Configuration method and related apparatus

Abstract

A configuration method and a related apparatus. The method is applied to an electronic device (100), and comprises: an electronic device (100) using n signal channels (200) to receive first satellite signals of the same satellite, e.g., comprising using n signal channels (200) to capture and track first satellite signals, wherein each signal channel (200) comprises m correlators and the distance between any two adjacent correlators is equal, n and m being integers greater than 1; and the electronic device (100) acquiring first code loop adjustment information and an observed quantity of the first satellite signals on the basis of output values of the correlators of the n signal channels (200), wherein the first code loop adjustment information is used for adjusting pseudo code phases of the n signal channels (200), and the observed quantity of the first satellite signals is used for acquiring position information of the electronic device (100). By means of the method, outputs of original correlators can be combined into required data, thereby flexibly adjusting the configuration of the correlators without changing the hardware structure of the electronic device (100).

Description

Configuration method and related device

[0001] This application claims priority to the Chinese patent application with application number 202311719899.8 filed with the State Intellectual Property Office of China on December 14, 2023, and priority to the Chinese patent application with the invention name “Configuration Method and Related Devices”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of computer technology, and in particular to a configuration method and related devices. Background Art

[0003] A global navigation satellite system (GNSS) receiver may include a radio frequency front-end, a digital signal processor (DSP), and a positioning and navigation module. The DSP can capture and track signals from different satellites through hardware circuits (including correlators, integrators, etc.) and software-based capture and tracking loops to achieve positioning and navigation functions. The tracking loop is a closed-loop feedback loop, in which the code tracking loop needs to obtain the outputs of multiple correlators each time to calculate the corresponding adjustment information. Due to the different signal qualities of different satellites, in order to achieve better tracking results, it may be necessary to adjust the configuration of the correlators, such as the spacing and number of branches. However, the current configuration of the correlators is fixed and cannot be flexibly adjusted. Summary of the Invention

[0004] The present application discloses a configuration method and related devices, which can realize flexible adjustment of the configuration of a correlator without changing the hardware circuit of a digital signal processor.

[0005] In a first aspect, the present application provides a configuration method applied to an electronic device, the method comprising: the electronic device can use n signal channels to receive a first satellite signal from the same satellite, for example, including using n signal channels to capture and track the first satellite signal, each of the n signal channels includes m correlators, and the spacing between any two adjacent correlators is equal, which can be understood as the correlator spacing and the number of correlators of each signal channel are fixed, and n and m are integers greater than 1; the electronic device can obtain first code loop adjustment information (for example, a pseudo-code numerically controlled oscillator NCO adjustment amount) and an observation value of the first satellite signal (for example, a global navigation satellite system GNSS measurement value and a navigation message) based on the output values ​​of the correlators of the above-mentioned n signal channels, wherein the first code loop adjustment information is used to adjust the pseudo-code phase of the n signal channels, so that the pseudo-code phase copied by the n signal channels is consistent with the pseudo-code phase of the received first satellite signal, and the observation value of the first satellite signal is used to obtain the position information of the electronic device, for example, the electronic device displays the obtained position information.

[0006] In some examples, the electronic device is a terminal device including a GNSS receiving module, in other examples, the electronic device is a GNSS receiver, and in other examples, the electronic device is a digital signal processor DSP in the GNSS receiver.

[0007] In some examples, the n signal channels and a code tracking loop (in software form) can constitute a logical channel for tracking the first satellite signal. In some examples, the code tracking loop can receive the first satellite signal captured by the n signal channels and obtain first code loop adjustment information based on the output values ​​of the correlators of the n signal channels. The code tracking loop can then send the first code loop adjustment information to the n signal channels, and each of the n signal channels can use the same first code loop adjustment information to adjust the pseudo-code phase. Because the code tracking loop is a closed-loop feedback loop, the above process can be repeated multiple times (although the output values ​​of the correlators of the n signal channels and the obtained code loop adjustment information can be different each time) to ensure that the pseudo-code phases replicated by the n signal channels are consistent with the pseudo-code phase of the received first satellite signal. In some examples, the code tracking loop can obtain an observation value of the first satellite signal based on the output values ​​of the correlators of the n signal channels in any of the multiple executions of the above process, and send the result to the positioning solution module, so that the positioning solution module obtains the position information of the electronic device based on the observation value of the first satellite signal. Among them, the positioning solution module may belong to the electronic device or not. For example, when the electronic device is a DSP, it does not include the positioning solution module. When the electronic device is a terminal device or a GNSS receiver, it includes the positioning solution module.

