Satellite signal tracking method, system, device, equipment, medium and product
By receiving satellite signals and searching multiple frequency points in parallel, and deriving tracking parameters using the physical synchronization law, the problems of computational resource consumption and time overhead in existing satellite signal tracking methods are solved, and efficient satellite signal tracking is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-24
- Publication Date
- 2026-03-31
AI Technical Summary
Existing satellite signal tracking methods have shortcomings in terms of computational resource consumption and time overhead, especially in multi-channel tracking where computational resource consumption is high and in single-channel tracking where time overhead is high.
By receiving satellite signals, capturing the first estimated parameters, searching multiple signal frequency points in parallel, deriving the second estimated parameters using the physical synchronization law, filtering out the tracking parameters, and performing tracking lock, demodulating navigation information, and reducing the consumption of computing resources.
It improves frequency search efficiency, reduces computing resource consumption, and enhances the efficiency and accuracy of tracking and locking.
Smart Images
Figure CN121763322A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of satellite navigation technology, and in particular to a satellite signal tracking method, system, device, equipment, medium and product. Background Technology
[0002] The advent of satellite navigation has made people's daily lives more efficient and convenient. From map navigation to high-precision measurement, the Global Navigation Satellite System (GNSS), represented by BeiDou, has become an indispensable basic infrastructure in modern society. The prerequisite for successfully achieving all this is that the receiver can accurately and stably receive and track navigation signals from GNSS satellites.
[0003] Current signal tracking requires multiple re-acquisitions and frequency switching to lock the correct carrier phase frequency, which incurs significant time overhead. Alternatively, multiple channels can be used to save time, but this consumes substantial computational resources. Summary of the Invention
[0004] Therefore, it is necessary to provide a satellite signal tracking method, system, device, equipment, medium, and product that can reduce the consumption of computing resources to address the above-mentioned technical problems.
[0005] In a first aspect, this application provides a satellite signal tracking method, including:
[0006] Receive satellite signals;
[0007] First estimated parameters of the satellite signal were captured;
[0008] Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain the tracking parameters of the satellite signal;
[0009] The tracking parameters are tracked and locked, and the navigation information contained in the satellite signal is demodulated.
[0010] In one embodiment, the step of searching multiple signal frequency points in parallel based on the first estimated parameters to obtain the tracking parameters of the satellite signal includes:
[0011] The signal frequency point of the first estimated parameter is taken as the main frequency point, and the frequency point correlation relationship between the main frequency point and other signal frequency points is determined.
[0012] Based on the physical synchronization law and the frequency point correlation, the statistical value of the first estimated parameter is derived to each of the other signal frequency points, and the second estimated parameter corresponding to each of the other signal frequency points is determined.
[0013] Tracking parameters for the satellite signal are selected from the first estimated parameters and each of the second estimated parameters.
[0014] In one embodiment, the step of filtering the tracking parameters of the satellite signal from the first estimated parameters and the second estimated parameters includes:
[0015] Signal quality assessment is performed on the first estimated parameter and the second estimated parameter to obtain the assessment scores corresponding to the first estimated parameter and the second estimated parameter, respectively.
[0016] The estimated parameter corresponding to the highest evaluation score is used as the tracking parameter of the satellite signal.
[0017] In one embodiment, the tracking parameter locking includes:
[0018] Based on the tracking parameters, closed-loop feedback control is performed to obtain local synchronization parameters;
[0019] Detect the synchronization error between the local synchronization parameters and the navigation parameters carried by the satellite signal;
[0020] If the synchronization error meets the navigation accuracy requirements, the tracking lock is confirmed to be successful.
[0021] Secondly, this application also provides a satellite signal tracking system, including: a signal receiving component, a signal acquisition component, an auxiliary tracking component, and a tracking locking component;
[0022] The signal receiving component receives satellite signals;
[0023] The signal acquisition component acquires the first estimated parameters of the satellite signal;
[0024] The auxiliary tracking component searches multiple signal frequency points in parallel based on the first estimated parameters to obtain the tracking parameters of the satellite signal;
[0025] The tracking and locking component tracks and locks the tracking parameters, and demodulates the navigation information contained in the satellite signal.
