Navigation positioning method and device of in-situ adaptive navigation terminal
By using a hybrid phase-locked loop architecture and GNSS signal simulation generation technology, the navigation accuracy and signal stability issues of unmanned platforms in denied environments were solved, achieving high-precision, low-power autonomous positioning and clock synchronization, and reducing system modification costs.
Patent Information
- Application Number
- CN202511488428.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-02-06
AI Technical Summary
In denied environments, traditional unmanned platform navigation systems struggle to achieve high-precision, low-power, and high-reliability positioning and clock synchronization, especially when satellite signals are blocked or subject to electromagnetic interference. Existing technologies cannot autonomously generate navigation signals and are highly dependent on infrastructure.
A hybrid phase-locked loop architecture is adopted, combining quantum phase-locked loop and digital phase-locked loop. Through GNSS signal simulation generation technology and temperature adaptive control, an analog satellite navigation signal with the same format as the GNSS signal is generated, and clock synchronization is performed through a clock synchronization system to achieve autonomous positioning and signal regeneration.
It achieves high-precision, low-power, and high-reliability positioning of unmanned platforms in denied environments, reduces dependence on infrastructure, and ensures the continuity and low-cost transformation of the navigation system.
Smart Images
Figure CN121477232A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of navigation and positioning technology, and in particular relates to a navigation and positioning method and device for in-situ adapted navigation terminals. Background Technology
[0002] With the breakthrough development of artificial intelligence, unmanned platforms have been widely used. Currently, the PNT (Positioning, Navigation, and Telemetry) support technology system for unmanned vehicles, platforms, and vessels mainly relies on satellite navigation and inertial navigation. However, all these technologies have significant limitations and cannot meet navigation requirements. Especially when entering a denied environment, satellite navigation signals are lost. In recent years, pseudo-satellite technology has developed by establishing pseudo-satellite augmentation base stations to broadcast navigation enhancement signals at the same or different frequencies. These signals can provide additional positioning references for unmanned platforms and other equipment, and their working principle is based on a ranging and positioning mechanism similar to satellite navigation signals. In practical applications, pseudo-satellite augmentation base stations precisely control the transmission time and frequency of signals, allowing the receiver of the unmanned platform to calculate the distance to the base station by measuring the signal propagation time, and then combine this with other information to achieve accurate positioning. In areas where satellite signals are easily blocked, such as urban canyons, pseudo-satellite augmentation signals can effectively compensate for the deficiencies of satellite signals and ensure the positioning accuracy of unmanned platforms. However, this requires modifications to existing unmanned platforms.
[0003] Furthermore, in denied environments, electromagnetic interference, vibration, and temperature changes can cause signal transmission delays or phase drift, affecting signal stability and synchronization accuracy. Therefore, a high-precision time reference is required in denied environments to ensure accurate synchronization between different signal sources, thereby reliably guaranteeing the positioning accuracy of the unmanned platform. While traditional digital phase-locked loops (DPLLs) have low power consumption, their accuracy is limited; quantum phase-locked loops (Q-PLLs) offer high accuracy but are sensitive to temperature, prone to performance degradation and thermal runaway at high temperatures.
[0004] Therefore, there is an urgent need for a technical solution that can simultaneously achieve high-precision clock synchronization and stable signal regeneration in a denied environment. Summary of the Invention
[0005] The purpose of this application is to provide a navigation and positioning method and device for in-situ adapted navigation terminals. By integrating GNSS signal simulation generation technology with a hybrid phase-locked loop architecture of temperature adaptive control, high-precision, low-power, and high-reliability positioning and clock synchronization can be achieved.
[0006] To achieve the above objectives, firstly, this application provides a navigation and positioning method for in-situ adaptation of a navigation terminal, the technical solution of which is as follows: A navigation and positioning method for in-situ adapted navigation terminals includes the following steps: S1, Receive external navigation signals; S2. Analyze the navigation signal to obtain observation data, and calculate the real-time location data of the unmanned platform or manned platform based on the observation data; S3. Based on the real-time location data, generate an analog satellite navigation signal with the same format as the GNSS signal; S4. Provide the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform for positioning calculation; In step S3, the process of generating simulated satellite navigation signals is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system uses a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
[0007] Furthermore, this application also proposes a clock synchronization method for the clock synchronization system, comprising: The temperature of the heat source region of the quantum phase-locked loop is obtained, and the step loss error signal of the digital phase-locked loop is also obtained. If the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-synchronization error of the digital phase-locked loop is greater than a second threshold, the clock synchronization system will be switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
[0008] Furthermore, this application also proposes that the step of generating simulated satellite navigation signals in step S3 includes: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
[0009] Furthermore, this application also proposes that the format of the signal in step S3 is the same as that of the GNSS signal, including the same carrier frequency, modulation method, encoding rules, and structure of the navigation message.