[0008] In some examples, the electronic device includes N signal channels, which include the above-mentioned n signal channels and z signal channels, the above-mentioned n signal channels are used to track the satellite signal of the first satellite, and the z signal channels are used to track the satellite signal of the second satellite, N is a positive integer greater than 1, n and z are both less than N, and n and z can be different or the same.

[0009] In the above method, the electronic device can use n signal channels to track the signal of the same satellite, and comprehensively use the output values ​​of the correlators of these n signal channels, rather than using only one signal channel to track the signal of one satellite, to achieve the effect of adjusting the configuration of the correlator. For example, for different satellites, the number of signal channels used to track satellite signals is different (such as n and z are different as mentioned above), thereby achieving differentiated correlator configurations for different satellites to achieve better tracking effects. It can be understood as splicing the output results of the original correlators into the required data to achieve an equivalent expansion effect, thereby achieving flexible adjustment of the configuration of the correlator without changing the hardware structure of the electronic device (such as the correlator spacing and the number of correlators in any one signal channel), so that the tracking accuracy of the satellite signal is higher, and it is more adaptable to changes in different scenarios, and it does not increase the performance requirements, overall power consumption and cost of the processor, etc., and has higher availability.

[0010] In one possible implementation, when the electronic device obtains the first code loop adjustment information and the observation amount of the first satellite signal based on the output values ​​of the correlators of n signal channels, the first code loop adjustment information and the observation amount of the first satellite signal can be obtained based on the output values ​​of m′ correlators, where the m′ correlators are part or all of the n×m correlators of the above-mentioned n signal channels, and m′ is an integer greater than 1 and less than or equal to n×m.

[0011] In some examples, the electronic device can determine the above-mentioned m′ correlators from the n×m correlators of the n signal channels based on preset parameters, and the preset parameters include, for example, at least one of the following: the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment in which the electronic device is located. For example, the electronic device can determine the spacing of the correlators based on the preset parameters, and capture the output values ​​of the m′ correlators from the output values ​​of the n×m correlators of the above-mentioned n signal channels based on the spacing of the correlators. Alternatively, the electronic device can also determine the value of m′ based on the preset parameters, and then capture the output values ​​of the m′ correlators based on the value of m′.

[0012] In the above method, the electronic device can select m′ correlators from the n×m correlators of the n signal channels according to actual needs, and use the output values ​​of these m′ correlators in a comprehensive manner. This can be understood as splicing the output results of the original correlators into the required data to achieve an equivalent expansion effect, and the adjustment method of the correlator configuration is more flexible.

[0013] In a possible implementation, the n signal channels include one main channel and n-1 auxiliary channels. The auxiliary channels may be offset relative to the main channel. For example, different auxiliary channels may have different offsets relative to the main channel.

[0014] In one possible implementation, the spacing between any two adjacent correlators in each signal channel of the electronic device is equal and is x. The electronic device can adjust the correlator configuration of the n signal channels using an equal spacing method, in which case the spacing between any two adjacent correlators in the m′ correlators is equal and is x′, and in the n signal channels (including 1 main channel and n-1 auxiliary channels), the offset of the dth auxiliary channel relative to the main channel is d×k, where d is a positive integer less than n, and k is a rational common factor of x and x′, where x=n×k.

[0015] In the above method, the m′ correlators of the n signal channels and the m correlators of the original one signal channel can all be equidistant, that is, the spacing between any two adjacent correlators is equal. Therefore, the granularity (both x′) of the adjustment based on the code loop adjustment information in the leading part and the lagging part remains consistent, and the adjustment process is implemented more conveniently and smoothly.