[0026] In one embodiment, the auxiliary tracking component includes multiple auxiliary tracking channels, each of which is configured with a different signal frequency.
[0027] Thirdly, this application also provides a satellite signal tracking device, comprising:
[0028] The signal receiving module is used to receive satellite signals;
[0029] The signal acquisition module is used to acquire the first estimated parameters of the satellite signal;
[0030] An auxiliary tracking module is used to search multiple signal frequency points in parallel based on the first estimated parameters to obtain the tracking parameters of the satellite signal;
[0031] The tracking and locking module is used to track and lock the tracking parameters and demodulate the navigation information contained in the satellite signal.
[0032] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:
[0033] Receive satellite signals;
[0034] First estimated parameters of the satellite signal were captured;
[0035] Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain the tracking parameters of the satellite signal;
[0036] The tracking parameters are tracked and locked, and the navigation information contained in the satellite signal is demodulated.
[0037] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:
[0038] Receive satellite signals;
[0039] First estimated parameters of the satellite signal were captured;
[0040] Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain the tracking parameters of the satellite signal;
[0041] The tracking parameters are tracked and locked, and the navigation information contained in the satellite signal is demodulated.
[0042] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:
[0043] Receive satellite signals;
[0044] First estimated parameters of the satellite signal were captured;
[0045] Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain the tracking parameters of the satellite signal;
[0046] The tracking parameters are tracked and locked, and the navigation information contained in the satellite signal is demodulated.
[0047] The aforementioned satellite signal tracking method, system, device, equipment, medium, and product receive satellite signals, capture first estimated parameters of the satellite signals, search multiple signal frequency points in parallel based on the first estimated parameters to obtain tracking parameters of the satellite signals, lock the tracking parameters for tracking, demodulate the navigation information contained in the satellite signals, and use the first estimated parameters as coarse parameters with lower accuracy. Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain tracking parameters with higher accuracy, thereby improving the efficiency of frequency point search. The tracking parameters are input into the tracking channel for tracking lock. Compared with the method of searching and tracking multiple frequency points simultaneously, this greatly reduces the computing resources consumed by tracking. Attached Figure Description
[0048] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0049] Figure 1 This is a schematic diagram of data processing for signal tracking using a conventional tracking channel in related technologies.
[0050] Figure 2 This is a diagram illustrating the application environment of a satellite signal tracking method in one embodiment;
[0051] Figure 3 This is a flowchart illustrating a satellite signal tracking method in one embodiment;
[0052] Figure 4 This is a flowchart illustrating the process of searching multiple signal frequency points in parallel based on a first estimated parameter to obtain the tracking parameters of a satellite signal in one embodiment.
[0053] Figure 5 This is a schematic diagram of a single-channel tracking structure in related technologies;
[0054] Figure 6 This is a schematic diagram of a multi-channel tracking structure in related technologies;
[0055] Figure 7 This is a block diagram of a satellite signal tracking system in one embodiment;
[0056] Figure 8 This is a structural block diagram of a satellite signal tracking device in one embodiment;
[0057] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation
[0058] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0059] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.
[0060] In GNSS navigation systems, satellite signal frequency tracking error is a common and critical problem during signal reception. Affected by the Doppler effect, electromagnetic interference, and multipath effects, satellite signal frequencies are prone to deviation, leading to signal processing errors and even receiver loss of lock. Therefore, to improve the accuracy and stability of signal reception, numerous researchers have conducted studies on the problem of satellite signal frequency tracking error.
[0061] In related technologies, methods for resolving frequency tracking errors in GNSS satellite signals can be divided into two main categories: single-channel satellite signal tracking and multi-channel satellite signal tracking. Single-channel tracking saves computational resources by using one channel to track the satellite signal each time, and locking the correct carrier phase frequency point through multiple reacquisitions and frequency switching, but it has a large time overhead. Multi-channel tracking saves time, and once the signal is acquired, there is almost always one channel with the correct frequency locked, but it consumes a large amount of computational resources.
