Beidou one-machine multi-antenna data acquisition controller system

Abstract

The invention discloses a Beidou one-machine multi-antenna data acquisition controller system. According to the invention, through the cooperative operation of the signal quality evaluation unit, the multi-antenna fusion resolving unit and the adaptive switching strategy unit, the positioning precision and the continuous operation capability are significantly improved. The signal quality evaluation unit calculates scores by integrating multi-dimensional indexes such as a carrier-to-noise ratio, a signal-to-noise ratio and multipath interference, and provides a quantitative basis of antenna performance for the system; and the multi-antenna fusion resolving unit dynamically weights the positioning data of each antenna based on the score, so that the antenna with a better signal occupies a larger proportion in a fusion result, and errors caused by environmental interference on a single antenna are reduced. The self-adaptive switching strategy unit adjusts a switching threshold value through scene perception, when a current antenna signal is continuously lower than the threshold value, candidate antennas are rapidly scanned, options with the signals reaching the standard and reasonable cost are screened out, it is ensured that the system always uses the antenna with better performance, and positioning interruption or precision reduction caused by signal attenuation of a single antenna is avoided.

Description

Technical Field

[0001] This invention belongs to the field of BeiDou data acquisition technology, specifically a BeiDou one-machine-multiple-antenna data acquisition controller system. Background Technology

[0002] The BeiDou data acquisition controller is an embedded intelligent device that integrates the positioning and communication functions of the BeiDou satellite navigation system with multi-channel data acquisition capabilities. Its core function is to act as a hub connecting front-end sensors and the back-end information center. It can accurately acquire its own location information and collect and process analog or digital signals from various sensors (such as temperature, humidity, pressure, and displacement gauges) in real time. After preliminary local processing, the collected data, along with location information, can be packaged and transmitted back to the monitoring center via BeiDou short message service or 4G / 5G communication networks. This enables remote, dynamic, and all-weather spatiotemporal data monitoring and management of target objects in remote or uncovered areas, making it a key application terminal for IoT technology in fields such as smart water conservancy, geological monitoring, and transportation.

[0003] However, existing technologies mostly use single antennas or fixed-weight multi-antenna fusion methods, which make positioning accuracy susceptible to large fluctuations due to environmental interference; antenna switching strategies are mostly fixed thresholds or simple rules, without taking into account scene characteristics and energy consumption costs, which can easily lead to invalid switching or untimely switching, resulting in positioning interruption. Summary of the Invention

[0004] The purpose of this invention is to provide a Beidou multi-antenna data acquisition controller system to solve the problems mentioned above.

[0005] The technical solution adopted in this invention is as follows: A Beidou one-machine multi-antenna data acquisition controller system, comprising: a power management module, an antenna switching and signal preprocessing module, a Beidou signal receiving and positioning module, a main control and data processing module, a multi-channel communication module, and a multi-antenna intelligent coordination and adaptive positioning optimization module; The multi-antenna intelligent coordination and adaptive positioning optimization module is internally configured with: a signal quality assessment unit, a multi-antenna fusion calculation unit, and an adaptive switching strategy unit; The power management module supplies power to all modules, receives power consumption commands from the multi-antenna intelligent coordination and adaptive positioning optimization module via I2C, and interacts with the main control and data processing module via SPI to exchange power monitoring data.

[0006] The antenna switching and signal preprocessing module receives GPIO switching commands from the multi-antenna intelligent collaboration and adaptive positioning optimization module, transmits preprocessed radio frequency signals to the Beidou signal receiving and positioning module via a coaxial cable, and activates the antenna ID to the main control and data processing module via GPIO feedback. It is powered by the power management module.

[0007] The BeiDou signal receiving and positioning module receives signals from the antenna switching and signal preprocessing module, receives configuration instructions from the main control and data processing module via UART, outputs PVT, signal quality, and ephemeris data to the main control and data processing module via SPI, and is powered by the power management module.

[0008] The main control and data processing module receives data from the Beidou signal receiving and positioning module and the multi-antenna intelligent collaborative and adaptive positioning optimization module, interacts with the multi-channel communication module, interacts with the power management module to monitor data, connects to an SD card for storage, and is powered by the power management module.

[0009] The multi-channel communication module receives the data to be transmitted from the main control and data processing modules, forwards remote commands, connects to an external antenna, and is powered by the power management module.

[0010] In a preferred embodiment, the power management module internally includes a DC voltage regulator unit, an energy consumption command parsing unit, a power status monitoring unit, and a module power supply switching unit. The DC voltage regulator unit converts the externally input voltage into the standard voltage required by each module, meeting the power supply needs of different modules. The energy consumption command parsing unit receives energy consumption adjustment commands sent by the multi-antenna intelligent coordination and adaptive positioning optimization module via an I2C interface and converts the commands into specific power supply strategy parameters. The power status monitoring unit collects real-time data on the operating current, voltage, and remaining power of each module and transmits the monitoring data to the main control and data processing module via an SPI interface. The module power supply switching unit controls the power supply on / off of each module based on the energy consumption commands and power status data, achieving dynamic management of system energy consumption.