[0016] Without limitation to this, in another possible implementation, the electronic device may also use a non-uniform spacing method to adjust the correlator configuration of the above-mentioned n signal channels. In this case, the spacing between adjacent correlators in the m′ correlators may be unequal. For example, the spacing between the first correlator and the second correlator is different from the spacing between the second correlator and the third correlator. The adjustment method is flexible and diverse.

[0017] In a possible implementation, among the m′ correlators, the instantaneous correlator is the first The correlator is located in the middle, or the instantaneous correlator is located in the After the correlator (i.e. located at the rear side).

[0018] In the above method, the immediate correlator can be set in the center or at the rear, which is more flexible. Furthermore, when the immediate correlator is located at the rear, the proportion of the lead correlator is greater, which can be understood as paying more attention to the energy of the lead portion. This can effectively solve the problem existing in multipath scenarios: tracking non-line-of-sight (NLOS) signals and being unable to switch to tracking line-of-sight (LOS) signals. In other words, even if the tracking loop accidentally tracks an NLOS signal, if a peak is identified on the lead branch, that is, if an LOS peak is identified in the lead portion, the tracking loop can switch to tracking the LOS signal, thereby achieving better anti-multipath effect.

[0019] In one possible implementation, the method also includes: the electronic device can obtain first carrier loop adjustment information (for example, carrier NCO adjustment amount) based on the output value of the correlator of the n signal channels, and the first carrier loop adjustment information is used to adjust the carrier phase or frequency offset of the n signal channels.

[0020] In the above method, the n signal channels used to track the same satellite signal can share the same code loop adjustment information and carrier loop adjustment information, thereby ensuring that the updates of the code tracking loop and the carrier tracking loop of these n signal channels are completely synchronized, thereby improving the reliability of tracking the same satellite signal through n signal channels.

[0021] In one possible implementation, the correlators of the n signal channels are configured in a multi-channel mode (i.e., tracking satellite signals of the same satellite through multiple signal channels). The multi-channel mode may include a first mode or a second mode, wherein the correlator span in the first mode is less than or equal to the first preset span, the correlator span in the second mode is greater than the second preset span, and the first preset span is less than or equal to the second preset span; and / or the correlator spacing in the first mode is less than or equal to the first preset spacing, the correlator spacing in the second mode is greater than the second preset spacing, and the first preset spacing is less than or equal to the second preset spacing. The correlator span is the span between the correlator with the smallest code chip and the correlator with the largest code chip. For example, the first preset span and the second preset span are equal and are the correlator span of one signal channel of the electronic device (which can be understood as a single-channel mode), and the first preset spacing and the second preset spacing are equal and are the correlator spacing of one signal channel.

[0022] In the above method, the correlator in the first mode can search for correlation peaks in a smaller range and / or finer granularity, and can identify more subtle correlator energy peak deviations (such as multipath errors). The correlator in the second mode can search for correlation peaks in a larger range and / or coarser granularity, and can search for LOS peaks in a wider range. These two modes can be applied in different scenarios. For example, in harsh environments, the first mode is used when the multipath signal is close to the main signal, and the second mode is used when the multipath signal is far away from the main signal, thereby effectively improving tracking resolution, tracking accuracy and robustness.

[0023] In a possible implementation, the method also includes: the electronic device uses n signal channels to receive a first satellite signal from the same satellite, and the electronic device can first determine whether a first condition is met; when the first condition is met, the correlator configuration mode of the n signal channels is configured to a first mode; when the first condition is not met, the correlator configuration mode of the n signal channels is configured to a second mode; wherein the first condition is related to a first parameter, and the first parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment in which the electronic device is located. For example, the first condition is that the number of currently idle signal channels is greater than or equal to the first number of channels.

[0024] In the above method, the electronic device can choose to use the first mode or the second mode according to the first parameter, which can be understood as selecting the correlator configuration suitable for the current scene according to the scene. For example, the first mode is used when the number of idle signal channels is large, and the second mode is used when the number is small. The idle signal channels are effectively utilized to improve tracking accuracy. Therefore, the tracking method can better adapt to changes in different scenes, effectively improve the tracking resolution, and have higher tracking accuracy and robustness.

