Satellite navigation simulation device and method, electronic device, medium and program product

Abstract

The embodiment of the invention discloses a satellite navigation simulation device and method, an electronic device, a medium and a program product, and relates to the technical field of satellite navigation, the satellite navigation simulation device comprises a Beidou receiver, a signal receiving unit, a signal processing unit and a signal transmitting unit; the Beidou receiver is used for generating a time synchronization signal based on the Beidou signal; the signal receiving unit is used for receiving the mixed satellite signal; the signal processing unit comprises a pseudo satellite constellation simulation module, a self-adaptive filtering module and a satellite navigation signal generation module; the adaptive filtering module is used for filtering the mixed satellite signal by taking the simulated satellite signal as a reference to obtain a real satellite signal; the pseudo satellite constellation simulation module is used for generating a simulation satellite signal based on the real satellite signal and the time synchronization signal; the satellite navigation signal generation module is used for generating a satellite navigation signal based on the simulated satellite signal; and the signal transmitting unit is used for transmitting satellite navigation signals.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, specifically to a satellite navigation simulation device, method, electronic device, medium, and program product. Background Technology

[0002] In the early days, high-precision timing and positioning services for Global Navigation Satellite Systems (GNSS) primarily relied on the Global Positioning System (GPS). With the full deployment and application of the BeiDou Navigation Satellite System (BDS), users now have a new and reliable option for high-precision applications. Against this backdrop, how to provide more accurate and reliable testing and support methods based on the BeiDou system has become an important issue for technical personnel in related fields.

[0003] In equipment research and development and testing, satellite navigation simulation equipment is often used to generate simulated satellite navigation signals. This equipment receives real satellite navigation signals (including GPS, BeiDou, etc.) and, through digital signal processing technology, generates simulated satellite navigation signals, which are then provided to communication base stations, navigation terminals, and other devices under test (DUTs) that have strict requirements for positioning and timing accuracy. However, while operating, the simulated signals emitted by the satellite navigation simulation equipment inevitably leak or couple into the real satellite navigation signals, creating strong self-interference. This results in the DUT's receiver receiving real satellite signals while also receiving interference signals generated by the simulation equipment. This not only reduces the accuracy of the real satellite signals but, more seriously, can even cause receiver malfunctions, ultimately leading to abnormal operation of the DUT. Summary of the Invention

[0004] This application provides a satellite navigation simulation device, method, electronic device, medium, and program product. It obtains a precise time reference through a built-in Beidou receiver and uses an adaptive filtering module to eliminate interference signals generated by the device in real time from the received mixed signals. This enables the device under test to output satellite navigation signals generated by real satellite signals, effectively solving the problems of output signal quality degradation and test abnormalities of the device under test caused by self-interference in traditional satellite navigation simulation devices.

[0005] In a first aspect, embodiments of this application provide a satellite navigation simulation device, the device comprising: Beidou receiver, signal receiving unit, signal processing unit and signal transmitting unit; The output terminal of the Beidou receiver is connected to the first input terminal of the signal processing unit; the Beidou receiver is used to generate a time synchronization signal based on the received Beidou signal and send the time synchronization signal to the signal processing unit. The output of the signal receiving unit is connected to the second input of the signal processing unit; the signal receiving unit is used to transmit the received mixed satellite signals to the signal processing unit; the mixed satellite signals include real satellite signals and interference signals generated by satellite navigation simulation equipment; The output of the signal processing unit is connected to the input of the signal transmitting unit. The signal processing unit includes a pseudo-satellite constellation simulation module, an adaptive filtering module, and a satellite navigation signal generation module connected in sequence. The adaptive filtering module is used to filter the mixed satellite signals using the simulated satellite signals generated by the pseudo-satellite constellation simulation module as a reference, eliminating interference signals and obtaining real satellite signals. The pseudo-satellite constellation simulation module is used to generate simulated satellite signals based on real satellite signals and time synchronization signals. The satellite navigation signal generation module is used to generate satellite navigation signals based on simulated satellite signals. The signal transmitting unit is used to transmit satellite navigation signals.

[0006] In some embodiments, the satellite navigation signal generation module includes a navigation message generation module, a carrier signal generation module, and a digital signal modulation module connected in sequence. The input terminal of the navigation message generation module is connected to the output terminal of the pseudo-satellite constellation simulation module; the navigation message generation module is used to generate navigation messages based on simulated satellite signals. A carrier signal generation module is used to generate a carrier signal at a predetermined frequency; The output of the digital signal modulation module is connected to the input of the signal transmitting unit; the digital signal modulation module is used to modulate the navigation message onto the carrier signal to generate a satellite navigation signal.

[0007] In some embodiments, the signal processing unit further includes a baseband data receiving module, a time synchronization processing module, and a baseband data output module; The input terminal of the baseband data receiving module is connected to the output terminal of the signal receiving unit, and the output terminal of the baseband data receiving module is connected to the input terminal of the adaptive filtering module; the baseband data receiving module is used to perform clock synchronization and bit alignment processing on the hybrid satellite signal, and send the processed hybrid satellite signal to the adaptive filtering module; The input terminal of the time synchronization processing module is connected to the output terminal of the satellite navigation signal generation module, and the output terminal of the time synchronization processing module is connected to the input terminal of the baseband data output module. The time synchronization processing module is used to receive the time synchronization signal generated by the Beidou receiver, correct the local clock, and provide a synchronized time reference for the pseudo-satellite constellation simulation module. The output terminal of the baseband data output module is connected to the input terminal of the signal transmission unit; the baseband data output module is used to perform time alignment and formatting processing on the satellite navigation signal and transmit it to the signal transmission unit.

[0008] In some embodiments, the baseband data receiving module includes a clock synchronization submodule, a bit alignment submodule, a data receiving submodule, and a data buffer submodule connected in sequence. The input terminal of the clock synchronization submodule is connected to the output terminal of the signal receiving unit; the clock synchronization submodule is used to extract the first clock of the mixed satellite signal and adjust the local sampling clock to synchronize with the first clock; The bit alignment submodule is used to detect the frame synchronization code in the mixed satellite signal, determine the start position of the data frame of the mixed satellite signal, and adjust the sampling point position based on the determined start position to ensure that the sampling point position is at the center of each bit period. The data receiving submodule is used to sample mixed satellite signals based on clock synchronization and bit alignment; The output of the data buffer submodule is connected to the input of the adaptive filtering module; the data buffer submodule is used to temporarily store the sampled mixed satellite signals and transmit the mixed satellite signals to the adaptive filtering module.