[0062] Reference Figure 1 , Figure 1 This diagram illustrates the data processing for signal tracking using a traditional tracking channel in related technologies. The following explains why traditional tracking channels cannot track the satellite signal carrier phase in a single pass. Taking the I-branch as an example, the signal obtained after carrier stripping and code stripping... First, after summation (passing the signal through a low-pass filter with all coefficients of 1), we obtain the following formula 1.
[0063] Formula 1: .
[0064] in, Indicates the duration of summation. This indicates the time when the summation begins. Because... This indicates carrier stripping and code stripping signals. When the locally generated CA code phase is aligned with the input signal CA code phase, the CA code is completely stripped. The signal contains only two types of signals: high-frequency and low-frequency. After summation (low-pass filtering), the high-frequency signal is stripped away, resulting in the summed signal. It can be simplified to the following formula 2.
[0065] Formula 2: .
[0066] in, Indicates signal amplitude. Indicates data code, This indicates that the frequency of the input signal is different from the locally generated carrier frequency. The difference within this time period is a constant. Similarly, the summation signal of the Q branch can be obtained. By merging the two orthogonal signals from branch I and branch Q, we can obtain the summation signal represented in complex form as shown in Formula 3 below.
[0067] Formula 3: .
[0068] in, This indicates that the carrier of the input signal and the local carrier are in... The difference in time, from which the final summation result can be obtained, includes... The error means that the tracking channel cannot track the satellite carrier phase in one go.
[0069] The satellite signal tracking method provided in this application embodiment can be applied to, for example... Figure 2 In the application environment shown, terminal 202 communicates with satellite 204 and receives satellite signals transmitted by satellite 204. Terminal 202 receives the satellite signals; captures first estimated parameters of the satellite signals; searches multiple signal frequency points in parallel based on the first estimated parameters to obtain tracking parameters of the satellite signals; tracks and locks the tracking parameters; and demodulates the navigation information contained in the satellite signals. Terminal 202 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, drones, low-altitude aircraft, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc.
[0070] In one exemplary embodiment, such as Figure 3 As shown, a satellite signal tracking method is provided, which can be applied to... Figure 2 The following steps are used as an example of the terminal in the example, including steps 302 to 308.
[0071] Step 302: Receive satellite signals.
[0072] The terminal can be equipped with a satellite receiver to receive and track satellite signals. During satellite communication for navigation, the satellite broadcasts signals unidirectionally to the terminal, carrying timestamps and navigation messages. The receiver receives these signals. Satellite receivers can be deployed as standalone modules or chip boards.
[0073] Step 304: Capture the first estimated parameters of the satellite signal.
[0074] The first estimated parameters are coarse parameters with low precision, which may include a rough estimate of the carrier frequency and code phase. Acquisition can be viewed as the process of finding the peak point of the signal energy on a two-dimensional grid composed of the code phase dimension and the frequency dimension. Since the distance between the satellite and the receiver is unknown, the pseudo-random code sequence transmitted by the satellite will experience a time delay when it arrives at the receiver; the chip offset corresponding to this delay is the code phase. A search can be performed within a complete code period to obtain a coarse code phase. However, due to the high-speed relative motion between the satellite and the receiver, the signal carrier frequency will experience the Doppler effect. This frequency offset is typically within ±10 kHz, and the receiver's own intrinsic frequency error will also be superimposed on it, forming a total carrier frequency uncertainty range, thus obtaining a coarse carrier frequency.
[0075] Step 306: Based on the first estimated parameters, search multiple signal frequency points in parallel to obtain the tracking parameters of the satellite signal.
[0076] The tracking parameters of the satellite signal are more accurate than the first estimated parameters and can be used as the basis for tracking and locking. During the parallel search of multiple signal frequency points, the search for each frequency point can refer to the two-dimensional search process of satellite signal acquisition, or it can obtain the coarse parameters of each frequency point based on the relationship between the first estimated parameters and their corresponding frequency points. The most accurate tracking parameters are then determined from the coarse parameters obtained from the search of all frequency points.
[0077] Step 308: Tracking parameters are locked, and navigation information contained in satellite signals is demodulated.