[0025] In a possible implementation, the method further includes: after the electronic device obtains the first code loop adjustment information and the observation value of the first satellite signal according to the output value of the correlator of the n signal channels (for example, after the code tracking loop sends the observation value of the first satellite signal to the positioning solution module), when the correlators of the n signal channels are configured to the first mode, the electronic device can determine whether the pseudorange residual is greater than or equal to the first threshold (for example, related to the length corresponding to the maximum offset code chip phase of the current correlator); when the pseudorange residual is greater than or equal to the first threshold, the electronic device can set the correlator configuration of the n signal channels to the second mode, for example, the code tracking loop can send the observation value of the first satellite signal to the n signal channels. The first indication information (the indication information in this application may also be referred to as control information) is sent to the n signal channels (used to indicate that the correlator configurations of the n signal channels are set to the second mode); similarly, when the correlators of the n signal channels are configured to the second mode, the electronic device may determine whether the pseudorange residual is less than or equal to a second threshold (for example, related to the length corresponding to the minimum offset code chip phase of the current correlator); when the pseudorange residual is less than or equal to the second threshold, the electronic device may set the correlator configurations of the n signal channels to the first mode, for example, the code tracking loop sends the second indication information (used to indicate that the correlator configurations of the n signal channels are set to the first mode) to the n signal channels.

[0026] In the above method, the electronic device can adaptively switch between the first mode and the second mode according to the pseudorange residual. The size of the pseudorange residual can represent the deviation of the code tracking loop. Therefore, the correlator configuration can be intelligently adjusted according to the tracking effect. The tracking method can better adapt to changes in different scenarios, effectively improve the tracking resolution, and have higher tracking accuracy and robustness.

[0027] In one possible implementation, before an electronic device uses n signal channels to receive a first satellite signal from the same satellite, it may first determine whether a second condition is met; the second condition is related to a second parameter, and the second parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment in which the electronic device is located. For example, the second condition is that the frequency of the first satellite signal is L5, and the number of currently idle signal channels is greater than or equal to a preset proportion of the total number of channels; when the second condition is met, the electronic device may use n signal channels to receive the first satellite signal from the same satellite, and use the output values ​​of the correlators of these n signal channels; when the second condition is not met, the electronic device may use one signal channel to receive the first satellite signal, and use the output value of the correlator of this one signal channel (for example, including obtaining code loop adjustment information, carrier loop adjustment information, and an observation value of the first satellite signal).

[0028] In the above method, the electronic device can choose to use the single-channel mode (i.e., tracking the first satellite signal through one signal channel) or the multi-channel mode (i.e., tracking the first satellite signal through n signal channels) according to the first parameter. It can be understood that the correlator configuration suitable for the current scene is selected according to the scene. For example, when the number of idle signal channels is large, the multi-channel mode is used, and when the number is small, the single-channel mode is used. The idle signal channels are effectively utilized to improve the tracking accuracy. Therefore, the tracking method can better adapt to the changes in different scenes, effectively improve the tracking resolution, and have higher tracking accuracy and robustness.

[0029] In one possible implementation, the method further includes: after the electronic device obtains the first code loop adjustment information and the observation value of the first satellite signal based on the output values ​​of the correlators of n signal channels (for example, after the code tracking loop sends the observation value of the first satellite signal to the positioning solution module), the electronic device can determine whether the quality of the first satellite signal is higher than or equal to a preset quality threshold; when the quality of the first satellite signal is higher than or equal to the preset quality threshold, the electronic device can use one signal channel to receive the first satellite signal, and use the output value of the correlator of this one signal channel, for example, the code tracking loop can send third indication information (used to indicate tracking the first satellite signal through one signal channel) to the n signal channels.

[0030] In the above method, the electronic device can adaptively switch between single-channel mode (i.e., tracking the first satellite signal through one signal channel) and multi-channel mode (i.e., tracking the first satellite signal through n signal channels) according to the quality of the first satellite signal. The single-channel mode is used when the quality of the first satellite signal is good. At this time, a better tracking effect can be achieved without multi-channel mode tracking. Therefore, the current use of the single-channel mode can avoid occupying too many channel resources and resulting in a reduction in the overall number of tracked satellites while ensuring the tracking effect, and the availability is higher.