[0010] Furthermore, this application also proposes that the step of providing the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform in step S4 is as follows: the simulated satellite navigation signal is directly fed into the antenna interface of the navigation terminal of the unmanned platform or manned platform through wired or wireless transmission.
[0011] Furthermore, this application also proposes that after generating the simulated satellite navigation signal in step S3 and before providing the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform in step S4, a signal monitoring and dynamic adjustment step is also included: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
[0012] To achieve the above objectives, firstly, this application provides a navigation and positioning device that adapts to a navigation terminal in situ, the technical solution of which is as follows: A navigation and positioning device that adapts to a navigation terminal in situ, comprising: The signal receiving module is used to receive external navigation signals; The position calculation module is used to parse the navigation signal, obtain observation data, and calculate the real-time position data of the unmanned platform or manned platform based on the observation data. A satellite signal regeneration module is used to generate an analog satellite navigation signal with the same format as the GNSS signal based on the real-time location data. The connection control module provides the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform for positioning calculation. The process of generating analog satellite navigation signals in the satellite signal regeneration module is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system adopts a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
[0013] Furthermore, this application also proposes that the step of generating analog satellite navigation signals in the satellite signal regeneration module includes: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
[0014] Furthermore, this application also proposes that the satellite signal regeneration module has the same format as the GNSS signal, including the same carrier frequency, modulation method, encoding rules, and navigation message structure.
[0015] Furthermore, this application also proposes that the analog satellite navigation signal is provided to the navigation terminal of the unmanned platform or manned platform in the connection control module by directly feeding the analog satellite navigation signal into the antenna interface of the navigation terminal of the unmanned platform or manned platform through wired or wireless transmission.
[0016] Furthermore, this application also proposes that the satellite signal regeneration module is also used for signal monitoring and dynamic adjustment, including: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
[0017] Furthermore, this application also proposes a clock synchronization method for the clock synchronization system, comprising: The temperature of the heat source region of the quantum phase-locked loop is obtained, and the step loss error signal of the digital phase-locked loop is also obtained. If the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-synchronization error of the digital phase-locked loop is greater than a second threshold, the clock synchronization system will be switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
[0018] Furthermore, this application also proposes that the out-of-step error signal of the digital phase-locked loop is obtained by comparing the output clock of the digital phase-locked loop with the output clock of the quantum phase-locked loop in its sleep state.
[0019] Furthermore, this application also proposes that the quantum phase-locked loop includes a Josephson junction, a miniature cooling system, and a phase detector; The Josephson junction is used to generate an oscillating signal; The micro-refrigeration system is used to provide the Josephson junction with a low-temperature environment below the third threshold. The phase detector includes a ring structure formed by two Josephson junctions connected in parallel; The output clock of the digital phase-locked loop is compared with the output clock of the quantum phase-locked loop in its sleep state using a phase detector.
[0020] Furthermore, this application also proposes that when the quantum phase-locked loop is in sleep mode, the bias current is cut off, and the sustaining voltage of the Josephson junction continues to be maintained.
[0021] Furthermore, this application also proposes that the clock synchronization system in the satellite signal regeneration module is configured with a temperature change prediction strategy. The temperature change prediction strategy is configured to: combine the motion state data of the IMU inertial measurement unit and the radio frequency power data, and predict the temperature change trend of the quantum phase-locked loop heat source region in the future first time period through a temperature prediction model; wherein, the motion state data includes the current driving speed and acceleration of the unmanned platform or manned platform, and the radio frequency power data is the heat generation power of the communication system of the unmanned platform or manned platform.
[0022] Thirdly, this application provides a computer device including a memory and a processor, wherein the memory is used to store a computer program and the processor is used to execute the computer program to implement the steps of the navigation and positioning method described in any of the above claims.
[0023] Fourthly, this application provides a computer-readable storage medium including a computer program that, when run on an electronic device, causes the electronic device to perform the steps of the navigation and positioning method described in any of the preceding claims.
[0024] Based on the above technical solution, the navigation and positioning method and apparatus for in-situ adapted navigation terminals of this application have at least one of the following beneficial effects compared with the prior art: 1. Traditional methods rely on fixed pseudo-satellite base stations in satellite-denied environments and cannot autonomously generate navigation signals. This method, however, achieves autonomous positioning information broadcasting through a signal regeneration device, reducing dependence on infrastructure. It enables continuous navigation and positioning capabilities for unmanned equipment under varying satellite-denied environments.
[0025] 2. This application achieves high-precision, low-power, and high-reliability positioning and clock synchronization by integrating GNSS signal simulation generation technology with temperature adaptive control in a hybrid phase-locked loop architecture.