[0009] In some embodiments, the signal receiving unit includes a radio frequency receiving module and an analog-to-digital conversion module connected in sequence; Radio frequency receiver module, used to receive analog hybrid satellite signals; The output of the analog-to-digital converter module is connected to the input of the signal processing unit; the analog-to-digital converter module is used to convert analog hybrid satellite signals into hybrid satellite signals and transmit the hybrid satellite signals to the signal processing unit. The signal transmitting unit includes a digital-to-analog converter module and a radio frequency amplifier module connected in sequence; The input terminal of the digital-to-analog converter module is connected to the output terminal of the signal processing unit; the digital-to-analog converter module is used to receive satellite navigation signals and convert the satellite navigation signals into analog satellite navigation signals; The radio frequency amplification module is used to amplify the analog satellite navigation signal and divide the amplified analog satellite navigation signal into multiple sub-analog satellite navigation signals.

[0010] In some embodiments, the radio frequency receiving module includes a low-noise amplifier and a first filter connected in sequence; Low-noise amplifier for receiving and amplifying analog hybrid satellite signals; The output of the first filter is connected to the input of the analog-to-digital converter module; the first filter is used to filter out out-of-band noise and interference in the analog mixed satellite signal output by the low-noise amplifier. The analog-to-digital conversion module includes a first local crystal oscillator, a first local oscillator chip, a first mixer, and an AD sampling chip connected in sequence. A first local crystal oscillator is used to generate a first reference frequency signal; The first local oscillator chip is used to generate the first local oscillator signal based on the first reference frequency signal; The input terminal of the first mixer is also connected to the output terminal of the first filter; the first mixer is used to mix the analog mixed satellite signal output by the first filter with the first local oscillator signal to output an intermediate frequency analog mixed satellite signal; The output terminal of the AD sampling chip is connected to the input terminal of the signal processing unit; the AD sampling chip is used to sample and quantize the intermediate frequency analog hybrid satellite signal and output the hybrid satellite signal.

[0011] In some embodiments, the digital-to-analog conversion module includes a second local crystal oscillator, a second local oscillator chip, a second mixer, and a second filter connected in sequence, and also includes a DA conversion chip; A second local crystal oscillator is used to generate a second reference frequency signal; The second local oscillator chip generates a second local oscillator signal based on the second reference frequency signal generated by the second local crystal oscillator; The input terminal of the DA converter chip is also connected to the output terminal of the signal processing unit, and the output terminal of the DA converter chip is connected to the input terminal of the second mixer; the DA converter chip is used to convert the satellite navigation signal from the signal processing unit into an analog satellite navigation signal; The second mixer is used to mix the analog satellite navigation signal with the second local oscillator signal and output the radio frequency analog satellite navigation signal. The output of the second filter is connected to the input of the radio frequency amplification module; the second filter is used to filter out harmonics in the radio frequency analog satellite navigation signal.

[0012] In some embodiments, the radio frequency amplification module includes a radio frequency amplifier, a third filter, a coupler, and a power divider connected in sequence, and also includes a power detector. The input terminal of the radio frequency amplifier is connected to the output terminal of the digital-to-analog converter module; the radio frequency amplifier is used to amplify signals from analog satellite navigation. The third filter is used to filter out out-of-band noise introduced by the radio frequency amplifier in the analog satellite navigation signal; The coupler, connected to the third filter, is used to couple the analog satellite navigation signal into a coupled signal for power detection; A power divider, connected to the main port of a coupler, is used to divide analog satellite navigation signals into multiple identical output signals; The input terminal of the power detector is connected to the coupling port of the coupler. The power detector is used to detect the power of the coupled signal and generate a feedback signal to control the gain of the radio frequency amplifier.

[0013] In some embodiments, the method for filtering the mixed satellite signal using the simulated satellite signal generated by the pseudo-satellite constellation simulation module as a reference to eliminate interference signals in the mixed satellite signal and obtain the real satellite signal is as follows: Using a pre-trained adaptive filter, with the mixed satellite signal as the input signal and the simulated satellite signal generated by the pseudo-satellite constellation simulation module as the reference signal, the output signal is obtained; the output signal is used to characterize the interference signal in the mixed satellite signal. The error signal is obtained based on the output signal and the input signal; The error signal was determined to be a real satellite signal.

[0014] In some embodiments, the training process of the adaptive filter is as follows: The simulated satellite signal is determined as the desired reference signal for the adaptive filter; For the desired reference signal and the mixed satellite signal, a first operation is performed; the first operation is: taking the mixed satellite signal as the input signal and the desired reference signal as the desired response; determining the output of the adaptive filter based on the weight coefficients of the adaptive filter and the input signal; determining the error signal based on the output of the adaptive filter and the desired response; and updating the weight coefficients based on the error signal and the input signal. The first operation is iterated until the output of the adaptive filter converges to the desired reference signal, thus obtaining the pre-trained adaptive filter.

[0015] Thirdly, embodiments of this application provide a satellite navigation simulation method, the method comprising: Acquire time synchronization signals and hybrid satellite signals; the time synchronization signal refers to the time synchronization signal generated by the BeiDou signal, and the hybrid satellite signal includes real satellite signals and interference signals generated by satellite simulation equipment and satellite navigation simulation equipment; The mixed satellite signals are filtered to eliminate interference signals and obtain the real satellite signals. Simulated satellite signals are generated based on real satellite signals and time synchronization signals. Generate satellite navigation signals based on simulated satellite signals; To launch satellite navigation signals.

[0016] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory for storing a computer program capable of running on the processor, wherein, when the processor runs the computer program, it performs the method described in any embodiment of the first aspect.

[0017] Fourthly, embodiments of this application provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods described in any embodiment of the first aspect.

[0018] Fifthly, embodiments of this application provide a computer program product including a computer program that, when executed by a processor, performs the method described in any embodiment of the first aspect.