[0031] In one possible implementation, the method further includes: after the electronic device obtains the first code loop adjustment information and the observation value of the first satellite signal based on the output values ​​of the correlators of the n signal channels (for example, after the code tracking loop sends the observation value of the first satellite signal to the positioning solution module), the electronic device may determine whether to adjust the correlator configuration of the n signal channels based on a third parameter, where the third parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the n signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, the pseudorange residual, the first code loop adjustment information, or information about the environment in which the electronic device is located; when it is determined to adjust the correlator configuration of the n signal channels, the electronic device adjusts the correlator configuration of the n signal channels, for example, adjusting at least one of the following correlator configurations: the number of signal channels used to track the first satellite signal, the spacing of the correlators, the number of correlators, the position of the instantaneous correlators, or the span of the correlators. For example, the code tracking loop may send fourth indication information to the n signal channels (the fourth indication information is used to instruct the n signal channels to adjust the correlator configuration).

[0032] In the above method, each time the first satellite signal observation is acquired, the electronic device can determine whether to adjust the correlator configuration based on the actual scenario. This allows the correlator configuration of the signal channel to be adaptively adjusted during satellite signal tracking. For example, dynamic adjustment of the correlator configuration can be achieved for different satellites, different environments, and different time periods, further adapting to changes in different scenarios and improving the tracking accuracy and robustness of satellite signals. Furthermore, the adjustable correlator configurations are diverse, making adjustments more flexible and applicable to a wider range of scenarios.

[0033] In one possible implementation, the method further includes: the electronic device uses the first signal channel (1 signal channel) to receive the second satellite signal, for example, including using the first signal channel to capture and track the second satellite signal, which can be understood as the default or first time using 1 signal channel to track the signal of 1 satellite; the output value of the correlator of the first signal channel of the electronic device obtains the second code loop adjustment information and the observation amount of the second satellite signal, wherein the second code loop adjustment information is similar to the above-mentioned first code loop adjustment information, and is used to adjust the pseudo code phase of the first signal channel, and the observation amount of the second satellite signal is similar to the above-mentioned observation amount of the first satellite signal, and is used to obtain the position information of the electronic device; then, the electronic device can determine whether to adjust the first signal channel according to the fourth parameter. The correlator configuration of the signal channel, the fourth parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the first signal channel, the satellite constellation of the second satellite signal, the satellite frequency of the second satellite signal, the pseudorange residual, the second code loop adjustment information, or information about the environment in which the electronic device is located; when it is determined to adjust the correlator configuration of the first signal channel, the electronic device adjusts at least one of the following correlator configurations of the first signal channel: the number of signal channels used to track the second satellite signal, the spacing of the correlators, the number of correlators, the position of the instantaneous correlators, or the span of the correlators. For example, the code tracking loop can send fifth indication information to the first signal channel (used to instruct the first signal channel to adjust the correlator configuration).

[0034] In one possible implementation, the second satellite signal and the first satellite signal belong to the signal of the same satellite. When the electronic device sets the correlator configuration of the first signal channel to a multi-channel mode according to a fourth parameter, the electronic device can use n signal channels to receive the first satellite signal and / or the second satellite signal of the same satellite.

[0035] In the above method, after performing a tracking and positioning process according to the initial configuration (i.e., tracking the second satellite signal through one signal channel), you can choose whether to adjust the correlator configuration according to the actual scenario. For example, you can choose to adjust it to track the second satellite signal through n signal channels (i.e., use a multi-channel mode). It can be understood that the configuration of the multi-channel mode is determined according to the actual tracking scenario. The configuration of the multi-channel mode determined in this way is more in line with the actual scenario, and can avoid using the multi-channel mode from the beginning, which may occupy more signal channels and affect the tracking effect of other satellite signals, thereby further improving the tracking accuracy and robustness of the satellite signal.

[0036] In a possible implementation, the aforementioned n signal channels are part of the signal channels included in the electronic device. For example, the electronic device includes N signal channels, where N is a positive integer and is much larger than n.