[0026] 3. This application uses a hybrid phase-locked loop architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization. It utilizes a dynamic clock calibration strategy to maintain the stability of the time base under complex temperature environments and ensure the timing accuracy of analog signals.
[0027] 4. This application comprehensively applies pseudo-satellite signal enhancement technology and satellite navigation regeneration technology, and uses standard format signals to generate simulated satellite navigation signals so that unmanned or manned platforms can continue to use the original navigation algorithm, which greatly reduces the system modification cost. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0029] Figure 1 This is a flowchart of a navigation and positioning method for an in-situ adapted navigation terminal provided in this application; Figure 2 This is a flowchart illustrating a navigation and positioning method for an in-situ adapted navigation terminal provided in this application; Figure 3 This is a connection block diagram of the clock synchronization system provided in this application. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0031] The terms “first,” “second,” “third,” “fourth,” “fifth,” “sixth,” “seventh,” and “eighth,” etc. (if present), in the specification and accompanying drawings of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein.
[0032] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.
[0033] Example 1 like Figure 1 As shown in the figure, this application provides a navigation and positioning method for in-situ adapted navigation terminals, including the following steps: S1, Receive external navigation signals; S2. Analyze the navigation signal to obtain observation data, and calculate the real-time location data of the unmanned platform or manned platform based on the observation data; S3. Based on the real-time location data, generate an analog satellite navigation signal with the same format as the GNSS signal; S4. Provide the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform for positioning calculation; In step S2, the real-time location data refers to the real-time time and the corresponding location data.
[0034] In step S3, the process of generating simulated satellite navigation signals is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system uses a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
[0035] Furthermore, this application also proposes that the step of generating simulated satellite navigation signals in step S3 includes: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
[0036] Furthermore, this application also proposes that the format of the signal in step S3 is the same as that of the GNSS signal, including the same carrier frequency, modulation method, encoding rules, and structure of the navigation message.
[0037] Furthermore, this application also proposes that the step of providing the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform in step S4 is as follows: the simulated satellite navigation signal is directly fed into the antenna interface of the navigation terminal of the unmanned platform or manned platform through wired or wireless transmission.
[0038] Furthermore, this application also proposes that after generating the simulated satellite navigation signal in step S3 and before providing the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform in step S4, a signal monitoring and dynamic adjustment step is also included: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
[0039] In step S1 above, receiving external navigation signals can be achieved by deploying pseudo-satellite base stations and then receiving navigation signals from them. Alternatively, it can be done by receiving low-Earth orbit (LEO) signals. These LEO signals can originate from a network of low-Earth orbit satellite constellations, which provide high-performance space information processing and global communication network infrastructure.
[0040] like Figure 2 The diagram shown is a flowchart illustrating a navigation and positioning method for an in-situ adapted navigation terminal provided in this application. The unmanned or manned platform receives external navigation signals, including pseudo-satellite augmentation signals (or low-Earth orbit signals), and obtains real-time position data through parsing and calculation. Under the control of a high-precision clock reference, this data is used by a signal generation and processing unit to generate navigation signals adapted to the navigation terminal (the signal generation and processing unit may include a DSP / FPGA, DAC, and RF modulation module), thus regenerating an analog satellite navigation signal consistent with the real signal. Finally, this signal is directly fed into the existing navigation terminal of the unmanned or manned platform via a wired connection, achieving seamless positioning.
[0041] This application establishes pseudo-satellite augmentation base stations to broadcast navigation signals at the same or different frequencies. These signals provide additional positioning references for unmanned or manned platforms, operating on a ranging and positioning mechanism similar to satellite navigation signals. In practical applications, the pseudo-satellite augmentation base stations precisely control the transmission time and frequency of the signals, enabling receivers on unmanned or manned platforms to calculate the distance to the base station by measuring the signal propagation time, and then combine this with other information to achieve accurate positioning. In areas where satellite signals are easily blocked, such as urban canyons, pseudo-satellite augmentation signals can effectively compensate for the deficiencies in satellite signals, ensuring the positioning accuracy of unmanned or manned platforms.
[0042] This application integrates satellite navigation regeneration technology, utilizing corresponding algorithms and signal processing circuits to rapidly generate satellite navigation signals with the same format and navigation message or main navigation message as the real BeiDou / GPS system. In the specific implementation process, it is first necessary to conduct in-depth research and analysis of the signal characteristics of the BeiDou / GPS system, including the carrier frequency, modulation method, encoding rules, and structure of the navigation message. Then, using hardware platforms such as digital signal processors (DSPs) or field-programmable gate arrays (FPGAs), the corresponding digital signal is generated according to a pre-set algorithm. After digital-to-analog conversion and radio frequency modulation, the generated signal is converted into a radio frequency signal output in the same frequency band as the real satellite signal. Finally, the simulated satellite navigation signal is provided to the navigation terminal of an unmanned or manned platform for positioning calculation. In this way, existing navigation terminals of low-cost unmanned or manned platforms can use these simulated signals without any modification, without increasing the hardware cost of the unmanned or manned platforms.