[0011] In a preferred embodiment, the antenna switching and signal preprocessing module internally includes a GPIO command receiving unit, a multi-antenna switching control unit, a radio frequency signal filtering and amplification unit, and an activated antenna ID feedback unit. The GPIO command receiving unit receives antenna switching GPIO signals sent by the multi-antenna intelligent coordination and adaptive positioning optimization module in real time. The multi-antenna switching control unit, based on the received command, controls the radio frequency switch to switch to the designated antenna, establishing an effective radio frequency signal path. The radio frequency signal filtering and amplification unit performs bandpass filtering on the BeiDou radio frequency signal received by the selected antenna, removes clutter interference, and then performs low-noise amplification. The preprocessed signal is then transmitted to the BeiDou signal receiving and positioning module via a coaxial cable. The activated antenna ID feedback unit sends the currently activated antenna ID information to the main control and data processing module through the GPIO interface.

[0012] In a preferred embodiment, the BeiDou signal receiving and positioning module internally includes a radio frequency (RF) signal receiving unit, a UART configuration command parsing unit, a PVT calculation unit, and an SPI data output unit. The RF signal receiving unit receives the filtered and amplified BeiDou RF signal transmitted by the antenna switching and signal preprocessing module; the UART configuration command parsing unit receives positioning parameter configuration commands sent by the main control and data processing module via the UART interface and adjusts the internal calculation parameters; the PVT calculation unit calculates position, velocity, and time data based on the received satellite signals, and simultaneously extracts signal quality indicators and ephemeris data; the SPI data output unit sends the calculated PVT data, signal quality data, and ephemeris data to the main control and data processing module via the SPI interface.

[0013] In a preferred embodiment, the main control and data processing module internally includes an SPI data receiving unit, a multi-module data interaction unit, an SD card storage control unit, and a system resource scheduling unit. The SPI data receiving unit receives PVT data, signal quality data, and ephemeris data sent by the BeiDou signal receiving and positioning module, and simultaneously receives optimization decision data sent by the multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-module data interaction unit transmits and receives data with the multi-channel communication module through a designated interface, sending data to be transmitted to the communication module and receiving remote commands to forward to the internal processing unit. It also interacts with the power management module via the SPI interface to exchange power monitoring data. The SD card storage control unit connects to an external SD card to store and retrieve positioning data, system logs, and ephemeris data. The system resource scheduling unit integrates data from each module, performs fusion processing of positioning results, and simultaneously schedules internal computing resources to complete data processing tasks.

[0014] In a preferred embodiment, the multi-channel communication module internally includes a data receiving unit, a remote command forwarding unit, a multi-protocol communication interface unit, and an external antenna connection unit. The data receiving unit receives positioning results, system status data, and information to be forwarded from the main control and data processing module; the remote command forwarding unit transmits received remote control commands to the main control and data processing module; the multi-protocol communication interface unit supports multiple wireless communication protocols, enabling bidirectional data transmission with external devices or networks; and the external antenna connection unit connects to an external communication antenna via a standard radio frequency interface, enhancing the signal transmission distance and stability.

[0015] In a preferred embodiment, the signal quality assessment unit collects core BeiDou signal indicators for each antenna in the system in real time, including carrier-to-noise ratio (CNR), signal-to-noise ratio (SNR), number of visible satellites, signal lock-in duration, and multipath interference index. The unit employs a dynamic weighting strategy, adaptively adjusting the weights of each indicator based on the current scenario (e.g., urban multipath environment, open area, high-speed motion). After normalizing the indicators for each antenna, a comprehensive quality score is calculated. This score directly serves as the basis for ranking antenna performance, providing data support for subsequent antenna switching decisions and ensuring that the system prioritizes antennas with strong signal stability and low interference, effectively improving positioning accuracy and continuity in complex scenarios.

[0016] The formula for calculating the overall signal quality score of antenna i is: ; In the formula: S i This is the overall signal quality score for antenna i; w c This is the carrier-to-noise ratio weighting coefficient; CNO i Let be the carrier-to-noise ratio of antenna i; w s This is the signal-to-noise ratio weighting coefficient; SNR i Let be the signal-to-noise ratio of antenna i; w v The weighting coefficient for the number of visible satellites; V i The number of visible satellites for antenna i w l This is the weighting coefficient for signal lock-in duration; L i The signal lock-in duration for antenna i; w m This refers to the multipath interference weighting coefficient; M i Let be the multipath interference index of antenna i.