[0037] In the above method, the hardware configuration of current electronic equipment is usually high, so the total number of signal channels included is usually large. If one signal channel is used to track the signal of one satellite, there will be many idle channels. Therefore, by tracking the signal of the same satellite through n signal channels, not only can the correlator configuration be flexibly adjusted without modifying the hardware structure of the signal channel / correlator, but the idle channels can also be effectively utilized, and the product availability is higher.

[0038] In a second aspect, the present application provides an electronic device comprising n signal channels, where n is a positive integer greater than 1, and the electronic device is used to execute the configuration method provided in the first aspect and any one of the implementations of the first aspect.

[0039] In a third aspect, the present application provides an electronic device comprising a transceiver, a processor and a memory; the memory is used to store a computer program, and the processor calls the computer program, so that the electronic device executes the configuration method provided in the first aspect and any one of the implementation methods of the first aspect.

[0040] In a fourth aspect, the present application provides a computer storage medium storing a computer program, which, when executed by a processor, is used to execute the configuration method provided in the first aspect and any one of the implementations of the first aspect.

[0041] In a fifth aspect, the present application provides a computer program product, which, when running on a device, enables the device to execute the configuration method provided in the first aspect and any one of the implementations of the first aspect.

[0042] In a sixth aspect, the present application provides an electronic device, the electronic device including a method or apparatus for executing any aspect or embodiment of the present application. The electronic device is, for example, a chip.

[0043] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single implementation. On the contrary, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution or beneficial effect is included in at least one implementation. Therefore, the description of a technical feature, technical solution or beneficial effect in this application does not necessarily refer to the same implementation. Furthermore, the technical features, technical solutions and beneficial effects described in this application can also be combined in any appropriate manner. Those skilled in the art will understand that this application can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific implementation. In other implementations, additional technical features and beneficial effects can also be identified in specific implementations that do not embody all implementations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The following is an introduction to the drawings used in this application.

[0045] FIG1 is a schematic structural diagram of an electronic device provided by the present application;

[0046] FIG2 is a schematic structural diagram of another electronic device provided by the present application;

[0047] FIG3 is a schematic structural diagram of another electronic device provided by the present application;

[0048] FIG4 is a schematic diagram of a signal channel provided by the present application;

[0049] FIG5A is a schematic diagram of adjusting a correlator configuration provided by the present application;

[0050] FIG5B and FIG5C are schematic diagrams of some multi-channel modes provided by the present application;

[0051] FIG6A is a schematic diagram of another method for adjusting the correlator configuration provided by the present application;

[0052] FIG6B and FIG6C are schematic diagrams of some other multi-channel modes provided by the present application;

[0053] FIG7 is a schematic diagram of another signal channel provided by the present application;

[0054] 8A, 8B, and 8C are schematic diagrams of some further multi-channel modes provided by the present application;

[0055] FIG9 is a flow chart of a configuration method provided by the present application;

[0056] FIG10 is a flow chart of a configuration method provided by the present application;

[0057] FIG11 is a flow chart of another configuration method provided by the present application;

[0058] FIG12 is a flow chart of another configuration method provided by the present application;

[0059] FIG13 is a state transition diagram of a correlator configuration provided by the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings. The terms used in the implementation methods of the embodiments of the present application are only used to explain the specific embodiments of the present application and are not intended to limit the present application.

[0061] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0062] In the description of the embodiments of the present application, when a definition is represented by a letter, the uppercase and lowercase forms of the same letter can respectively represent different definitions, for example, the following "N" and "n" represent different definitions.

[0063] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0064] A global navigation satellite system (GNSS) receiver may include a radio frequency (RF) front end, a digital signal processor (DSP), and a positioning and navigation module. A specific example can be seen in Figure 1 below.

[0065] FIG1 exemplarily shows a schematic diagram of the structure of an electronic device 100. As shown in FIG1 , the electronic device 100 may include a GNSS receiving module, which may specifically include one or more antennas, a radio frequency front end 101, a DSP 102, and a positioning solution module 103.