[0043] Specifically, the process of generating an analog satellite navigation signal with the same format as the GNSS signal in step S3 enables signal conversion between different systems and in-situ adaptation of the terminal. The conversion process can cover all frequency points of the four major global satellite navigation systems, including B1I, B1C, B2I, B2a, B2b, and B3I of BeiDou (BDS), L1, L1C, L2C, L2P, and L5 of GPS, E1, E5A, E5B, and E6 of Galileo, and L1, L2, and L3 of GLONASS, with arbitrary conversion between frequency points of each system.
[0044] For example, if the terminal natively supports GPS-L1 frequency signals, when the component receives and processes the BeiDou B1C signal, the signal generation and processing unit will convert the BeiDou B1C signal parameters into GPS-L1 target parameters, and at the same time reassemble the navigation message according to the GPS-L1 encoding rules (such as converting the BeiDou ephemeris into GPS ephemeris format) to generate a standard signal that is completely consistent with the GPS-L1 format. After being directly input into the terminal, the terminal can parse and locate without any modification.
[0045] Furthermore, this application also proposes a clock synchronization method for the clock synchronization system, comprising: The temperature of the heat source region of the quantum phase-locked loop is obtained, and the step loss error signal of the digital phase-locked loop is also obtained. If the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-synchronization error of the digital phase-locked loop is greater than a second threshold, the clock synchronization system will be switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
[0046] Preferably, the dynamic calibration time is less than 100 μs. The temperature of the quantum phase-locked loop heat source region is detected by at least two temperature sensors disposed on the quantum phase-locked loop heat source region. The out-of-step error signal of the digital phase-locked loop is obtained by comparing the output clock of the digital phase-locked loop with the output clock of the quantum phase-locked loop in its sleep state.
[0047] Preferably, the quantum phase-locked loop includes a Josephson junction, a micro-cooling system, and a phase detector; the Josephson junction is used to generate an oscillation signal; the micro-cooling system is used to provide a low-temperature environment below a third threshold for the Josephson junction; the phase detector includes a ring structure formed by two Josephson junctions connected in parallel; the output clock of the digital phase-locked loop is compared with the output clock of the quantum phase-locked loop in its sleep state using the phase detector.
[0048] Preferably, when the quantum phase-locked loop is in sleep mode, the bias current is cut off, and the sustaining voltage of the Josephson junction continues to be maintained.
[0049] Preferably, the clock synchronization system further includes a temperature change prediction strategy, which is configured to: combine the motion state data of the IMU inertial measurement unit and the radio frequency power data, and predict the temperature change trend of the quantum phase-locked loop heat source region in the future first time period through a temperature prediction model; wherein, the motion state data includes the current driving speed and acceleration of the unmanned platform or manned platform (such as an unmanned surface vessel), and the radio frequency power data is the heat generation power of the communication system of the unmanned platform or manned platform (such as an unmanned surface vessel).
[0050] Preferably, when the unmanned platform or manned platform is an unmanned surface vessel (USV), the quantum phase-locked loop further includes a phase-change heat dissipation structure disposed outside the micro-refrigeration system. The phase-change heat dissipation structure is connected to the mechanical outer shell of the USV. When the temperature outside the micro-refrigeration system exceeds a first temperature, the phase-change heat dissipation structure melts and absorbs heat, which is then transferred to the mechanical outer shell of the USV. The phase-change heat dissipation structure comprises 60-80% by mass of paraffin wax, 10-20% by mass of graphene, and 3-10% by mass of nano-copper.
[0051] The clock synchronization system of this application uses a hybrid phase-locked loop architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization. Under normal conditions, the digital phase-locked loop maintains basic synchronization. When a loss of synchronization is detected and the temperature meets the requirements, the quantum phase-locked loop intervenes to perform transient high-precision calibration. This can simultaneously ensure the requirements of low power consumption and high-precision clock synchronization, thereby ensuring high-reliability navigation and positioning.
[0052] In addition, this application uses a temperature prediction model to predict the temperature change trend of the heat source region of the quantum phase-locked loop in the first time period in the future. If it is predicted in advance that the temperature will not meet the switching conditions for dynamic calibration within a certain period of time in the future, the switching will not be performed, so as to ensure that the process of switching to the quantum phase-locked loop for dynamic calibration can be reliably operated and avoid the possibility of thermal runaway.