[0019] The satellite navigation simulation device provided in this application generates a high-precision time synchronization signal through a built-in Beidou receiver, providing the device with an autonomous and controllable time reference source. The signal receiving unit is responsible for collecting mixed satellite signals containing real microsatellite signals and the device's own interference signals, thus clarifying the composition of the object to be processed. The adaptive filtering module in the signal processing unit innovatively uses the simulated satellite signals generated by the internal pseudo-satellite constellation simulation module as a reference to filter the mixed satellite signals, thereby accurately eliminating interference signals in the mixed satellite signals and obtaining real satellite signals, overcoming the core defect of self-interference caused by leakage of the device's own simulation signals in the prior art. Furthermore, the pseudo-satellite constellation simulation module uses the purified real satellite signals and time synchronization signals to generate simulated satellite signals, ensuring the accuracy and reliability of the generated simulated satellite signals. The satellite navigation signal generation module generates satellite navigation signals based on these simulated satellite signals. Finally, the signal transmitting unit transmits the signals externally, thereby providing high-fidelity, interference-free test signals to the external device under test, fundamentally solving the problem of output signal quality degradation caused by self-interference in traditional satellite simulation devices, and the resulting test abnormalities or malfunctions of the device under test.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are merely embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings.

[0022] Figure 1 This is a schematic diagram of the structure of the satellite navigation simulation device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the radio frequency receiving module provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the analog-to-digital conversion module provided in the embodiments of this application; Figure 4 This is a schematic diagram of the digital-to-analog conversion module provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the radio frequency amplification module provided in the embodiments of this application; Figure 6 A schematic diagram illustrating the principle of the adaptive filter training method provided in the embodiments of this application; Figure 7 A flowchart illustrating a satellite navigation simulation method provided in this application embodiment; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. The described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that the terms "system," "device," "unit," and / or "module" used in this application are methods of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they can be replaced by other expressions.

[0025] Hereinafter, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0026] In equipment research and development and testing, satellite navigation simulation equipment is often used to generate simulated satellite navigation signals. This equipment receives real satellite navigation signals (including GPS, BeiDou, etc.) and, through digital signal processing technology, generates simulated satellite navigation signals, which are then provided to communication base stations, navigation terminals, and other devices under test (DUTs) that have strict requirements for positioning and timing accuracy. However, while operating, the simulated signals emitted by the satellite navigation simulation equipment inevitably leak or couple into the real satellite navigation signals, creating strong self-interference. This results in the DUT's receiver receiving real satellite signals while also receiving interference signals generated by the simulation equipment. This not only reduces the accuracy of the real satellite signals but, more seriously, can even cause receiver malfunctions, ultimately leading to abnormal operation of the DUT.

[0027] For example, in RNSS service, there is a certain deviation in distance measurement. The main source of this deviation is the clock difference between the satellite and the measured device, but this deviation is basically the same for each satellite. Considering the existence of this deviation, the distance measurement result is called pseudorange. The formula for calculating pseudorange Pj can be expressed as: Pj= ; Where: Xsj, Ysj, Zsj are the relative coordinates of the satellite; Xu, Yu, Zu are the relative coordinates of the receiver of the device under test; but is the error.

[0028] When the device under test resolves Xsj, Ysj, and Zsj, the superposition of simulated satellite signals and real satellite signals will cause Xsj, Ysj, and Zsj to be too large. After calculation, the pseudorange Pj will be too large.

[0029] To address the aforementioned issues, this application provides a satellite navigation simulation device, method, electronic device, medium, and program product. It acquires a precise time reference through a built-in BeiDou receiver and utilizes an adaptive filtering module to eliminate interference signals generated by the device in real time from the received mixed signals. This enables the device under test to output satellite navigation signals generated from real satellite signals, effectively solving the problems of reduced output signal quality and abnormal testing of the device under test caused by self-interference in traditional satellite navigation simulation devices.

[0030] The satellite navigation simulation equipment provided in this application will be described in detail below with reference to the accompanying drawings.

[0031] Figure 1 This is a schematic diagram of the structure of a satellite navigation simulation device provided in an embodiment of this application. Figure 1 As shown, the satellite navigation simulation device includes: The system comprises a BeiDou receiver 101, a signal receiving unit 102, a signal processing unit 103, and a signal transmitting unit 104. The signal receiving unit 102, the signal processing unit 103, and the signal transmitting unit 104 are connected in sequence. Specifically, the output terminal of the signal receiving unit 102 is connected to the second input terminal of the signal processing unit 103, the output terminal of the signal processing unit 103 is connected to the input terminal of the signal transmitting unit 104, and the output terminal of the BeiDou receiver 101 is connected to the first input terminal of the signal processing unit 103.

[0032] The Beidou receiver 101 is used to receive Beidou signals and generate time synchronization signals based on the Beidou signals. Signal receiving unit 102 is used to receive mixed satellite signals; the mixed satellite signals include real satellite signals and interference signals generated by satellite navigation simulation equipment; The signal processing unit 103 includes a pseudo-satellite constellation simulation module 1031, an adaptive filtering module 1032, and a satellite navigation signal generation module 1033; The adaptive filtering module 1032 is used to filter the mixed satellite signal with the simulated satellite signal generated by the pseudo-satellite constellation simulation module 1031 as a reference, to eliminate interference signals in the mixed satellite signal and obtain the real satellite signal; the pseudo-satellite constellation simulation module 1031 is used to generate simulated satellite signals based on real satellite signals and time synchronization signals; the satellite navigation signal generation module 1033 is used to generate satellite navigation signals based on simulated satellite signals. Signal transmitting unit 104 is used to transmit satellite navigation signals.

[0033] In one embodiment, the first input terminal of the adaptive filtering module 1032 can be connected to the output terminal of the signal receiving unit 102 as the input terminal of the signal processing unit 103, and the second input terminal of the adaptive filtering module 1032 can be connected to the output terminal of the pseudo-satellite constellation simulation module 1031 as the reference signal input terminal; the output terminal of the pseudo-satellite constellation simulation module 1031 is also connected to the input terminal of the satellite navigation signal generation module 1033; and the output terminal of the satellite navigation signal generation module 1033 can be connected to the input terminal of the signal transmitting unit 104 as the output terminal of the signal processing unit 103.

[0034] The signal processing unit 103 may be a signal processing unit based on a programmable logic device, such as a signal processing unit based on a field-programmable gate array (FPGA).