[0078] By tracking and locking the tracking parameters, precise parameters for local synchronization between the receiver and the satellite can be obtained. These precise parameters are then used to demodulate the navigation information carried in the satellite signal. The tracking parameters and the first estimated parameters contain the same types of parameters. After tracking and locking, the carrier frequency error and code phase error between the local receiver and the satellite signal approach zero. Therefore, the navigation information contained in the satellite signal can be calculated using coherent demodulation and other computational methods.
[0079] In the above-mentioned satellite signal tracking method, satellite signals are received, first estimated parameters of the satellite signals are captured, and multiple signal frequency points are searched in parallel based on the first estimated parameters to obtain tracking parameters of the satellite signals. The tracking parameters are tracked and locked, and the navigation information contained in the satellite signals is demodulated. The first estimated parameters can be used as coarse parameters with lower accuracy. Based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain tracking parameters with higher accuracy, which improves the efficiency of frequency point search. The tracking parameters are input into the tracking channel for tracking and locking. Compared with the method of searching and tracking multiple frequency points at the same time, the computational resources consumed by tracking are greatly reduced.
[0080] In one exemplary embodiment, such as Figure 4 As shown, based on the first estimated parameters, multiple signal frequency points are searched in parallel to obtain the tracking parameters of the satellite signal, including steps 402 to 406.
[0081] Step 402: Take the signal frequency point of the first estimated parameter as the main frequency point and determine the frequency point correlation between the main frequency point and other signal frequency points.
[0082] Frequency correlation refers to the relationship between different signal frequency points. This can be a numerical correlation, expressed through a relational expression. After acquiring satellite signals and obtaining the first estimated parameter, the signal frequency point of that first estimated parameter can be determined. Using the signal frequency point of the first estimated parameter as the primary frequency point, each other signal frequency point can have its own frequency correlation relationship with the primary frequency point. This numerical correlation relationship can be a difference or ratio, etc.
[0083] Step 404: Based on the physical synchronization law and frequency correlation, derive the statistical value of the first estimated parameter to other signal frequencies, and determine the second estimated parameter corresponding to each of the other signal frequencies.
[0084] The physical synchronization laws include the physical laws related to Doppler frequency and the physical laws related to code phase. The second estimated parameter contains the same types of parameters as the first estimated parameter. The statistical value of the first estimated parameter refers to the numerical values of the various types of parameters it contains.
[0085] Regarding Doppler frequency mapping, the Doppler frequency shift is proportional to the carrier frequency. Based on the first estimation parameter, the Doppler estimate f_d1 of the main frequency point (represented by f_L1) is known. Then, the predicted Doppler for other signal frequency points (represented by f_L2) can be derived as: f_d2_pred = f_d1(f_L2 / f_L1).
[0086] The physical law regarding code phase: Signals at different frequencies from the same satellite transmitted at the same time experience the same spatial path delay. The code phase captured at the L1 primary frequency can be directly used as the initial code phase for other signal frequencies.
[0087] Step 406: Select the tracking parameters of the satellite signal from the first estimated parameters and each of the second estimated parameters.
[0088] The selection criteria for tracking parameters can be based on the signal quality of each estimated parameter. By characterizing the signal quality information of the first and second estimated parameters, the parameter with the highest signal quality is selected as the final tracking parameter.
[0089] In one embodiment, selecting tracking parameters for satellite signals from a first estimated parameter and each of the second estimated parameters includes: performing signal quality assessment on the first estimated parameter and the second estimated parameter to obtain assessment scores corresponding to the first estimated parameter and the second estimated parameter respectively; and using the estimated parameter corresponding to the highest assessment score as the tracking parameter for the satellite signal.
[0090] Signal quality assessment can encompass multiple dimensions, such as signal-to-noise ratio (SNR) and signal strength. During the assessment process, information such as SNR and signal strength at their respective signal frequencies for the first and second estimated parameters can be detected and substituted into the assessment score calculation formula to obtain the assessment scores for each parameter. Weighting coefficients can be assigned to different dimensions of signal quality assessment information to reflect the varying importance of each metric. After obtaining the assessment scores, the estimated parameter corresponding to the signal frequency with the highest score can be used as the tracking parameter. If multiple highest scores exist, the one with the highest SNR can be selected.