[0053] This application employs a hybrid phase-locked loop (PLL) architecture that integrates GNSS signal simulation generation technology with temperature adaptive control. It utilizes a hybrid PLL architecture combining quantum PLL and digital PLL for clock synchronization and leverages a dynamic clock calibration strategy to maintain time base stability under complex temperature environments, ensuring the timing accuracy of the analog signal and fully guaranteeing the positioning accuracy of both unmanned and manned platforms. Furthermore, by generating analog satellite navigation signals using standard format signals, both unmanned and manned platforms can continue to use their existing navigation algorithms, significantly reducing system modification costs.
[0054] Example 2 This application provides a navigation and positioning device that adapts to an in-situ navigation terminal, and the technical solution is as follows: A navigation and positioning device that adapts to a navigation terminal in situ, comprising: The signal receiving module is used to receive external navigation signals; The position calculation module is used to parse the navigation signal, obtain observation data, and calculate the real-time position data of the unmanned platform or manned platform based on the observation data. A satellite signal regeneration module is used to generate an analog satellite navigation signal with the same format as the GNSS signal based on the real-time location data. The connection control module provides the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform for positioning calculation. In step S2, the real-time location data refers to the real-time time and the corresponding location data.
[0055] The process of generating analog satellite navigation signals in the satellite signal regeneration module is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system adopts a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
[0056] Furthermore, this application also proposes that the step of generating simulated satellite navigation signals in the satellite signal regeneration module includes: the step of generating simulated satellite navigation signals in the satellite signal regeneration module includes: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
[0057] The satellite signal regeneration module uses the same format as the GNSS signal, including the same carrier frequency, modulation method, encoding rules, and navigation message structure. The connection control module provides the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform via wired or wireless transmission, directly feeding the simulated satellite navigation signal into the antenna interface of the navigation terminal.
[0058] The satellite signal regeneration module is also used for signal monitoring and dynamic adjustment, including: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
[0059] like Figure 3 The diagram shown is a connection block diagram of the clock synchronization system provided in this application. The clock synchronization system includes: Radio frequency power acquisition module, used to acquire the heat generation power of the unmanned surface vessel communication system; A temperature sensor array is used to acquire the temperature of the heat source region of the quantum phase-locked loop; The temperature control decision module is used to receive temperature data collected by the temperature sensor array and heat generation power collected by the radio frequency power acquisition module. The IMU (Inertial Measurement Unit) is used to acquire motion state data of the unmanned surface vessel and transmit it to the temperature control decision module. A switching control unit is used to switch the clock synchronization system from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration when the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-step error of the digital phase-locked loop is greater than a second threshold. Digital phase-locked loops are used for clock synchronization under normal conditions. Quantum phase-locked loops are used for transient calibration.
[0060] The first and second thresholds mentioned above can be set according to the actual situation.
[0061] Specifically, if the temperature of the heat source region of the quantum phase-locked loop is less than 60°C and the out-of-step error of the digital phase-locked loop is greater than 5 ns, the clock synchronization system is switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration. Preferably, the dynamic calibration time is less than 100 μs. After calibration, it automatically switches back to DPLL mode.
[0062] The out-of-step error signal of the digital phase-locked loop is obtained by comparing the output clock of the digital phase-locked loop with the output clock of the quantum phase-locked loop in its sleep state.
[0063] The temperature-adaptive clock synchronization system provided in this embodiment uses a hybrid phase-locked loop (PLL) architecture of quantum PLL and digital PLL for clock synchronization. Under normal conditions, the digital PLL maintains basic synchronization. When a loss of synchronization is detected and the temperature meets the requirements, the quantum PLL intervenes to perform transient high-precision calibration, thereby ensuring both low power consumption and high-precision clock synchronization requirements.
[0064] Specifically, if the temperature of the heat source region of the quantum phase-locked loop is less than 60°C and the out-of-step error of the digital phase-locked loop is greater than 5 ns, the clock synchronization system is switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration. Preferably, the dynamic calibration time is less than 100 μs. After calibration, it automatically switches back to DPLL mode.
[0065] Preferably, the dynamic calibration time is less than 100 µs. The temperature of the heat source region of the quantum phase-locked loop (PLL) is detected by at least two temperature sensors positioned on the heat source region of the PLL. Specifically, high-precision NTC thermistors can be used, distributed to key heat source regions of the PLL, such as the location corresponding to the Josephson junction.
[0066] The quantum phase-locked loop includes a Josephson junction, a miniature cooling system, and a phase detector; The Josephson junction is used to generate an oscillating signal; The micro-refrigeration system is used to provide the Josephson junction with a low-temperature environment below the third threshold. The phase detector includes a ring structure formed by two Josephson junctions connected in parallel; The output clock of the digital phase-locked loop (PLL) is compared with the output clock of the quantum PLL in its sleep state using a phase detector. When the quantum PLL is in sleep mode, the bias current is cut off, and the sustaining voltage of the Josephson junction remains maintained.