[0035] The satellite navigation simulation device provided in this application generates a high-precision time synchronization signal through a built-in Beidou receiver, providing the device with an autonomous and controllable time reference source. The signal receiving unit is responsible for collecting mixed satellite signals containing real microsatellite signals and the device's own interference signals, thus clarifying the composition of the object to be processed. The adaptive filtering module in the signal processing unit innovatively uses the simulated satellite signals generated by the internal pseudo-satellite constellation simulation module as a reference to filter the mixed satellite signals, thereby accurately eliminating interference signals in the mixed satellite signals and obtaining real satellite signals, overcoming the core defect of self-interference caused by leakage of the device's own simulation signals in the prior art. Furthermore, the pseudo-satellite constellation simulation module uses the purified real satellite signals and time synchronization signals to generate simulated satellite signals, ensuring the accuracy and reliability of the generated simulated satellite signals. The satellite navigation signal generation module generates satellite navigation signals based on these simulated satellite signals. Finally, the signal transmitting unit transmits the signals externally, thereby providing high-fidelity, interference-free test signals to the external device under test, fundamentally solving the problem of output signal quality degradation caused by self-interference in traditional satellite simulation devices, and the resulting test abnormalities or malfunctions of the device under test.

[0036] In one embodiment, the satellite navigation signal generation module 1033 includes a navigation message generation module 10331, a carrier signal generation module 10332, and a digital signal modulation module 10333 connected in sequence. The navigation message generation module 10331 is used to generate navigation messages based on analog satellite signals; The carrier signal generation module 10332 is used to generate a carrier signal of a predetermined frequency; The digital signal modulation module 10333 is used to modulate navigation messages onto carrier signals to generate satellite navigation signals.

[0037] In one embodiment, the input terminal of the navigation message generation module 10331 can be connected to the output terminal of the pseudo-satellite constellation simulation module 1031 as the input terminal of the satellite navigation signal generation module 1033; the output terminal of the digital signal modulation module 10333 can be connected to the input terminal of the signal transmission unit 104 as the output terminal of the satellite navigation signal generation module 1033.

[0038] In one embodiment, the navigation message generation module 10331 is specifically used for: 1) Receive satellite position information, specifically: Receive the current position information of the satellite from the pseudo-satellite constellation simulation module, and confirm the satellite's orbital parameters and clock information.

[0039] 2) Initialize the navigation message, specifically: According to the standards of the satellite navigation system, initialize the format and structure of the navigation message and fill in the fixed parts of the navigation message, such as satellite ID, health status, etc.

[0040] 3) Calculate dynamic information, specifically: Calculate satellite ephemeris data, including orbital parameters and clock correction parameters, and predict the satellite's position and velocity over a future period based on the satellite's motion model.

[0041] 4) Generate navigation message content, specifically: The calculated dynamic information is encoded into the navigation message; the dynamic information includes, but is not limited to: ephemeris data (such as orbital parameters, clock correction parameters, etc.), clock correction, ionospheric correction, Coordinated Universal Time (UTC) information, etc.

[0042] 5) Message coding, specifically: The navigation message is converted into a signal form suitable for transmission using a prescribed encoding method (such as Binary Phase Shift Keying (BPSK) modulation) to ensure that the encoded navigation message has sufficient anti-interference capability and error detection capability.

[0043] 6) Output navigation message, specifically: The generated navigation message is sent to the carrier signal generation module 10332, and the real-time and continuous transmission of the message is ensured.

[0044] In one embodiment, the carrier signal generation module 10332 is specifically used for: 1) Navigation message reception, specifically: Receive navigation messages from navigation message generation module 10331.

[0045] 2) Carrier signal generation, specifically: A stable carrier signal at a predetermined frequency is generated, which is usually consistent with the frequency specified by the satellite navigation system (e.g., 1575.42MHz in the GPS L1 band).

[0046] In one embodiment, the digital signal modulation module 10333 is specifically used for: 1) Carrier signal reception, specifically: Receives carrier signals from carrier signal generation module 10332.

[0047] 2) C / A code generation, specifically: Generate pseudo-random noise codes (C / A codes); where C / A codes are used in GPS systems to assist in signal acquisition and tracking.

[0048] 3) Code synchronization, specifically: Ensure that the C / A code is synchronized with the phase and frequency of the carrier signal.

[0049] 4) Digital modulation, specifically: BPSK modulation is used to modulate the C / A code onto the carrier signal. In BPSK modulation, each bit of the C / A code changes the phase of the carrier signal (for example, 0 corresponds to no phase, and 1 corresponds to a 180-degree phase reversal).

[0050] 5) Signal synthesis, specifically: The modulated C / A code is multiplied by the carrier signal to synthesize the satellite navigation signal.

[0051] 6) Signal output, specifically: The modulated satellite navigation signal is output for use by the subsequent signal transmission unit 104.

[0052] In one embodiment, the signal processing unit 103 further includes a baseband data receiving module 1034, a time synchronization processing module 1035, and a baseband data output module 1036; The baseband data receiving module 1034 is used to perform clock synchronization and bit alignment processing on the hybrid satellite signal and send the processed hybrid satellite signal to the adaptive filtering module 1032. The time synchronization processing module 1035 is used to receive the time synchronization signal generated by the Beidou receiver 101, correct the local clock, and provide a synchronized time reference for the pseudo-satellite constellation simulation module 1031. The baseband data output module 1036 is used to perform time alignment and formatting of satellite navigation signals and transmit them to the signal transmission unit.

[0053] In one embodiment, the input terminal of the baseband data receiving module 1034 can be connected to the output terminal of the signal processing unit 104 as the input terminal of the signal receiving unit 103, and the output terminal 1034 of the baseband data receiving module is connected to the input terminal of the adaptive filtering module 1032; the input terminal of the time synchronization processing module 1035 is connected to the output terminal of the satellite navigation signal generation module 1033, and the output terminal of the time synchronization processing module 1035 is connected to the input terminal 1036 of the baseband data output module; the output terminal 1036 of the baseband data output module can be connected to the input terminal of the signal transmitting unit 104 as the output terminal of the signal processing unit 103.

[0054] In one embodiment, the baseband data receiving module 1034 specifically includes a clock synchronization submodule, a bit alignment submodule, a data receiving submodule, and a data buffer submodule connected in sequence. The clock synchronization submodule is used to extract the first clock from the mixed satellite signal and synchronize the local sampling clock with the first clock. Specifically, the first clock can be extracted from the mixed satellite signal through phase-locked loop (PLL) or clock and data recovery (CDR) technology. Synchronizing the local sampling clock with the first clock ensures that the mixed satellite signal is sampled at the correct time.