[0017] In a preferred embodiment, the multi-antenna fusion processing unit takes the raw positioning data output by each antenna and the comprehensive signal quality score as input, and uses a dynamic weighted fusion algorithm to achieve collaborative processing of multi-source data. The unit first timestamps the positioning results of each antenna to eliminate data acquisition time differences; then, it calculates dynamic weights based on the comprehensive signal quality score of each antenna, with higher-scoring antennas having a larger weight percentage; next, it multiplies the latitude, longitude, and altitude of each antenna by their corresponding weights and sums the results to obtain the fused positioning result; finally, it verifies the consistency of the results through residual analysis. If outliers are found, the weights are readjusted and the fusion is performed again to ensure the accuracy and stability of the output results. The fused positioning data output by this unit is directly transmitted to the main control module as the final positioning result of the system for subsequent applications or communication transmission. The formula for calculating the merged latitude value is as follows: ; In the formula: Lat represents the merged latitude value; m represents the number of antennas participating in the fusion; S i This represents the overall signal quality score of antenna i; Lat i This represents the latitude value output by antenna i.

[0018] In a preferred embodiment, the adaptive switching strategy unit monitors the overall signal quality score S of the currently active antenna in real time. current Multipath interference index M current The system tracks continuous positioning duration and identifies the current environment type (such as urban canyons, open spaces, indoor occluded scenes, etc.) using a built-in scene awareness model, then calls the corresponding preset parameters for that scene. When S... current The switching threshold T is lower than the dynamically calculated threshold for three consecutive sampling periods. d Upon activation, the unit immediately initiates the candidate antenna evaluation process: first, it triggers a 50ms rapid signal scan of all candidate antennas to acquire the S-values ​​of each candidate antenna. i Value and switching cost C i (Including quantitative indicators such as antenna activation power consumption and signal synchronization time), then the candidate antennas are screened, retaining S i Higher than T d And C i Below the preset upper limit C max The antenna is added to the switching list. For example, in an urban canyon scene, the scene coefficient k s The value is 1.2, and the baseline threshold T is... b Set the score to 60, then T d This will be correspondingly improved to ensure the system can switch to an antenna less susceptible to multipath interference in a timely manner; while in open areas, ks Reduced to 0.8, T b Keep it unchanged to reduce unnecessary switching operations and lower the overall system energy consumption.

[0019] In a preferred embodiment, after generating the list of antennas to be switched, the adaptive switching strategy unit executes closed-loop optimization logic for pre-synchronization and switching verification to ensure the continuity and accuracy of the positioning process. During the pre-synchronization phase, the unit controls the antenna to be switched to acquire and track signals from the BeiDou satellites in advance, ensuring that valid positioning data can be output within 100ms during switching to avoid positioning interruption. After the switching is executed, the unit obtains the horizontal positioning error (HDOP) after fusion calculation through the main control module. If the HDOP decreases by more than 15% compared to before the switching, the switching is confirmed as effective and the active antenna status is updated. If the expected accuracy improvement is not achieved, the unit immediately reverts to the original active antenna and re-evaluates the candidate list.

[0020] The formula for the dynamic switching threshold is: ; In the formula: T d Indicates the dynamic switching threshold; k s The coefficient represents the scene factor (1.2 for urban canyons, 0.8 for open areas, and 1.5 for indoor areas). T b This represents the baseline threshold (default value is 60 points). α represents the multipath correction factor (fixed value is 5); M current This indicates the multipath interference index of the currently active antenna (value range: 0-10). The core innovation of this formula lies in abandoning the rigid decision-making model of fixed thresholds. It adapts the signal characteristics of different environments to scene coefficients and corrects the threshold using a multipath interference index, making the handover triggering timing more aligned with actual scenario needs, effectively reducing invalid handovers and improving positioning continuity. For example, in urban canyons with severe multipath interference, the multipath interference index M... current An increase will push up T d This prompts the system to switch to a more interference-resistant antenna earlier; while in open areas, the lower k s Then reduce T d This avoids unnecessary energy consumption during switching.

[0021] The formula for calculating the switching priority of candidate antenna i is: ; In the formula: P i Indicates the switching priority of candidate antenna i S iThis represents the overall signal quality score of candidate antenna i. C i This represents the cost of switching to antenna i (value range 0-5, unit is energy consumption unit). This formula prioritizes signal quality scores and switching costs, balancing the trade-off between performance improvement and energy consumption. For example, when the S of candidate antenna A... i For 80, C i The S value of candidate antenna B is 2. i 75, C i When P is 1, A= 80 / (1+2)=26.67, P B= 75 / (1+1)=37.5, the system will prioritize antenna B, which not only ensures the basic requirements of signal quality, but also reduces the switching energy consumption, demonstrating the practicality and innovation of the adaptive strategy.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In this invention, the coordinated operation of a signal quality assessment unit, a multi-antenna fusion calculation unit, and an adaptive switching strategy unit significantly improves positioning accuracy and continuous operation capability. The signal quality assessment unit calculates scores based on multiple dimensions such as carrier-to-noise ratio (CNR), signal-to-noise ratio (SNR), and multipath interference, providing a quantitative basis for antenna performance. The multi-antenna fusion calculation unit dynamically weights the positioning data of each antenna based on the scores, allowing antennas with better signals to account for a larger proportion of the fusion results, reducing errors caused by environmental interference with a single antenna. The adaptive switching strategy unit adjusts the switching threshold through scene awareness. When the current antenna signal is continuously below the threshold, it quickly scans candidate antennas and selects options with acceptable signals and reasonable costs, ensuring that the system always uses the antenna with better performance and avoiding positioning interruptions or accuracy degradation due to single-antenna signal attenuation.