[0091] In this embodiment, the second estimated parameters of other signal frequency points are derived from the value of the first estimated parameter, which can save the process of re-performing a two-dimensional search at other signal frequency points and improve the efficiency of parallel frequency point search.
[0092] In an exemplary embodiment, tracking lock is performed on the tracking parameters, including: performing closed-loop feedback control based on the tracking parameters to obtain local synchronization parameters; detecting the synchronization error between the local synchronization parameters and the navigation parameters carried by the satellite signal; and determining that the tracking lock is successful if the synchronization error meets the navigation accuracy conditions.
[0093] Taking tracking parameters including carrier frequency and code phase as an example, closed-loop feedback control can be performed on the carrier frequency and code phase respectively to obtain the local carrier frequency and local code phase, which are then compared with the satellite signal to reduce the synchronization error between the navigation parameters carried by the satellite signal. The navigation accuracy condition refers to the error condition that must be met to determine the successful locking of tracking parameters, which can be set to a synchronization error less than a preset error threshold.
[0094] The carrier tracking loop used for carrier frequency closed-loop feedback control first performs down-conversion mixing to generate a locally replicated carrier, which is then mixed with the input digital intermediate frequency signal to produce in-phase and quadrature baseband signals. A phase detector calculates and generates a carrier phase error signal based on the in-phase and quadrature branch signals. This carrier phase error signal is then input to a carrier loop filter to remove high-frequency noise and determine the loop's dynamic response characteristics, outputting a carrier control command. This command is fed back to a carrier numerically controlled oscillator (CNC oscillator), which dynamically adjusts the frequency and phase of its output locally replicated carrier to bring the carrier phase error signal close to zero, thus completing carrier stripping and locking.
[0095] The code tracking loop used for code phase closed-loop feedback control can operate in parallel with the carrier tracking loop or after it. Local signal generation can begin, producing at least three locally pseudo-random code sequence copies that are adjacent in phase, including a lead code, an instantaneous code, and a lag code. The baseband signal, after down-conversion by the carrier loop, is correlated with the lead code, instantaneous code, and lag code respectively to obtain the corresponding correlation values. A code phase detector calculates and generates a code phase error signal based on the lead and lag correlation values. The code phase error signal is input to the code loop filter, which outputs a code control command. The code control command is fed back to the code numerically controlled oscillator (CNC oscillator), which drives the local pseudo-random code generator to adjust the phase of the local code, making the code phase error signal approach zero, thereby achieving precise alignment between the local code and the input signal pseudo-random code.
[0096] In this embodiment, the tracking process is based on the selected tracking parameters, which has high tracking and locking efficiency.
[0097] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.
[0098] To address the problem of signal frequency tracking errors during tracking, two main traditional methods exist: single-channel tracking and multi-channel tracking. The following... Figure 5 This is a schematic diagram of a single-channel tracking structure. Figure 6 This is a schematic diagram of the multi-channel tracking structure.
[0099] exist Figure 5 In the single-channel tracking process shown, after the acquisition module acquires the satellite signal, the tracking channel begins tracking the satellite signal based on the coarse carrier frequency and code phase parameters provided by the acquisition module. If the navigation message cannot be successfully decoded within a certain time, the tracking channel is reset and feedback is sent to the acquisition module to restart signal acquisition. After re-acquisition, the tracking channel uses the next frequency point to re-track the satellite signal until carrier tracking is successful and the navigation message is correctly demodulated. The advantage of single-channel tracking is that it saves resources, requiring only one tracking channel to complete satellite signal tracking, and locking the correct carrier frequency point through multiple acquisitions for frequency search. The disadvantage of single-channel tracking is that it may require multiple acquisition and tracking processes, resulting in a larger time overhead.