[0055] The bit alignment submodule is used to detect frame synchronization codes (such as preamble) in the mixed satellite signals, determine the start position of the data frames of the mixed satellite signals, and adjust the sampling point positions based on the determined start position to ensure that the sampling point positions are at the center of each bit period. The data receiving submodule is used to sample mixed satellite signals based on clock synchronization and bit alignment; The data caching submodule is used to temporarily store the sampled mixed satellite signals and transmit the mixed satellite signals to the adaptive filtering module.

[0056] In one embodiment, the input terminal of the clock synchronization submodule can be connected to the output terminal of the signal receiving unit 102 as the input terminal of the baseband data receiving module 1034; the output terminal of the clock synchronization submodule is connected to the input terminal of the bit alignment submodule; the output terminal of the bit alignment submodule is connected to the input terminal of the data receiving submodule; the output terminal of the data receiving submodule is connected to the input terminal of the data buffer submodule; and the output terminal of the data buffer submodule can be connected to the input terminal of the adaptive filtering module 1032 as the output terminal of the baseband data receiving module 1034.

[0057] In one embodiment, the time synchronization processing module 1035 is specifically used for: 1) BeiDou signal reception, specifically: Receives time synchronization signals from Beidou Receiver 101.

[0058] 2) Time information processing, specifically: The BeiDou time information is extracted from the received time synchronization signal and processed to correct time deviations caused by transmission delays and other factors.

[0059] 3) Local clock adjustment, specifically: Compare the local clock with the BeiDou time, calculate the time difference between the local clock and the BeiDou time, and adjust the local clock according to the time difference to synchronize the local clock with the BeiDou time.

[0060] 4) Analog signal correction, specifically: When generating simulated satellite signals, corrected time information is embedded into the signal to ensure that the timestamp of the simulated satellite signal is consistent with the real time.

[0061] 5) Synchronous monitoring and maintenance, specifically: Continuously monitor the time synchronization status to ensure its continuity and stability. Perform time synchronization again when necessary to address potential clock drift or other issues.

[0062] In one embodiment, the baseband data output module 1036 is specifically used for: 1) Signal reception, specifically: Receive satellite navigation signals from satellite navigation signal generation module 1033.

[0063] 2) Time synchronization processing, specifically: A time synchronization algorithm is used to adjust the timestamp of the satellite navigation signal to ensure that the satellite navigation signal is synchronized with the system clock.

[0064] 3) Bit alignment adjustment, specifically: The data bits in the satellite navigation signal are detected and adjusted to align with the sampling clock of the signal transmission unit 104 in order to compensate for the time delay in the signal processing chain.

[0065] 4) Data formatting, specifically: The satellite navigation signal is converted into a format suitable for reception by the signal transmitting unit 104, such as I / Q format or other required digital format.

[0066] 5) Data rate adaptation, specifically: Adjust the transmission rate of the satellite navigation signal according to the requirements of the signal transmitting unit 104.

[0067] 6) Data transmission, specifically: The formatted and rate-adapted satellite navigation signal is sent to the signal transmission unit 104.

[0068] In one embodiment, the signal receiving unit 102 includes a radio frequency receiving module 1021 and an analog-to-digital conversion module 1022 connected in sequence. RF receiver module 1021 is used to receive analog hybrid satellite signals; The analog-to-digital conversion module 1022 is used to convert analog hybrid satellite signals into hybrid satellite signals and transmit the hybrid satellite signals to the signal processing unit; In one embodiment, the output terminal of the radio frequency receiving module 1021 is connected to the input terminal of the analog-to-digital conversion module 1022, and the output terminal of the analog-to-digital conversion module 1022 can be connected to the input terminal of the signal receiving unit 102 as the output terminal of the signal processing unit 103.

[0069] The signal transmitting unit 104 includes a digital-to-analog converter module 1041 and a radio frequency amplifier module 1043 connected in sequence. The digital-to-analog converter module 1041 is used to receive satellite navigation signals and convert them into analog satellite navigation signals; The radio frequency amplification module 1042 is used to amplify the analog satellite navigation signal and divide the amplified analog satellite navigation signal into multiple sub-analog satellite navigation signals.

[0070] In one embodiment, the input terminal of the digital-to-analog converter module can be connected to the output terminal of the signal transmission unit 104 as the input terminal of the signal processing unit 103; the output terminal of the digital-to-analog converter module is connected to the input terminal of the radio frequency amplification module 1042.

[0071] In one embodiment, Figure 2 This is a schematic diagram of the structure of the radio frequency receiving module provided in an embodiment of this application. Figure 2 As shown, the radio frequency receiving module 1021 includes a low noise amplifier 10211 and a first filter 10212 connected in sequence; The low-noise amplifier 10211 is used to receive and amplify analog mixed satellite signals; The first filter 10212 is used to filter out out-of-band noise and interference in the analog mixed satellite signal output by the low-noise amplifier.

[0072] In one embodiment, the output of the low-noise amplifier 10211 is connected to the input of the first filter 10212; the output of the first filter 10212 can be connected as the output of the radio frequency receiving module 1021 and the input of the analog-to-digital conversion module 1022.

[0073] In one embodiment, Figure 3This is a schematic diagram of the analog-to-digital conversion module provided in an embodiment of this application. Figure 3 As shown, The analog-to-digital conversion module 1022 includes a first local crystal oscillator 10221, a first local oscillator chip 10222, a first mixer 10223, and an AD sampling chip 10224 connected in sequence. The first local crystal oscillator 10221 is used to generate the first reference frequency signal; The first local oscillator chip 10222 is used to generate a first local oscillator signal based on a first reference frequency signal; The first mixer 10223 is used to mix the analog hybrid satellite signal output from the first filter with the first local oscillator signal to achieve down-conversion and output the intermediate frequency analog hybrid satellite signal. The AD sampling chip 10224 is used to sample and quantize intermediate frequency analog hybrid satellite signals and output hybrid satellite signals.