[0023] 2. In this invention, the adaptive handover strategy unit performs a pre-synchronization operation before handover, allowing candidate antennas to acquire satellite signals in advance, ensuring uninterrupted positioning data output during handover. Simultaneously, it adjusts the handover cost ceiling based on energy consumption perception, prioritizing the antenna with the best signal when power is sufficient and prioritizing low-energy handover options when power is limited, thus balancing performance and energy consumption. The linkage mechanism of the three units allows the system to dynamically adjust its strategy according to different scenarios. In urban canyons, the handover threshold is increased to quickly avoid multipath interference; in open areas, the threshold is lowered to reduce invalid handovers; and in indoor scenarios, the antenna scanning frequency is optimized. This enables the system to maintain stable positioning output and effectively control energy consumption in complex and changing environments, meeting the needs of diverse application scenarios. Attached Figure Description

[0024] Figure 1 This is an overall system block diagram of the present invention; Figure 2 This is a system block diagram of the multi-antenna intelligent coordination and adaptive positioning optimization module in this invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0026] Reference Figure 1-2 A Beidou multi-antenna data acquisition and controller system includes: a power management module, an antenna switching and signal preprocessing module, a Beidou signal receiving and positioning module, a main control and data processing module, a multi-channel communication module, and a multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-antenna intelligent coordination and adaptive positioning optimization module is internally configured with: a signal quality assessment unit, a multi-antenna fusion calculation unit, and an adaptive handover strategy unit; The power management module supplies power to all modules, receives power consumption commands from the multi-antenna intelligent coordination and adaptive positioning optimization module via I2C, and interacts with the main control and data processing module via SPI to exchange power monitoring data.

[0027] The antenna switching and signal preprocessing module receives GPIO switching commands from the multi-antenna intelligent coordination and adaptive positioning optimization module, transmits preprocessed RF signals to the Beidou signal receiving and positioning module via coaxial cable, and activates the antenna ID to the main control and data processing module via GPIO feedback. It is powered by the power management module.

[0028] The BeiDou signal receiving and positioning module receives signals from the antenna switching and signal preprocessing module, receives configuration commands from the main control and data processing module via UART, and outputs PVT, signal quality, and ephemeris data to the main control and data processing module via SPI. It is powered by the power management module.

[0029] The main control and data processing module receives data from the Beidou signal receiving and positioning module and the multi-antenna intelligent coordination and adaptive positioning optimization module, interacts with the multi-channel communication module, interacts with the power management module to monitor data, connects to an SD card for storage, and is powered by the power management module.

[0030] The multi-channel communication module receives the data to be transmitted from the main control and data processing modules, forwards remote commands, connects to an external antenna, and is powered by the power management module.

[0031] The power management module internally includes a DC voltage regulator unit, an energy consumption command parsing unit, a power status monitoring unit, and a module power supply switching unit. The DC voltage regulator unit converts the externally input voltage into the standard voltage required by each module, meeting the power supply needs of different modules. The energy consumption command parsing unit receives energy consumption adjustment commands sent by the multi-antenna intelligent coordination and adaptive positioning optimization module via the I2C interface and converts the commands into specific power supply strategy parameters. The power status monitoring unit collects real-time data on the operating current, voltage, and remaining power of each module and transmits the monitoring data to the main control and data processing module via the SPI interface. The module power supply switching unit controls the power supply to each module based on energy consumption commands and power status data, achieving dynamic management of system energy consumption.

[0032] The antenna switching and signal preprocessing module internally includes a GPIO command receiving unit, a multi-antenna switching control unit, an RF signal filtering and amplification unit, and an activated antenna ID feedback unit. The GPIO command receiving unit receives antenna switching GPIO signals in real time from the multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-antenna switching control unit, based on the received commands, controls the RF switch to switch to the designated antenna, establishing an effective RF signal path. The RF signal filtering and amplification unit performs bandpass filtering on the BeiDou RF signal received by the selected antenna, removing clutter interference and then amplifying it with low noise. The preprocessed signal is then transmitted to the BeiDou signal receiving and positioning module via a coaxial cable. The activated antenna ID feedback unit sends the currently activated antenna ID information to the main control and data processing module through the GPIO interface.

