after the combining point, remaining transparent to the subsequent baseband and upper-layer software.

[0052] The technical solution of this invention monitors the interference intensity of satellite signals and switches between different target paths via a radio frequency switch according to different interference states. The satellite signals are then processed through the determined target paths. This achieves a dynamic balance between accuracy and anti-interference when positioning is affected by strong interference and a high-precision direct path when not affected by strong interference. This allows a single antenna to handle both high-precision positioning and anti-interference scenarios.

[0053] Example 2

[0054] Figure 3 This is a flowchart of a satellite signal processing method provided by an embodiment of the present invention. Based on the above embodiments, this embodiment, after processing the satellite signal through a target path and sending it to a positioning receiver, further includes positioning the satellite signal using the positioning receiver. Figure 3 As shown, the method includes:

[0055] Step S201: The interference intensity of the satellite signal input to the antenna is determined by the control chip, and the interference state of the satellite signal is determined based on the interference intensity.

[0056] Optionally, the interference intensity of the satellite signal input to the antenna is determined by the control chip, including: acquiring the real-time power intensity of the satellite signal input to the antenna and determining the power ratio based on the real-time power intensity; determining the actual power intensity and the attenuation power associated with the actual power intensity based on the power ratio; determining the input power intensity based on the actual power intensity and the attenuation power, and using the input power intensity as the interference intensity.

[0057] Optionally, the real-time power intensity of the satellite signal input to the antenna is obtained, and the power ratio is determined based on the real-time power intensity, including: obtaining the average power quantization value of each channel of the antenna, and taking the maximum average power quantization value as the real-time power intensity of the satellite signal; obtaining the noise floor power under interference-free conditions, and normalizing the real-time power intensity based on the noise floor power to determine the power ratio.

[0058] Optionally, the interference status of the satellite signal can be determined based on the interference intensity, including: obtaining a pre-set interference threshold; determining whether the interference intensity is greater than the interference threshold; if so, determining the interference status as affected by interference; otherwise, determining the interference status as unaffected by interference.

[0059] Step S202: Determine the target path by switching the path through an RF switch according to the interference status. The target path includes a high-precision direct path or an anti-interference path.

[0060] Optionally, the target path can be determined by switching the path using an RF switch based on the interference status, including: when the interference status is affected by interference, the current transmission path can be switched to an anti-interference path using an RF switch; when the interference mode is unaffected by interference, the transmission path can be switched to a high-precision straight-through path using an RF switch.

[0061] Step S203: The satellite signal is processed through the target path and sent to the positioning receiver.

[0062] Optionally, the satellite signal is processed and sent to the positioning receiver via the target path, including: when the target path is determined to be an anti-interference path, the satellite signal is input to the control chip; the satellite signal is filtered by the control chip, and the filtered satellite signal is sent to the positioning receiver via an RF switch.

[0063] Optionally, the satellite signal is processed through the target path and sent to the positioning receiver, including: when the target path is determined to be a high-precision direct path, the satellite signal is directly transmitted to the radio frequency switch; and the satellite signal is sent to the positioning receiver through the radio frequency switch.

[0064] Step S204: Positioning is performed by the positioning receiver based on the processed satellite signals.

[0065] Specifically, in this embodiment, after the anti-interference high-precision satellite signal is sent to the positioning receiver, the positioning receiver can decode the satellite signal to obtain satellite orbit parameters, clock correction parameters and system status information, and perform distance measurement and position calculation based on the encoded information. The position calculation can be performed using the triangulation principle. This embodiment does not limit the specific positioning method.

[0066] It should be noted that in this embodiment, if the positioning result is determined to be incorrect, for example, if the positioning result contains garbled characters or the value is significantly out of range, the positioning receiver will send a satellite signal retransmission request to the control chip. The control chip will then reacquire the satellite signal based on the retransmission request and send it to the positioning receiver. Furthermore, the control chip will re-determine the target path according to the above method based on the interference intensity of the satellite signal re-received by the antenna. The method for re-determining the target path has been explained above and will not be repeated in this embodiment.