[0074] In one embodiment, the output terminal of the first local crystal oscillator 10221 is connected to the input terminal of the first local oscillator chip 10222; the output terminal of the first local oscillator chip 10222 is connected to the input terminal of the first mixer 10223; the output terminal of the first mixer 10223 is connected to the input terminal of the AD sampling chip 10224; the output terminal of the AD sampling chip 10224 can also be used as the output terminal of the analog-to-digital conversion module 1022 and connected to the input terminal of the signal processing unit 103; the input terminal of the first mixer can also be used as the input terminal of the analog-to-digital conversion module 1022 and connected to the output terminal of the first filter 10212.

[0075] In one embodiment, Figure 4 This is a schematic diagram of the digital-to-analog conversion module provided in an embodiment of this application. Figure 4 As shown, the digital-to-analog converter module 1041 includes a second local crystal oscillator 10411, a second local oscillator chip 10412, a DA converter chip 10413, a second mixer 10414, and a second filter 10415. The second local crystal oscillator 10411 is used to generate the second reference frequency signal; The second local oscillator chip 10412 generates a second local oscillator signal based on the second reference frequency signal generated by the second local crystal oscillator; The DA converter chip 10413 is used to convert satellite navigation signals from the signal processing unit into analog satellite navigation signals; The second mixer 10414 is used to mix the analog satellite navigation signal with the second local oscillator signal to achieve up-conversion and output radio frequency analog satellite navigation signal; The second filter, 10415, is used to filter out harmonics in radio frequency analog satellite navigation signals.

[0076] In one embodiment, the output terminal of the second local crystal oscillator 10411 is connected to the input terminal of the second local oscillator chip 10412; the output terminal of the second local oscillator chip 10412 is connected to the input terminal of the second mixer 10414; the output terminal of the second mixer 10414 is connected to the input terminal of the second filter 10415; the output terminal of the second filter 10415 can also be used as the output terminal of the digital-to-analog converter module 1041 and connected to the input terminal of the radio frequency amplification module 1042; the input terminal of the DA converter chip 10413 can also be used as the input terminal of the digital-to-analog converter module 1041 and connected to the output terminal of the signal processing unit 103, and the output terminal of the DA converter chip 10413 is connected to the input terminal of the second mixer 10414.

[0077] In one embodiment, Figure 5 This is a schematic diagram of the structure of the radio frequency amplification module provided in an embodiment of this application. Figure 5 As shown, the radio frequency amplification module 1042 includes a radio frequency amplifier 10421, a third filter 10422, a coupler 10423 and a power divider 10425 connected in sequence, and also includes a power detector 10424. RF amplifier 10421 is used to amplify radio frequency analog satellite navigation signals; The third filter, 10422, is used to filter out out-of-band noise introduced by the radio frequency amplifier in the radio frequency analog satellite navigation signal; Coupler 10423, connected to the third filter, is used to couple the radio frequency analog satellite navigation signal into a coupling signal for power detection; The power detector 10424 is connected to the coupling port of the coupler and is used to detect the power of the coupled signal and generate a feedback signal to control the gain of the RF amplifier. The 10425 power divider connects to the main port of the coupler and is used to divide the radio frequency analog satellite navigation signal into multiple identical output signals.

[0078] In one embodiment, the input terminal of the RF amplifier 10421 can also be connected to the output terminal of the RF amplification module 1042 as the input terminal of the digital-to-analog converter module 1041; the output terminal of the RF amplifier 10421 is connected to the input terminal of the third filter 10422; the output terminal of the third filter 10422 is connected to the input terminal of the coupler 10423; the main port of the coupler 10423 is connected to the input terminal of the power divider 10425, and the coupling port of the coupler 10423 is connected to the input terminal of the power detector 10424; the output terminal of the power divider 10425 can also be used as the output terminal of the RF amplification module 1042.

[0079] In one embodiment, the method for filtering the mixed satellite signals using the simulated satellite signals generated by the pseudo-satellite constellation simulation module as a reference to eliminate interference signals in the mixed satellite signals and obtain the real satellite signals is as follows: Using a pre-trained adaptive filter, with the mixed satellite signal as the input signal and the simulated satellite signal generated by the pseudo-satellite constellation simulation module as the reference signal, the output signal is obtained; the output signal is used to characterize the interference signal in the mixed satellite signal. The error signal is obtained based on the output signal and the input signal; The error signal was determined to be a real satellite signal.

[0080] In one embodiment, Figure 6 This is a schematic diagram illustrating the principle of the adaptive filter training method provided in the embodiments of this application. Figure 6 As shown, the training process of the adaptive filter is as follows: The simulated satellite signal is determined as the desired reference signal d(n) for the adaptive filter; For the desired reference signal and the mixed satellite signal, a first operation is performed; the first operation is as follows: taking the mixed satellite signal as the input signal x(n) and the desired reference signal d(n) as the desired response; determining the adaptive filter output y(n) based on the weight coefficients w(n) of the adaptive filter and the input signal x(n); determining the error signal e(n) based on the adaptive filter output y(n) and the desired response; and updating the weight coefficients based on the error signal e(n) and the input signal x(n). The first operation is iterated until the output of the adaptive filter converges to the desired reference signal, thus obtaining the pre-trained adaptive filter.

[0081] Specifically, first initialize an initial weight coefficient w(0) and a step size factor μ, for example, w(0)=0.

[0082] Suppose that at time t, the input signal x(n) is ; Where x(n) is the latest hybrid satellite signal at the current time t, and x(n-1) is the signal at the previous sampling time (t). The mixed satellite signal, x(n-N+1) is the sampling time of the (N-1)th time. The mixed satellite signal is ^T, which represents transpose.

[0083] Filter output y(n) = ; Error signal e(n) = ; Updated weight coefficients w(n+1) = .

[0084] In one embodiment, this application also provides a satellite navigation simulation method, which is executed by the satellite navigation simulation device described in the above embodiments. Figure 7 This is a flowchart illustrating a satellite navigation simulation method provided in an embodiment of this application. Figure 7 As shown, the method includes: Step 701: Acquire the time synchronization signal and the mixed satellite signal; In one embodiment, the time synchronization signal refers to the time synchronization signal generated by the BeiDou signal, and the mixed satellite signal includes real satellite signals and interference signals generated by satellite simulation equipment and satellite navigation simulation equipment.

[0085] In one embodiment, acquiring the time synchronization signal can be performed by the Beidou receiver 101 in the satellite navigation simulation device; acquiring the hybrid satellite signal can be performed by the signal receiving unit 102 in the satellite navigation simulation device.