[0033] The BeiDou signal receiving and positioning module internally includes a radio frequency (RF) signal receiving unit, a UART configuration command parsing unit, a PVT calculation unit, and an SPI data output unit. The RF signal receiving unit receives the filtered and amplified BeiDou RF signal transmitted by the antenna switching and signal preprocessing module. The UART configuration command parsing unit receives positioning parameter configuration commands sent by the main control and data processing module via the UART interface and adjusts the internal calculation parameters. The PVT calculation unit calculates position, velocity, and time data based on the received satellite signals, while simultaneously extracting signal quality indicators and ephemeris data. The SPI data output unit sends the calculated PVT data, signal quality data, and ephemeris data to the main control and data processing module via the SPI interface.

[0034] The main control and data processing module internally includes an SPI data receiving unit, a multi-module data interaction unit, an SD card storage control unit, and a system resource scheduling unit. The SPI data receiving unit receives PVT data, signal quality data, and ephemeris data from the BeiDou signal receiving and positioning module, and simultaneously receives optimization decision data from the multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-module data interaction unit transmits and receives data with the multi-channel communication module through a designated interface, sending data to be transmitted to the communication module and receiving remote commands for forwarding to the internal processing unit. It also interacts with the power management module via the SPI interface to exchange power monitoring data. The SD card storage control unit connects to an external SD card to store and retrieve positioning data, system logs, and ephemeris data. The system resource scheduling unit integrates data from each module, performs fusion processing of positioning results, and simultaneously schedules internal computing resources to complete data processing tasks.

[0035] The multi-channel communication module internally includes a data receiving unit, a remote command forwarding unit, a multi-protocol communication interface unit, and an external antenna connection unit. The data receiving unit receives positioning results, system status data, and information to be forwarded from the main control and data processing module; the remote command forwarding unit transmits received remote control commands to the main control and data processing module; the multi-protocol communication interface unit supports multiple wireless communication protocols, enabling bidirectional data transmission with external devices or networks; and the external antenna connection unit connects to an external communication antenna via a standard RF interface, enhancing signal transmission distance and stability.

[0036] The signal quality assessment unit collects core BeiDou signal indicators for each antenna in the system in real time, including carrier-to-noise ratio (CNR), signal-to-noise ratio (SNR), number of visible satellites, signal lock-in duration, and multipath interference index. The unit employs a dynamic weighting strategy, adaptively adjusting the weights of each indicator based on the current scenario (e.g., urban multipath environment, open area, high-speed motion). After normalizing the indicators for each antenna, a comprehensive quality score is calculated. This score directly serves as the basis for ranking antenna performance, providing data support for subsequent antenna switching decisions and ensuring that the system prioritizes antennas with strong signal stability and low interference, effectively improving positioning accuracy and continuity in complex scenarios.

[0037] The formula for calculating the overall signal quality score of antenna i is: ; In the formula: S i This is the overall signal quality score for antenna i; w c This is the carrier-to-noise ratio weighting coefficient; CNO i Let be the carrier-to-noise ratio of antenna i; w sThis is the signal-to-noise ratio weighting coefficient; SNR i Let be the signal-to-noise ratio of antenna i; w v The weighting coefficient for the number of visible satellites; V i The number of visible satellites for antenna i w l This is the weighting coefficient for signal lock-in duration; L i The signal lock-in duration for antenna i; w m This refers to the multipath interference weighting coefficient; M i Let be the multipath interference index of antenna i.

[0038] The multi-antenna fusion processing unit takes the raw positioning data output by each antenna and the overall signal quality score as input, and uses a dynamic weighted fusion algorithm to achieve collaborative processing of multi-source data. The unit first timestamps the positioning results of each antenna to eliminate data acquisition time differences; then, it calculates dynamic weights based on the overall signal quality score of each antenna, with higher-scoring antennas having a larger weight percentage; next, it multiplies the latitude, longitude, and altitude of each antenna by their corresponding weights and sums the results to obtain the fused positioning result; finally, it verifies the consistency of the results through residual analysis. If outliers are found, the weights are readjusted and the fusion is performed again to ensure the accuracy and stability of the output results. The fused positioning data output by this unit is directly transmitted to the main control module as the final positioning result of the system for subsequent applications or communication transmission. The formula for calculating the merged latitude value is as follows: ; In the formula: Lat represents the merged latitude value; m represents the number of antennas participating in the fusion; S i This represents the overall signal quality score of antenna i; Lat i This represents the latitude value output by antenna i.