[0066] The RF front end 101 may include an amplifier (not shown), a filter (not shown), and an analog-to-digital (A / D) converter (ADC) (not shown). The RF front end 101 may receive GNSS satellite signals via an antenna. After being processed by the amplifier and filter, the GNSS satellite signals are mixed with a sinusoidal local oscillator signal and down-converted to an intermediate frequency (IF) / near-baseband signal. The IF / near-baseband signal is then converted into a discrete-time digital IF signal via an A / D converter. The RF front end 101 may send the digital IF signal to the DSP 102 for processing.

[0067] DSP102 can be used to capture and track GNSS satellite signals. Capture can be understood as a coarse search, requiring only the approximate determination of chip position and frequency range, while tracking can be understood as a fine search, requiring the precise determination of chip position and frequency position. DSP102 can be used to remove the carrier (including Doppler shift) from the digital intermediate frequency (IF) signal through mixing, and to remove the C / A code (also known as pseudocode) from the C / A code through coarse acquisition (C / A) code correlation operations, and then demodulate the navigation message data to capture and track GNSS satellite signals. The processing process of DSP102 requires a large number of correlation operations, and directly processing the digital IF signal places high demands on the microprocessor. Therefore, DSP102 is generally implemented in a combination of hardware and software circuits. DSP102 can include a hardware-based application specific integrated circuit (ASIC), a software-based signal acquisition loop (not shown), and a signal tracking loop. The ASIC can include correlators, integrators, etc. In one embodiment, the DSP 102 may process the digital intermediate frequency signal through a correlator, an integrator, etc. in the ASIC to obtain a digital signal with a lower frequency, and then pass the signal to the signal capture loop and the signal tracking loop for processing.

[0068] DSP 102 can send the obtained GNSS measurements and navigation messages to positioning solution module 103 (in software form) for processing. Positioning solution module 103 can obtain positioning results based on the GNSS measurements and navigation messages, for example, displaying the positioning results on a display screen (not shown) of electronic device 100. GNSS measurements may include, but are not limited to, carrier phase, pseudorange (including pseudocode phase), and Doppler shift. Navigation messages may include, but are not limited to, time, satellite orbit, ionospheric delay, etc.

[0069] It is understandable that the GNSS receiving module needs to independently capture and track the signals of multiple GNSS satellites (different satellites have different code types, and the code type of the same satellite corresponding to one or more frequency bands is the same). Therefore, the DSP102 usually adopts the form of signal channels, that is, each signal channel captures, tracks and processes the signal of one satellite. The GNSS receiving module often needs to provide dozens to hundreds of signal channels to meet the needs of tracking signals from different systems and different satellites. For specific examples, see the electronic device 100 shown in Figure 2. The electronic device 100 shown in Figure 2 is similar to the electronic device 100 shown in Figure 1. For descriptions of related modules, please refer to the description of Figure 1.

[0070] As shown in Figure 2, DSP102 may include N signal channels, where N is a positive integer. Each signal channel may independently occupy a hardware channel, and different hardware channels may run in parallel at high speed. Each signal channel may include a corresponding ASIC and a signal tracking loop. For example, signal channel 1 includes ASIC 1 and signal tracking loop 1, and signal channel N includes ASICN and signal tracking loop N. Each signal channel may include multiple correlators, for example, may include a prompt (P) correlator, one or more early (E) correlators, and one or more late (L) correlators. The spacing between any two adjacent correlators in a signal channel is equal, for example, 1 / 2 code chip. For a specific structural example, see Figure 4 below. In the embodiment of the present application, the correlator may also be referred to as a branch.

[0071] It is understandable that the carrier frequency and code phase of the GNSS satellite signal received by the electronic device 100 will change over time, and these changes are unpredictable. Therefore, the signal tracking loop in the DSP 102 operates periodically and continuously in the form of closed-loop feedback to achieve continuous lock on the GNSS satellite signal. For example, as shown in Figure 1, the signal tracking loop can send (also referred to as feedback) adjustment information to the DSP ASIC to make the copied carrier and pseudo code consistent with the carrier and pseudo code in the received GNSS satellite signal. For example, as shown in Figure 2, in signal channel 1 (assuming it corresponds to satellite 1), the signal tracking loop 1 can feedback corresponding adjustment information 1 to ASIC 1 to make the carrier and pseudo code copied by the signal tracking loop 1 consistent with the carrier and pseudo code received from satellite 1. In signal channel N (assuming it corresponds to satellite N), the signal tracking loop N can feedback corresponding adjustment information N to ASIC N to make the carrier and pseudo code copied by the signal tracking loop N consistent with the carrier and pseudo code received from satellite N.