[0086] Step 702: Filter the mixed satellite signals to eliminate interference signals and obtain the real satellite signals; In one embodiment, step 702 may be performed by the adaptive filtering module 1032 of the signal processing unit 103 in the satellite navigation simulation device.

[0087] Step 703: Generate simulated satellite signals based on real satellite signals and time synchronization signals; In one embodiment, step 703 may be performed by the pseudo-satellite constellation simulation module 1031 of the signal processing unit 103 in the satellite navigation simulation device.

[0088] Step 704: Generate satellite navigation signals based on simulated satellite signals; In one embodiment, step 703 may be performed by the satellite navigation signal generation module 1033 of the signal processing unit 103 in the satellite navigation simulation device.

[0089] Step 705: Transmit satellite navigation signals.

[0090] In one embodiment, step 703 may be performed by the signal transmitting unit 104 in the satellite navigation simulation device.

[0091] Figure 8 This is a block diagram illustrating an electronic device 800 for implementing the above-described satellite navigation simulation method, according to an exemplary embodiment. For example, the electronic device 800 may be a computer, a personal digital assistant, etc.

[0092] Reference Figure 8The electronic device 800 may include a communication interface 801, capable of interacting with other devices; a processor 802, connected to the communication interface 801 to interact with other devices, used to execute the methods provided by one or more of the above-described technical solutions when running a computer program; and a memory 803, on which the computer program is stored. Specifically, the specific processing operations of the processor 802 can refer to the satellite navigation simulation method described in the above embodiments of this disclosure.

[0093] Of course, in practical applications, the various components in electronic device 800 are coupled together through bus system 804. It can be understood that bus system 804 is used to realize the connection and communication between these components. In addition to a data bus, bus system 804 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in... Figure 8 The general labeled all buses as Bus System 804.

[0094] The memory 803 in this embodiment is used to store various types of data to support the operation of the electronic device 800. Examples of such data include any computer program used to operate on the electronic device 800.

[0095] The methods disclosed in the embodiments of this application can be applied to processor 802, or implemented by processor 802. Processor 802 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 802 or by instructions in software form. The processor 802 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 802 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory 803. Processor 802 reads the information in memory 803 and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0096] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0097] Embodiments of this disclosure also propose a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the satellite navigation simulation method described in the above embodiments of this disclosure.

[0098] Embodiments of this disclosure also propose a computer program product, including a computer program that, when executed by a processor, implements the satellite navigation simulation method described in the above embodiments of this disclosure.

[0099] Embodiments of this disclosure also propose a chip including one or more interface circuits and one or more processors; the interface circuits are used to receive signals from the memory of an electronic device and send signals to the processors, the signals including computer instructions stored in the memory, which, when executed by the processor, cause the electronic device to perform the satellite navigation simulation method described in the above embodiments of this disclosure.

[0100] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0102] Any description of operation or method in the flowchart or otherwise described herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or operation, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0104] It should be understood that various parts of the embodiments of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0105] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by instructing related hardware through an operation sequence, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0106] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0107] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A satellite navigation simulation device, characterized in that, The device includes: a Beidou receiver, a signal receiving unit, a signal processing unit, and a signal transmitting unit; The output terminal of the BeiDou receiver is connected to the first input terminal of the signal processing unit; the BeiDou receiver is used to generate a time synchronization signal based on the received BeiDou signal and send the time synchronization signal to the signal processing unit. The output terminal of the signal receiving unit is connected to the second input terminal of the signal processing unit; the signal receiving unit is used to send the received mixed satellite signals to the signal processing unit; the mixed satellite signals include real satellite signals and interference signals generated by satellite navigation simulation equipment; The output terminal of the signal processing unit is connected to the input terminal of the signal transmitting unit; the signal processing unit includes a pseudo-satellite constellation simulation module, an adaptive filtering module, and a satellite navigation signal generation module connected in sequence; the adaptive filtering module is used to filter the mixed satellite signal with reference to the simulated satellite signal generated by the pseudo-satellite constellation simulation module, eliminate the interference signal, and obtain the real satellite signal; the pseudo-satellite constellation simulation module is used to generate a simulated satellite signal based on the real satellite signal and the time synchronization signal; the satellite navigation signal generation module is used to generate a satellite navigation signal based on the simulated satellite signal; The signal transmitting unit is used to transmit the satellite navigation signal.

2. The device according to claim 1, characterized in that, The satellite navigation signal generation module includes a navigation message generation module, a carrier signal generation module, and a digital signal modulation module connected in sequence. The input terminal of the navigation message generation module is connected to the output terminal of the pseudo-satellite constellation simulation module; the navigation message generation module is used to generate navigation messages based on the simulated satellite signals. The carrier signal generation module is used to generate a carrier signal of a predetermined frequency; The output of the digital signal modulation module is connected to the input of the signal transmitting unit; the digital signal modulation module is used to modulate the navigation message onto the carrier signal to generate a satellite navigation signal.

3. The device according to claim 1, characterized in that, The signal processing unit further includes a baseband data receiving module, a time synchronization processing module, and a baseband data output module; The input terminal of the baseband data receiving module is connected to the output terminal of the signal receiving unit, and the output terminal of the baseband data receiving module is connected to the input terminal of the adaptive filtering module. The baseband data receiving module is used to perform clock synchronization and bit alignment processing on the hybrid satellite signal, and send the processed hybrid satellite signal to the adaptive filtering module; The input terminal of the time synchronization processing module is connected to the output terminal of the satellite navigation signal generation module, and the output terminal of the time synchronization processing module is connected to the input terminal of the baseband data output module; the time synchronization processing module is used to receive the time synchronization signal generated by the Beidou receiver, correct the local clock, and provide a synchronized time reference for the pseudo-satellite constellation simulation module. The output terminal of the baseband data output module is connected to the input terminal of the signal transmitting unit; The baseband data output module is used to perform time alignment and formatting processing on the satellite navigation signal and transmit it to the signal transmission unit.