[0039] The adaptive switching strategy unit monitors the overall signal quality score S of the currently active antenna in real time. current Multipath interference index M current The system tracks continuous positioning duration and identifies the current environment type (such as urban canyons, open spaces, indoor occluded scenes, etc.) using a built-in scene awareness model, then calls the corresponding preset parameters for that scene. When S... current The switching threshold T is lower than the dynamically calculated threshold for three consecutive sampling periods. dUpon activation, the unit immediately initiates the candidate antenna evaluation process: first, it triggers a 50ms rapid signal scan of all candidate antennas to acquire the S-values ​​of each candidate antenna. i Value and switching cost C i (Including quantitative indicators such as antenna activation power consumption and signal synchronization time), then the candidate antennas are screened, retaining S i Higher than T d And C i Below the preset upper limit C max The antenna is added to the switching list. For example, in an urban canyon scene, the scene coefficient k s The value is 1.2, and the baseline threshold T is... b Set the score to 60, then T d This will be correspondingly improved to ensure the system can switch to an antenna less susceptible to multipath interference in a timely manner; while in open areas, k s Reduced to 0.8, T b Keep it unchanged to reduce unnecessary switching operations and lower the overall system energy consumption.

[0040] After generating the list of antennas to be switched, the adaptive handover strategy unit executes closed-loop optimization logic for pre-synchronization and handover verification to ensure the continuity and accuracy of the positioning process. During the pre-synchronization phase, the unit controls the antenna to be switched to acquire and track signals from BeiDou satellites in advance, ensuring that valid positioning data can be output within 100ms during the handover to avoid positioning interruptions. After the handover is executed, the unit obtains the horizontal positioning error (HDOP) after fusion calculation through the main control module. If the HDOP decreases by more than 15% compared to before the handover, the handover is confirmed as effective and the active antenna status is updated. If the expected accuracy improvement is not achieved, the unit immediately reverts to the original active antenna and re-evaluates the candidate list.

[0041] The formula for the dynamic switching threshold is: ; In the formula: T d Indicates the dynamic switching threshold; k s The coefficient represents the scene factor (1.2 for urban canyons, 0.8 for open areas, and 1.5 for indoor areas). T b This represents the baseline threshold (default value is 60 points). α represents the multipath correction factor (fixed value is 5); M current This indicates the multipath interference index of the currently active antenna (value range: 0-10). The core innovation of this formula lies in abandoning the rigid decision-making model of fixed thresholds. It adapts the signal characteristics of different environments to scene coefficients and corrects the threshold using a multipath interference index, making the handover triggering timing more aligned with actual scenario needs, effectively reducing invalid handovers and improving positioning continuity. For example, in urban canyons with severe multipath interference, the multipath interference index M... current An increase will push up T d This prompts the system to switch to a more interference-resistant antenna earlier; while in open areas, the lower k s Then reduce T d This avoids unnecessary energy consumption during switching.

[0042] The formula for calculating the switching priority of candidate antenna i is: ; In the formula: P i Indicates the switching priority of candidate antenna i S i This represents the overall signal quality score of candidate antenna i. C i This represents the cost of switching to antenna i (value range 0-5, unit is energy consumption unit). This formula prioritizes signal quality scores and switching costs, balancing the trade-off between performance improvement and energy consumption. For example, when the S of candidate antenna A... i For 80, C i The S value of candidate antenna B is 2. i 75, C i When P is 1, A= 80 / (1+2)=26.67, P B= 75 / (1+1)=37.5, the system will prioritize antenna B, which not only ensures the basic requirements of signal quality, but also reduces the switching energy consumption, demonstrating the practicality and innovation of the adaptive strategy.

[0043] As can be seen from the above, in this invention, the coordinated operation of the signal quality assessment unit, the multi-antenna fusion calculation unit, and the adaptive switching strategy unit significantly improves positioning accuracy and continuous operation capability. The signal quality assessment unit calculates scores based on multiple dimensions such as carrier-to-noise ratio, signal-to-noise ratio, and multipath interference, providing a quantitative basis for antenna performance. The multi-antenna fusion calculation unit dynamically weights the positioning data of each antenna based on the scores, allowing antennas with better signals to account for a larger proportion in the fusion result, reducing errors caused by environmental interference with a single antenna. The adaptive switching strategy unit adjusts the switching threshold through scene perception. When the current antenna signal is continuously below the threshold, it quickly scans candidate antennas and selects options with acceptable signals and reasonable costs, ensuring that the system always uses the antenna with better performance, avoiding positioning interruptions or accuracy degradation due to single-antenna signal attenuation.