[0067] A quantum phase-locked loop (Q-PLL) is the precision benchmark of a clock synchronization system. Even when it is in sleep mode, its output clock is still the most accurate reference signal in the system. When the quantum phase-locked loop is in sleep mode, it may experience frequency shifts due to temperature drift, electromagnetic interference, etc. If it is not monitored in real time, when calibration is triggered, it may use a Q-PLL signal that is already out of sync to calibrate the DPLL signal, which will produce a chain of errors.
[0068] Therefore, when the Q-PLL is in sleep mode, its output clock enters a buffer through a normally closed switch, attenuates to -20dBm (to avoid interfering with the main system), and is then sent to the phase detector. To ensure signal integrity, differential transmission is used in the monitoring path to suppress common-mode noise. The phase detector continuously compares the actual output clock of the DPLL with the sleep clock of the Q-PLL. If the out-of-synchronization error of the actual output clock of the digital phase-locked loop (DPLL) relative to the sleep clock of the Q-PLL is greater than 5ns, and the temperature of the heat source region of the quantum phase-locked loop is less than 60°C, the clock synchronization system is switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
[0069] The clock synchronization system in the satellite signal regeneration module is configured with a temperature change prediction strategy. The temperature change prediction strategy is configured to: combine the motion state data of the IMU inertial measurement unit and the radio frequency power data, and predict the temperature change trend of the quantum phase-locked loop heat source region in the future first time period through a temperature prediction model; wherein, the motion state data includes the current driving speed and acceleration of the unmanned platform or manned platform (such as an unmanned surface vessel), and the radio frequency power data is the heat generation power of the communication system of the unmanned platform or manned platform (such as an unmanned surface vessel).
[0070] Specifically, the data acquired by the IMU (Inertial Measurement Unit) is filtered using a low-pass filter to remove high-frequency noise, ensuring smooth acceleration data. Then, the data from the IMU is transmitted to the temperature control decision unit via the SPI bus for analysis and processing.
[0071] The acquisition of radio frequency power data requires the use of a directional coupler that covers the operating frequency band of the main communication equipment of the unmanned or manned platform. The directional coupler transmits the acquired data to the power detection chip, and then the analog power signal is converted into a digital signal by the ADC chip. Finally, the radio frequency power data is transmitted to the temperature control decision unit via the I²C bus.
[0072] Specifically, the temperature prediction model is pre-trained based on relevant historical data. It can comprehensively evaluate and predict the temperature change trend of the quantum phase-locked loop (PLL) heat source region within a future timeframe, based on the heat generation power of the communication system of the unmanned or manned platform, the current speed and acceleration of the platform, and the current ambient temperature. If it is predicted in advance that the temperature within a certain future timeframe will not meet the switching conditions for dynamic calibration (i.e., the temperature of the PLL heat source region will be greater than or equal to 60℃ within a certain future timeframe), then switching will not be performed. This ensures that the process of switching to the PLL for dynamic calibration can operate reliably, avoiding the possibility of thermal runaway.
[0073] Preferably, when the unmanned or manned platform is an unmanned surface vessel, the quantum phase-locked loop further includes a phase-change heat dissipation structure disposed outside the micro-refrigeration system. This phase-change heat dissipation structure is connected to the mechanical shell of the unmanned or manned platform. When the temperature outside the micro-refrigeration system exceeds a first temperature, the phase-change heat dissipation structure melts and absorbs heat, which is then transferred to the mechanical shell of the unmanned or manned platform. Specifically, the phase-change heat dissipation structure comprises 60-80% by mass paraffin, 10-20% by mass graphene, and 3-10% by mass nano-copper.
[0074] The phase-change heat dissipation structure is located on the outside of the micro-refrigeration system and connected to the mechanical shell of the unmanned or manned platform. This structural design ensures effective heat dissipation of the micro-refrigeration system and also provides stable support, reducing the impact of unmanned or manned platform swaying on the operational stability of the micro-refrigeration system.
[0075] Because micro-refrigeration systems require external cooling from the enclosure environment to ensure continuous and reliable cooling, typical refrigeration systems, such as Stirling refrigerators, typically have a maximum operating temperature of 70°C to 100°C for their hot end (radiator) (depending on the specific model and design). This means that as long as the hot end temperature does not exceed this upper limit, it can operate normally. In contrast, this phase change cooling structure melts the phase change material when the temperature reaches 58°C, absorbing heat and maintaining a stable temperature.
[0076] The Q-PLL is activated for 100μs calibration. Its core Josephson junction and associated circuitry release a large amount of heat in a very short time; the phase change heat dissipation structure on the outside of the miniature cooling system can quickly absorb this heat. The process of changing from solid to liquid (melting) absorbs a large amount of the concentrated heat generated instantaneously, preventing the local temperature from rising further.