4. The device according to claim 3, characterized in that, The baseband data receiving module includes a clock synchronization submodule, a bit alignment submodule, a data receiving submodule, and a data buffer submodule connected in sequence. The input terminal of the clock synchronization submodule is connected to the output terminal of the signal receiving unit; the clock synchronization submodule is used to extract the first clock of the hybrid satellite signal and adjust the local sampling clock to synchronize with the first clock; The bit alignment submodule is used to detect the frame synchronization code in the hybrid satellite signal and determine the start position of the data frame of the hybrid satellite signal; Based on the determined starting position, the sampling point position is adjusted to ensure that the sampling point position is at the center of each bit period; The data receiving submodule is used to sample the hybrid satellite signal based on clock synchronization and bit alignment; The output of the data buffer submodule is connected to the input of the adaptive filtering module; the data buffer submodule is used to temporarily store the sampled hybrid satellite signal and transmit the hybrid satellite signal to the adaptive filtering module.

5. The device according to claim 1, characterized in that, The signal receiving unit includes a radio frequency receiving module and an analog-to-digital conversion module connected in sequence; The radio frequency receiving module is used to receive analog hybrid satellite signals; The output of the analog-to-digital converter module is connected to the input of the signal processing unit; The analog-to-digital conversion module is used to convert the analog hybrid satellite signal into a hybrid satellite signal and transmit the hybrid satellite signal to the signal processing unit; The signal transmitting unit includes a digital-to-analog converter module and a radio frequency amplifier module connected in sequence; The input terminal of the digital-to-analog converter module is connected to the output terminal of the signal processing unit; The digital-to-analog conversion module is used to receive the satellite navigation signal and convert the satellite navigation signal into an analog satellite navigation signal; The radio frequency amplification module is used to amplify the analog satellite navigation signal and divide the amplified analog satellite navigation signal into multiple sub-analog satellite navigation signals.

6. The device according to claim 5, characterized in that, The radio frequency receiving module includes a low-noise amplifier and a first filter connected in sequence; The low-noise amplifier is used to receive and amplify the analog hybrid satellite signal; The output of the first filter is connected to the input of the analog-to-digital conversion module; the first filter is used to filter out out-of-band noise and interference in the analog hybrid satellite signal output by the low-noise amplifier. The analog-to-digital conversion module includes a first local crystal oscillator, a first local oscillator chip, a first mixer, and an AD sampling chip connected in sequence. The first local crystal oscillator is used to generate a first reference frequency signal; The first local oscillator chip is used to generate a first local oscillator signal based on the first reference frequency signal; The input terminal of the first mixer is also connected to the output terminal of the first filter; The first mixer is used to mix the analog hybrid satellite signal output from the first filter with the first local oscillator signal to output an intermediate frequency analog hybrid satellite signal; The output terminal of the AD sampling chip is connected to the input terminal of the signal processing unit; The AD sampling chip is used to sample and quantize the intermediate frequency analog hybrid satellite signal and output the hybrid satellite signal.

7. The device according to claim 5, characterized in that, The digital-to-analog conversion module includes a second local crystal oscillator, a second local oscillator chip, a second mixer, and a second filter connected in sequence, and also includes a DA conversion chip; The second local crystal oscillator is used to generate the second reference frequency signal; The second local oscillator chip generates a second local oscillator signal based on the second reference frequency signal generated by the second local crystal oscillator; The input terminal of the DA converter chip is also connected to the output terminal of the signal processing unit, and the output terminal of the DA converter chip is connected to the input terminal of the second mixer; the DA converter chip is used to convert the satellite navigation signal from the signal processing unit into an analog satellite navigation signal; The second mixer is used to mix the analog satellite navigation signal with the second local oscillator signal to output a radio frequency analog satellite navigation signal; The output of the second filter is connected to the input of the radio frequency amplification module; the second filter is used to filter out harmonics in the radio frequency analog satellite navigation signal.

8. The device according to claim 5, characterized in that, The radio frequency amplification module includes a radio frequency amplifier, a third filter, a coupler and a power divider connected in sequence, and also includes a power detector; The input terminal of the radio frequency amplifier is connected to the output terminal of the digital-to-analog converter module; the radio frequency amplifier is used to amplify the analog satellite navigation signal. The third filter is used to filter out out-of-band noise introduced by the radio frequency amplifier in the analog satellite navigation signal; The coupler, connected to the third filter, is used to couple the analog satellite navigation signal into a coupling signal for power detection. The power divider is connected to the main port of the coupler and is used to divide the analog satellite navigation signal into multiple identical output signals. The input terminal of the power detector is connected to the coupling port of the coupler. The power detector is used to detect the power of the coupled signal and generate a feedback signal to control the gain of the radio frequency amplifier.

9. The device according to any one of claims 1 to 8, characterized in that, The method for filtering the mixed satellite signal using the simulated satellite signal generated by the pseudo-satellite constellation simulation module as a reference to eliminate interference signals in the mixed satellite signal and obtain the real satellite signal is as follows: Using a pre-trained adaptive filter, with the mixed satellite signal as the input signal and the simulated satellite signal generated by the pseudo-satellite constellation simulation module as the reference signal, an output signal is obtained; the output signal is used to characterize the interference signal in the mixed satellite signal. An error signal is obtained based on the output signal and the input signal; The error signal is determined to be the actual satellite signal.

10. The device according to claim 9, characterized in that, The training process of the adaptive filter is as follows: The simulated satellite signal is determined as the desired reference signal for the adaptive filter; For the desired reference signal and the mixed satellite signal, a first operation is performed; the first operation is: taking the mixed satellite signal as the input signal and the desired reference signal as the desired response; determining the output of the adaptive filter based on the weighting coefficients of the adaptive filter and the input signal; Based on the adaptive filter output and the desired response, the error signal is determined. The weighting coefficients are updated based on the error signal and the input signal; The first operation is iterated until the output of the adaptive filter converges to the desired reference signal, thus obtaining the pre-trained adaptive filter.

11. A satellite navigation simulation method, characterized in that, The method includes: Acquire time synchronization signals and hybrid satellite signals; the time synchronization signal refers to the time synchronization signal generated by the BeiDou signal, and the hybrid satellite signals include real satellite signals and interference signals generated by satellite navigation simulation equipment; The mixed satellite signals are filtered to eliminate interference signals and obtain the real satellite signals. Based on the real satellite signal and the time synchronization signal, a simulated satellite signal is generated; Based on the simulated satellite signals, satellite navigation signals are generated; Transmit the satellite navigation signal.

12. An electronic device, characterized in that, include: A processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, performs the method of claim 11.

13. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method of claim 11.

14. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, performs the method of claim 11.

Images