[0044] In the present invention, the adaptive switching strategy unit performs pre-synchronization operations before switching, enabling the candidate antenna to capture satellite signals in advance and ensuring uninterrupted output of positioning data during the switching process. Meanwhile, it adjusts the switching cost upper limit in combination with energy consumption awareness. When the power supply is sufficient, it preferentially selects the antenna with the best signal. When the power supply is tense, it preferentially selects low-energy consumption switching options to balance performance and energy consumption. The linkage mechanism of the three units enables the system to dynamically adjust strategies according to different scenarios. In urban canyons, the switching threshold is increased to quickly avoid multipath interference. In open areas, the threshold is decreased to reduce ineffective switching. In indoor scenarios, the antenna scanning frequency is optimized, enabling the system to maintain stable positioning output and effectively control energy consumption in complex and changing environments, meeting the requirements of diverse application scenarios.

[0045] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A Beidou multi-antenna data acquisition and control system, characterized in that: include: The system includes a power management module, an antenna switching and signal preprocessing module, a BeiDou signal receiving and positioning module, a main control and data processing module, a multi-channel communication module, and a multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-antenna intelligent coordination and adaptive positioning optimization module is internally configured with: a signal quality assessment unit, a multi-antenna fusion calculation unit, and an adaptive switching strategy unit; The power management module supplies power to all modules, receives power consumption commands from the multi-antenna intelligent coordination and adaptive positioning optimization module via I2C, and interacts with the main control and data processing module via SPI to exchange power monitoring data. The antenna switching and signal preprocessing module receives the GPIO switching command from the multi-antenna intelligent coordination and adaptive positioning optimization module, transmits the preprocessed radio frequency signal to the Beidou signal receiving and positioning module through a coaxial cable, and activates the antenna ID to the main control and data processing module through GPIO feedback. It is powered by the power management module. The Beidou signal receiving and positioning module receives signals from the antenna switching and signal preprocessing module, receives configuration instructions from the main control and data processing module via UART, outputs PVT, signal quality, and ephemeris data to the main control and data processing module via SPI, and is powered by the power management module. The main control and data processing module receives data from the Beidou signal receiving and positioning module and the multi-antenna intelligent coordination and adaptive positioning optimization module, interacts with the multi-channel communication module, interacts with the power management module to monitor data, connects to the SD card for storage, and is powered by the power management module. The multi-channel communication module receives the data to be transmitted from the main control and data processing modules, forwards remote commands, connects to an external antenna, and is powered by the power management module.

2. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The power management module internally includes a DC voltage regulator unit, an energy consumption command parsing unit, a power status monitoring unit, and a module power supply switching unit. The DC voltage regulator unit is responsible for converting the externally input voltage into the standard voltage required by each module to meet the power supply needs of different modules. The energy consumption command parsing unit receives energy consumption adjustment commands sent by the multi-antenna intelligent coordination and adaptive positioning optimization module through the I2C interface and converts the commands into specific power supply strategy parameters. The power status monitoring unit collects the operating current, voltage, and remaining power data of each module in real time and transmits the monitoring data to the main control and data processing module through the SPI interface. The module power supply switching unit controls the power supply on and off of each module according to the energy consumption command and power status data.

3. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The antenna switching and signal preprocessing module is internally equipped with a GPIO command receiving unit, a multi-antenna switching control unit, a radio frequency signal filtering and amplification unit, and an active antenna ID feedback unit; the GPIO command receiving unit receives antenna switching GPIO signals sent by the multi-antenna intelligent coordination and adaptive positioning optimization module in real time; The multi-antenna switching control unit controls the radio frequency switch to switch to the designated antenna according to the received instructions, thereby establishing an effective radio frequency signal path; The radio frequency signal filtering and amplification unit performs bandpass filtering on the BeiDou radio frequency signal received by the selected antenna to remove clutter interference and then performs low-noise amplification. The pre-processed signal is then transmitted to the BeiDou signal receiving and positioning module via a coaxial cable. The antenna ID activation feedback unit sends the currently activated antenna ID information to the main control and data processing module via the GPIO interface.

4. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The BeiDou signal receiving and positioning module internally includes a radio frequency (RF) signal receiving unit, a UART configuration command parsing unit, a PVT calculation unit, and an SPI data output unit. The RF signal receiving unit receives the filtered and amplified BeiDou RF signal transmitted by the antenna switching and signal preprocessing module. The UART configuration command parsing unit receives positioning parameter configuration commands sent by the main control and data processing module through the UART interface and adjusts the internal calculation parameters. The PVT calculation unit calculates position, velocity, and time data based on the received satellite signals, and simultaneously extracts signal quality indicators and ephemeris data. The SPI data output unit sends the calculated PVT data, signal quality data, and ephemeris data to the main control and data processing module through the SPI interface.

5. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The main control and data processing module internally includes an SPI data receiving unit, a multi-module data interaction unit, an SD card storage control unit, and a system resource scheduling unit. The SPI data receiving unit receives PVT data, signal quality data, and ephemeris data from the BeiDou signal receiving and positioning module, and simultaneously receives optimization decision data from the multi-antenna intelligent coordination and adaptive positioning optimization module. The multi-module data interaction unit transmits and receives data with the multi-channel communication module through a designated interface, sending data to be transmitted to the communication module and receiving remote commands for forwarding to the internal processing unit. It also interacts with the power management module via the SPI interface to exchange power monitoring data. The SD card storage control unit connects to an external SD card to store and retrieve positioning data, system logs, and ephemeris data. The system resource scheduling unit integrates data from each module, performs fusion processing of positioning results, and simultaneously schedules internal computing resources to complete data processing tasks.

6. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The multi-channel communication module internally includes a data receiving unit, a remote command forwarding unit, a multi-protocol communication interface unit, and an external antenna connection unit. The data receiving unit receives positioning results, system status data, and information to be forwarded from the main control and data processing module. The remote command forwarding unit transmits received remote control commands to the main control and data processing module. The multi-protocol communication interface unit supports multiple wireless communication protocols, enabling bidirectional data transmission with external devices or networks. The external antenna connection unit connects to an external communication antenna via a standard radio frequency interface, enhancing the signal transmission distance and stability.

7. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The signal quality assessment unit collects the core indicators of the BeiDou signal of each antenna in the system in real time, including carrier-to-noise ratio, signal-to-noise ratio, number of visible satellites, signal lock-in duration and multipath interference index. The unit adopts a dynamic weighting strategy, adaptively adjusts the weight of each indicator according to the current scenario, and calculates the comprehensive quality score after normalizing the indicators of each antenna. The formula for calculating the overall signal quality score of antenna i is: ； In the formula: S i This is the overall signal quality score for antenna i; w c This is the carrier-to-noise ratio weighting coefficient; CNO i Let be the carrier-to-noise ratio of antenna i; w s This is the signal-to-noise ratio weighting coefficient; SNR i Let be the signal-to-noise ratio of antenna i; w v The weighting coefficient for the number of visible satellites; V i The number of visible satellites for antenna i w l This is the weighting coefficient for signal lock-in duration; L i The signal lock-in duration for antenna i; w m This refers to the multipath interference weighting coefficient; M i Let be the multipath interference index of antenna i.

8. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The multi-antenna fusion solution unit takes the original positioning data output by each antenna and the comprehensive signal quality score as input, and uses a dynamic weighted fusion algorithm to achieve collaborative processing of multi-source data. The unit first timestamps the positioning results of each antenna to eliminate the time difference in data acquisition; then it calculates the dynamic weight based on the comprehensive signal quality score of each antenna, with antennas having a higher score having a larger weight. Then, the latitude, longitude, and altitude of each antenna are multiplied by their corresponding weights and summed to obtain the fused positioning result; The formula for calculating the latitude value after fusion by the multi-antenna fusion solution unit is as follows: ； In the formula: Lat represents the merged latitude value; m represents the number of antennas participating in the fusion; S i This represents the overall signal quality score of antenna i; Lat i This represents the latitude value output by antenna i.

9. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: The adaptive switching strategy unit monitors the overall signal quality score S of the currently active antenna in real time. current Multipath interference index M current And the continuous positioning duration, while identifying the current environment type through the built-in scene awareness model and calling the corresponding scene's preset parameters; when S current The switching threshold T is lower than the dynamically calculated threshold for three consecutive sampling periods. d Upon activation, the unit immediately initiates the candidate antenna evaluation process: first, it triggers a 50ms rapid signal scan of all candidate antennas to acquire the S-values ​​of each candidate antenna. i Value and switching cost C i Then, the candidate antennas were screened, and S was retained. i Higher than T d And C i Below the preset upper limit C max The antenna is added to the switching list; for example, in an urban canyon scene, the scene coefficient k... s The value is 1.2, and the baseline threshold T is... b Set the score to 60, then T d This will be correspondingly improved to ensure the system can switch to an antenna less susceptible to multipath interference in a timely manner; while in open areas, k s Reduced to 0.8, T b Keep it unchanged to reduce unnecessary switching operations and lower the overall system energy consumption.

10. The Beidou multi-antenna data acquisition and controller system as described in claim 1, characterized in that: After generating the list of satellites to be switched, the adaptive switching strategy unit executes closed-loop optimization logic for pre-synchronization and switching verification. The unit controls the antenna to be switched to acquire and track signals with the BeiDou satellites in advance. After the switching is executed, the unit obtains the horizontal positioning error HDOP after fusion calculation through the main control module. The formula for the dynamic switching threshold is: ； In the formula: T d Indicates the dynamic switching threshold; k s Represents the scene coefficient; T b Indicates the baseline threshold; α represents the multipath correction factor; M current This indicates the multipath interference index of the currently active antenna; The formula for calculating the switching priority of candidate antenna i is: ； In the formula: P i Indicates the switching priority of candidate antenna i; S i This represents the overall signal quality score of candidate antenna i; C i This represents the cost of switching to antenna i.

Images