[0077] Furthermore, this phase change heat dissipation structure improves thermal conductivity through the composite of graphene and copper nanoparticles. Additionally, the addition of copper nanoparticles enhances the material's thermal stability and extends its lifespan. Preparation is simple: paraffin wax, graphene, and copper nanoparticles are mixed in a specific ratio using a melt blending method.
[0078] Traditional solutions rely on fixed pseudo-satellite base stations in satellite-denied environments and cannot autonomously generate navigation signals. This method, however, achieves autonomous positioning information broadcasting through a signal regeneration device, reducing dependence on infrastructure. It enables continuous navigation and positioning capabilities for unmanned equipment under changing satellite-denied environments. Furthermore, this application utilizes a hybrid phase-locked loop architecture that integrates GNSS signal simulation generation technology with temperature adaptive control to achieve high-precision, low-power, and high-reliability positioning and clock synchronization. By comprehensively applying pseudo-satellite signal enhancement and satellite navigation regeneration technologies, and using standard format signal generation, this application allows unmanned or manned platforms to continue using their existing navigation algorithms, significantly reducing system modification costs.
[0079] Example 3 This application provides a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the navigation and positioning method described above, and achieves the following functions: autonomous positioning information broadcasting is achieved through a signal regeneration device, reducing dependence on infrastructure. Continuous navigation and positioning capabilities are achieved under changing environments before and after satellite rejection for unmanned equipment. High-precision, low-power, and high-reliability positioning and clock synchronization are achieved through a hybrid phase-locked loop architecture that integrates GNSS signal simulation generation technology and temperature adaptive control. Clock synchronization is performed using a hybrid phase-locked loop architecture combining quantum phase-locked loops and digital phase-locked loops, and a dynamic clock calibration strategy is used to maintain time reference stability in complex temperature environments, ensuring the timing accuracy of analog signals. By comprehensively applying pseudo-satellite signal enhancement technology and satellite navigation regeneration technology, and using standard format signal generation, unmanned or manned platforms can continue to use the original navigation algorithm, greatly reducing system modification costs.
[0080] Example 4 This application provides a computer-readable storage medium including a computer program. When the computer program is run on an electronic device, it causes the electronic device to execute the steps of the navigation and positioning method described above and achieve the following functions: autonomous positioning information broadcasting is achieved through a signal regeneration device, reducing dependence on infrastructure; continuous navigation and positioning capability is achieved under changes in the satellite-denied environment for unmanned equipment; high-precision, low-power, and high-reliability positioning and clock synchronization are achieved through a hybrid phase-locked loop architecture that integrates GNSS signal simulation generation technology and temperature adaptive control; clock synchronization is performed using a hybrid phase-locked loop architecture of quantum phase-locked loop and digital phase-locked loop, and a dynamic clock calibration strategy is used to maintain the stability of the time reference in complex temperature environments, ensuring the timing accuracy of the analog signal; and pseudo-satellite signal enhancement technology and satellite navigation regeneration technology are comprehensively applied, using standard format signal generation to allow unmanned or manned platforms to continue using the original navigation algorithm, greatly reducing system modification costs.
[0081] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0082] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0083] The foregoing has described specific embodiments of the present invention. In some cases, the described actions or steps may be performed in a different order than those shown in the embodiments and the desired results may still be achieved. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0084] In the description of the embodiments of the present invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In the embodiments of the present invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in the embodiments of the present invention, as well as the features of the different embodiments or examples.
[0085] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.
[0086] The above embodiments are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A navigation and positioning method for an in-situ adapted navigation terminal, characterized in that, include: S1, Receive external navigation signals; S2. Analyze the navigation signal to obtain observation data, and calculate the real-time location data of the unmanned platform or manned platform based on the observation data; S3. Based on the real-time location data, generate an analog satellite navigation signal with the same format as the GNSS signal; S4. Provide the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform for positioning calculation; In step S3, the process of generating simulated satellite navigation signals is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system uses a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
2. The navigation and positioning method according to claim 1, characterized in that, The clock synchronization method of the clock synchronization system includes: The temperature of the heat source region of the quantum phase-locked loop is obtained, and the step loss error signal of the digital phase-locked loop is also obtained. If the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-synchronization error of the digital phase-locked loop is greater than a second threshold, the clock synchronization system will be switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
3. The navigation and positioning method according to claim 1, characterized in that, The steps in step S3 to generate simulated satellite navigation signals include: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
4. The navigation and positioning method according to claim 1, characterized in that, In step S3, the format is the same as that of GNSS signals, including the carrier frequency, modulation method, encoding rules, and structure of the navigation message.