[0100] exist Figure 6 In the multi-channel tracking process shown, after the acquisition module captures the satellite signal, n tracking channels simultaneously begin tracking the satellite signal. Each tracking channel uses a different frequency (f1~fn) to track the same satellite signal. The optimal tracking signal is determined by parameters such as the signal-to-noise ratio. The advantage of multi-channel tracking is its low time overhead, requiring only a single acquisition and tracking process to successfully track the signal. The disadvantage is the high computational resource consumption; the computational resources consumed by multiple tracking channels are n times that of a single tracking channel.
[0101] Based on the same inventive concept, this application also provides a satellite signal tracking system for implementing the satellite signal tracking method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more satellite signal tracking system embodiments provided below can be found in the limitations of the satellite signal tracking method above, and will not be repeated here.
[0102] In one exemplary embodiment, such as Figure 7 As shown, the satellite signal tracking system 700 includes: a signal receiving component 701, a signal acquisition component 702, an auxiliary tracking component 703, and a tracking locking component 704.
[0103] The signal receiving unit 701 receives satellite signals.
[0104] The signal acquisition unit 702 acquires the first estimated parameters of the satellite signal.
[0105] The auxiliary tracking component 703 searches for multiple signal frequency points in parallel based on the first estimated parameters to obtain the tracking parameters of the satellite signal.
[0106] In this embodiment, after the signal acquisition unit 702 successfully acquires the satellite signal, the auxiliary tracking unit 703 can submit a rough code phase and carrier frequency to the auxiliary tracking unit 703. The auxiliary tracking unit 703 has multiple auxiliary channels that track multiple frequency points in parallel at one time and select the correct tracking parameters from them, and then submit them to the subsequent tracking and locking unit 704. The tracking and locking unit 704 can obtain the correct carrier phase and code phase after one search.
[0107] In an exemplary embodiment, the auxiliary tracking component 703 includes multiple auxiliary tracking channels, each configured with a different signal frequency. After the signal acquisition component 702 acquires a satellite signal, the auxiliary tracking component 703 tracks the frequencies f1 to fn in parallel based on the coarse carrier frequency and code phase provided by the signal acquisition component, and selects the most reliable tracking parameters to submit to the subsequent tracking and locking component 704. The tracking and locking component 704 can achieve satellite signal tracking after one tracking process. The auxiliary tracking component 703 is reusable; after tracking satellite 1, it can continue to track satellite 2, and so on, then submit the optimal tracking parameters to the subsequent tracking and locking component 704. By reusing the auxiliary tracking component 703, the computational resources of the subsequent tracking and locking components are greatly saved, and by tracking all parameters at once, signal acquisition and tracking time is reduced.
[0108] The tracking and locking component 704 tracks and locks the tracking parameters and demodulates the navigation information contained in the satellite signal.
[0109] Traditional multi-channel tracking architectures require the parallel deployment of multiple hardware channels, resulting in large size and high resource consumption. This application introduces reusable auxiliary channels to achieve multi-frequency parallel processing under limited hardware conditions, reducing the occupation of logic units and storage resources, and making the device lighter and more compact. Through the parallel selection and parameter optimization mechanism of the auxiliary channels, the receiver's adaptability and long-term stability under dynamic, weak signal, and complex interference conditions are significantly enhanced.
[0110] Based on the same inventive concept, this application also provides a satellite signal tracking device for implementing the satellite signal tracking method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more satellite signal tracking device embodiments provided below can be found in the limitations of the satellite signal tracking method described above, and will not be repeated here.
[0111] In one exemplary embodiment, such as Figure 8 As shown, a satellite signal tracking device 800 is provided, including: a signal receiving module 801, a signal acquisition module 802, an auxiliary tracking module 803, and a tracking lock module 804.
[0112] The signal receiving module 801 is used to receive satellite signals.
[0113] Signal acquisition module 802 is used to acquire the first estimated parameters of satellite signals.
[0114] The auxiliary tracking module 803 is used to search multiple signal frequency points in parallel based on the first estimated parameters to obtain the tracking parameters of the satellite signal.
[0115] The tracking lock module 804 is used to lock the tracking parameters and demodulate the navigation information contained in the satellite signal.