[0067] It is worth mentioning that the positioning results determined by the positioning receiver in this embodiment can be used in various operating scenarios such as autonomous driving or power control to meet the positioning control needs of different scenarios. Of course, this embodiment is only an example and does not limit the specific application scenarios. As long as it can meet the stable operation and high-precision positioning service of the Beidou system on a global scale, it is within the protection scope of this application.

[0068] The technical solution of this invention monitors the interference intensity of satellite signals and switches between different target paths via a radio frequency switch according to different interference states. The satellite signals are then processed through the determined target paths. This achieves a dynamic balance between accuracy and anti-interference when positioning is affected by strong interference and a high-precision direct path when not affected by strong interference. This allows a single antenna to handle both high-precision positioning and anti-interference scenarios.

[0069] Example 3

[0070] Figure 4 This is a schematic diagram of the structure of a satellite signal processing device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: an interference state determination module 310, a target path determination module 320, and a satellite signal processing module 330.

[0071] The interference state determination module 310 is used to determine the interference intensity of the satellite signal input to the antenna through the control chip, and to determine the interference state of the satellite signal based on the interference intensity. The interference state includes being affected by interference or not being affected by interference.

[0072] The target path determination module 320 is used to determine the target path by switching the path through an RF switch according to the interference state. The target path includes a high-precision direct path or an anti-interference path.

[0073] The satellite signal processing module 330 is used to process satellite signals through the target path and send them to the positioning receiver.

[0074] Optionally, an interference state determination module is used to acquire the real-time power intensity of the satellite signal input to the antenna and determine the power ratio based on the real-time power intensity.

[0075] The actual power intensity and the associated attenuation power are determined based on the power ratio.

[0076] The input power intensity is determined based on the actual power intensity and the attenuation power, and the input power intensity is used as the interference intensity.

[0077] Optionally, an interference state determination module is used to obtain the average power quantization value of each channel of the antenna, and to take the maximum average power quantization value as the real-time power intensity of the satellite signal.

[0078] Obtain the noise floor power under interference-free conditions, and normalize the real-time power intensity based on the noise floor power to determine the power ratio.

[0079] Optionally, the interference state determination module is also used to obtain a pre-set interference threshold value;

[0080] Determine whether the interference intensity is greater than the interference threshold. If so, determine that the interference state is affected by interference; otherwise, determine that the interference state is unaffected by interference.

[0081] Optionally, a target path determination module is used to switch the current transmission path to an anti-interference path via an RF switch when the interference status is affected by interference.

[0082] When the interference mode is unaffected by interference, the transmission path is switched to a high-precision straight-through path via an RF switch.

[0083] Optionally, a satellite signal processing module is used to input satellite signals to the control chip when the target path is determined to be an anti-interference path;

[0084] The satellite signal is filtered by a control chip and then transmitted to the positioning receiver via an RF switch.

[0085] Optionally, a satellite signal processing module is used to directly transmit satellite signals to the radio frequency switch when the target path is determined to be a high-precision direct path;

[0086] Satellite signals are transmitted to the positioning receiver via an RF switch.

[0087] The satellite signal processing apparatus provided in this embodiment of the invention can execute a satellite signal processing method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0088] Example 4

[0089] Figure 5 A schematic diagram of a terminal device 10 that can be used to implement embodiments of the present invention is shown. The terminal device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0090] The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0091] like Figure 5 As shown, the terminal device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the terminal device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0092] Multiple components in terminal device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows terminal device 10 to exchange information / data with other terminal devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as satellite signal processing methods.

[0094] In some embodiments, the satellite signal processing method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on terminal device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the satellite signal processing method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the satellite signal processing method by any other suitable means (e.g., by means of firmware).

[0095] Various embodiments of the apparatuses and techniques described above herein can be implemented in digital electronic circuit devices, integrated circuit devices, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), device-on-a-chip (SoCs), complex programmable logic terminal devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable device including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage device, at least one input device, and at least one output device, and transmitting data and instructions to the storage device, the at least one input device, and the at least one output device.

[0096] Computer programs used to implement the satellite signal processing method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other non-stop data migration device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, or as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0097] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution apparatus, device, or terminal device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage terminal devices, magnetic storage terminal devices, or any suitable combination thereof.