5. The method according to claim 1, characterized in that, The step of providing the simulated satellite navigation signal to the navigation terminal of the unmanned platform or manned platform in step S4 is as follows: the simulated satellite navigation signal is directly fed into the antenna interface of the navigation terminal of the unmanned platform or manned platform through wired or wireless transmission.
6. The method according to claim 1, characterized in that, After generating the simulated satellite navigation signal in step S3 and before providing the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform in step S4, a signal monitoring and dynamic adjustment step is also included: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
7. A navigation and positioning device for in-situ adaptation to a navigation terminal, characterized in that, include: The signal receiving module is used to receive external navigation signals; The position calculation module is used to parse the navigation signal, obtain observation data, and calculate the real-time position data of the unmanned platform or manned platform based on the observation data. A satellite signal regeneration module is used to generate an analog satellite navigation signal with the same format as the GNSS signal based on the real-time location data. The connection control module provides the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform for positioning calculation. The process of generating analog satellite navigation signals in the satellite signal regeneration module is controlled by a clock reference provided by a clock synchronization system; the clock synchronization system adopts a hybrid architecture of quantum phase-locked loop and digital phase-locked loop for clock synchronization.
8. The navigation and positioning device according to claim 7, characterized in that, The steps for generating analog satellite navigation signals in the satellite signal regeneration module include: Based on the real-time location data, a corresponding digital baseband signal is generated by a digital signal processor or a field-programmable gate array according to a pre-set algorithm; The digital baseband signal is modulated to the same satellite navigation frequency band as the GNSS signal to generate the analog satellite navigation signal.
9. The navigation and positioning device according to claim 7, characterized in that, The satellite signal regeneration module has the same format as the GNSS signal, including the same carrier frequency, modulation method, encoding rules, and navigation message structure.
10. The navigation and positioning device according to claim 7, characterized in that, The connection control module provides the simulated satellite navigation signal to the navigation terminal of the unmanned or manned platform in the following way: the simulated satellite navigation signal is directly fed into the antenna interface of the navigation terminal of the unmanned or manned platform through wired or wireless transmission.
11. The navigation and positioning device according to claim 7, characterized in that, The satellite signal regeneration module is also used for signal monitoring and dynamic adjustment, including: real-time monitoring of the frequency, phase and signal strength of the simulated satellite navigation signal; comparing the monitoring results with preset parameters to generate a comparison result, and dynamically adjusting the signal generation parameters according to the comparison result.
12. The navigation and positioning device according to claim 7, characterized in that, The clock synchronization method of the clock synchronization system includes: The temperature of the heat source region of the quantum phase-locked loop is obtained, and the step loss error signal of the digital phase-locked loop is also obtained. If the temperature of the heat source region of the quantum phase-locked loop is less than a first threshold and the out-of-synchronization error of the digital phase-locked loop is greater than a second threshold, the clock synchronization system will be switched from the digital phase-locked loop to the quantum phase-locked loop for dynamic calibration.
13. The navigation and positioning device according to claim 12, characterized in that, The out-of-step error signal of the digital phase-locked loop is obtained by comparing the output clock of the digital phase-locked loop with the output clock of the quantum phase-locked loop in its sleep state.
14. The navigation and positioning device according to claim 13, characterized in that, The quantum phase-locked loop includes a Josephson junction, a miniature cooling system, and a phase detector; The Josephson junction is used to generate an oscillating signal; The micro-refrigeration system is used to provide the Josephson junction with a low-temperature environment below the third threshold. The phase detector includes a ring structure formed by two Josephson junctions connected in parallel; The output clock of the digital phase-locked loop is compared with the output clock of the quantum phase-locked loop in its sleep state using a phase detector.
15. The navigation and positioning device according to claim 14, characterized in that, When the quantum phase-locked loop is in sleep mode, the bias current is cut off, and the sustaining voltage of the Josephson junction continues to be maintained.
16. The navigation and positioning device according to claim 15, characterized in that, The clock synchronization system in the satellite signal regeneration module is configured with a temperature change prediction strategy. The temperature change prediction strategy is configured to: combine the motion state data of the IMU inertial measurement unit and the radio frequency power data, and predict the temperature change trend of the quantum phase-locked loop heat source region in the future first time period through a temperature prediction model; wherein, the motion state data includes the current driving speed and acceleration of the unmanned or manned platform, and the radio frequency power data is the heat generation power of the communication system of the unmanned or manned platform.
17. A computer device comprising a memory and a processor, the memory being used to store computer programs, characterized in that, The processor is used to execute the computer program to implement the steps of the navigation and positioning method according to any one of claims 1 to 6.
18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer or processor, causes the computer or processor to perform the steps of the navigation and positioning method according to any one of claims 1 to 16.