[0116] In an exemplary embodiment, the auxiliary tracking module 803 is further configured to: take the signal frequency point of the first estimated parameter as the main frequency point, determine the frequency point correlation between the main frequency point and other signal frequency points; based on the physical synchronization law and the frequency point correlation, derive the statistical value of the first estimated parameter to other signal frequency points, determine the second estimated parameters corresponding to each of the other signal frequency points; and select the tracking parameters of the satellite signal from the first estimated parameter and each of the second estimated parameters.
[0117] In an exemplary embodiment, the auxiliary tracking module 803 is further configured to: perform signal quality assessment on the first estimated parameter and the second estimated parameter, and obtain assessment scores corresponding to the first estimated parameter and the second estimated parameter respectively; and use the estimated parameter corresponding to the highest assessment score as the tracking parameter of the satellite signal.
[0118] In an exemplary embodiment, the tracking lock module 804 is further configured to: perform closed-loop feedback control based on the tracking parameters to obtain local synchronization parameters; detect the synchronization error between the local synchronization parameters and the navigation parameters carried by the satellite signal; and determine that the tracking lock is successful if the synchronization error meets the navigation accuracy conditions.
[0119] Each module in the aforementioned satellite signal tracking device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.
[0120] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a satellite signal tracking method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.
[0121] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0122] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.
[0123] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.
[0124] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.
[0125] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.
[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.
[0127] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A method of satellite signal tracking, characterized by, The method comprises: receiving a satellite signal; capturing a first estimated parameter of the satellite signal; searching multiple signal frequencies in parallel according to the first estimated parameter to obtain a tracking parameter of the satellite signal; tracking locking the tracking parameter to demodulate navigation information contained in the satellite signal.
2. The method of claim 1, wherein, The searching multiple signal frequencies in parallel according to the first estimated parameter to obtain a tracking parameter of the satellite signal comprises: taking the signal frequency of the first estimated parameter as a main frequency, determining a frequency correlation between the main frequency and each of other signal frequencies; deducing a statistical value of the first estimated parameter to each of the other signal frequencies based on a physical synchronization law and the frequency correlation to determine a second estimated parameter corresponding to each of the other signal frequencies respectively; screening the tracking parameter of the satellite signal from the first estimated parameter and each of the second estimated parameters.
3. The method of claim 2, wherein, The screening the tracking parameter of the satellite signal from the first estimated parameter and each of the second estimated parameters comprises: performing signal quality evaluation on the first estimated parameter and each of the second estimated parameters to obtain an evaluation score corresponding to each of the first estimated parameter and the second estimated parameters respectively; taking an estimated parameter corresponding to the highest evaluation score as the tracking parameter of the satellite signal.
4. The method of claim 1, wherein, The tracking locking the tracking parameter comprises: performing closed-loop feedback control based on the tracking parameter to obtain a local synchronization parameter; detecting a synchronization error between the local synchronization parameter and a navigation parameter carried by the satellite signal; determining that the tracking locking is successful in a case where the synchronization error meets a navigation precision condition.
5. A satellite signal tracking system, characterized by The system comprises: a signal receiving component, a signal capturing component, an auxiliary tracking component and a tracking locking component; The signal receiving component receives a satellite signal; The signal capturing component captures a first estimated parameter of the satellite signal; The auxiliary tracking component searches multiple signal frequencies in parallel according to the first estimated parameter to obtain a tracking parameter of the satellite signal; The tracking locking component tracks locks the tracking parameter to demodulate navigation information contained in the satellite signal.
6. The satellite signal tracking system of claim 5 wherein, The auxiliary tracking component comprises multiple auxiliary tracking channels, and each auxiliary tracking channel is configured with a different signal frequency.
7. A satellite signal tracking device, characterized by The device comprises: a signal receiving module configured to receive a satellite signal; a signal capturing module configured to capture a first estimated parameter of the satellite signal; an auxiliary tracking module configured to search multiple signal frequencies in parallel according to the first estimated parameter to obtain a tracking parameter of the satellite signal; a tracking locking module configured to track lock the tracking parameter to demodulate navigation information contained in the satellite signal.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 4.
9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 4.
10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 4.