[0098] To provide interaction with a user, the apparatus and techniques described herein can be implemented on a terminal device having: a display device (e.g., a touchscreen) for displaying information to the user; and buttons through which the user can provide input to the terminal device. Other types of apparatus can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or haptic feedback); and input from the user can be received in any form (including voice input, speech input, or haptic input).

[0099] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0100] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of processing satellite signals, characterized by, Applied to an antenna system comprising a control chip and a radio frequency switch, the method comprises: determining, by the control chip, an interference strength of a satellite signal input by an antenna, and determining an interference state of the satellite signal according to the interference strength, wherein the interference state comprises being affected by interference or not being affected by interference; determining, according to the interference state, a target path by path switching of the radio frequency switch, wherein the target path comprises a high-precision straight-through path or an anti-interference path; processing the satellite signal through the target path and sending the satellite signal to a positioning receiver; the processing the satellite signal through the target path and sending the satellite signal to the positioning receiver comprises: when it is determined that the target path is the high-precision straight-through path, then directly transmitting the satellite signal to the radio frequency switch; sending the satellite signal to the positioning receiver through the radio frequency switch; the determining, by the control chip, the interference strength of the satellite signal input by the antenna comprises: obtaining a real-time power strength of the satellite signal input by the antenna, and determining a power ratio according to the real-time power strength; determining an actual power strength and an attenuation power associated with the actual power strength according to the power ratio; determining an input power strength according to the actual power strength and the attenuation power, and taking the input power strength as the interference strength.

2. The method of claim 1, wherein, the obtaining the real-time power strength of the satellite signal input by the antenna, and determining the power ratio according to the real-time power strength comprises: obtaining average power quantization values of each channel of the antenna, and taking the maximum average power quantization value as the real-time power strength of the satellite signal; obtaining a noise floor power in a non-interference state, and determining the power ratio by normalizing the real-time power strength based on the noise floor power.

3. The method of claim 1, wherein, the determining the interference state of the satellite signal according to the interference strength comprises: obtaining a pre-set interference threshold value; determining whether the interference strength is greater than the interference threshold value, if yes, determining that the interference state is affected by interference, otherwise, determining that the interference state is not affected by interference.

4. The method of claim 1, wherein, the determining, according to the interference state, the target path by path switching of the radio frequency switch comprises: when the interference state is affected by interference, then switching a current transmission path to the anti-interference path through the radio frequency switch; when the interference state is not affected by interference, then switching the transmission path to the high-precision straight-through path through the radio frequency switch.

5. The method of claim 1, wherein, the processing the satellite signal through the target path and sending the satellite signal to the positioning receiver comprises: when it is determined that the target path is the anti-interference path, then inputting the satellite signal to the control chip; filtering the satellite signal by the control chip, and sending the satellite signal filtered to the positioning receiver through the radio frequency switch.

6. A satellite signal processing apparatus, characterized by comprising: the device comprises: an interference state determination module, configured to determine, by a control chip, an interference strength of a satellite signal input by an antenna, and determine an interference state of the satellite signal according to the interference strength, wherein the interference state comprises being affected by interference or not being affected by interference; A target path determination module is configured to determine a target path by path switching through a radio frequency switch according to the interference state, wherein the target path comprises a high-precision straight-through path or an anti-interference path. A satellite signal processing module is configured to process the satellite signal through the target path and send the satellite signal to a positioning receiver. The satellite signal processing module is further configured to directly transmit the satellite signal to the radio frequency switch when the target path is determined as the high-precision straight-through path. The satellite signal is sent to the positioning receiver through the radio frequency switch. The interference state determination module is configured to acquire real-time power intensity of a satellite signal input by an antenna, and determine a power ratio according to the real-time power intensity. The actual power intensity and an attenuation power associated with the actual power intensity are determined according to the power ratio. The input power intensity is determined according to the actual power intensity and the attenuation power, and the input power intensity is taken as the interference intensity.

7. A terminal device, characterized by comprising: The terminal device comprises: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1-5.

8. A storage medium of computer executable instructions, on which a computer program is stored, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-5.

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