[0072] The signal tracking loop in DSP 102 may include a carrier tracking loop (abbreviated as the carrier loop) and a code tracking loop (abbreviated as the code loop). The carrier loop and the code loop are respectively used to track the carrier and pseudo code in the GNSS satellite signal. The embodiments of this application mainly involve the code loop. Therefore, for ease of explanation, the following description of the embodiments assumes that the carrier has been stripped.

[0073] In any code loop, the outputs of multiple correlators in the current signal channel (which can also be understood as correlation values ​​at different code phases) are obtained each time to calculate the code loop adjustment information. The adjustment information is, for example, a numerically controlled oscillator (NCO) adjustment. The NCO can be used to replicate the carrier and / or code stream, and the NCO adjustment can include a frequency offset adjustment and / or a phase offset adjustment. The NCO adjustment can include a carrier NCO adjustment and a pseudocode NCO adjustment. For example, after the satellite signal captured by signal channel 1 shown in Figure 2 enters the code loop of signal tracking loop 1, the output values ​​of multiple correlators in signal channel 1 can be transmitted to a code loop discriminator (not shown) for processing. After processing through a loop filter (not shown), a pseudocode NCO adjustment is obtained. This pseudocode NCO adjustment can then be applied to signal channel 1 (e.g., adjusting the pseudocode phase of the current code loop replica) to ensure that the instantaneous code of the code loop replica is consistent with the received pseudocode. At the same time, signal channel 1 also outputs GNSS measurement values ​​to the positioning solution module 103 for processing. It is understandable that the configuration of the correlator (such as spacing, number of branches, position of instantaneous branches, etc.) will affect the tracking effect of the GNSS satellite signal.

[0074] Due to the varying signal quality of different satellites, the correlator configuration may need to be adjusted to achieve better tracking results. However, the current correlator configuration is fixed (the structure of each signal channel, as shown in Figure 2, is identical, as shown in Figure 4 below) and cannot be flexibly adjusted. Although some solutions have been proposed, some issues still exist, resulting in low usability. In one solution, potential correlator configuration options are comprehensively considered during the initial chip design phase. These configuration options are implemented during the hardware design process, along with controllable instructions. This approach requires completion before hardware design, has limited variable configurations, and cannot subsequently add additional variable configurations, thus still lacking flexibility. Another solution utilizes software to process the digital signals of GNSS satellites. In the GNSS receiver, the ADC digitizes the signal as close to the antenna as possible, and then processes the digital signal using software. Specifically, the correlator portion of the DSP ASIC shown in Figure 1 can be implemented in software, allowing the correlator configuration to be adjusted via software. However, this approach places high demands on processor performance and can result in increased overall power consumption and cost.

[0075] An embodiment of the present application provides a configuration method, which is applied to an electronic device 100, which may include a GNSS receiving module. The electronic device 100 can control and adjust the configuration of the correlator in the GNSS receiving module during the tracking phase of the GNSS satellite signal. In the electronic device 100 shown in Figure 1, when it is determined to adjust the configuration of the correlator, the signal tracking loop in the DSP102 can send control information (also referred to as indication information) to the DSPASIC, and the control information is used to instruct the adjustment of the configuration of the correlator. For example, differentiated correlator configurations can be implemented for different satellites to achieve better tracking effects.

[0076] In one embodiment, when adjusting the configuration of the correlator, n signal channels can be configured to track the signal of the same GNSS satellite, and the outputs of the correlators of these n signal channels can be used in combination, which can be referred to as the configuration mode of the correlator being a multi-channel mode, rather than using one signal channel to track the signal of the GNSS satellite and only using the output of the correlator of this one signal channel (which can be referred to as the configuration mode of the correlator being a single-channel mode), to achieve the effect of adjusting the configuration of the correlator. n is a positive integer greater than 1 and less than or equal to N. Therefore, the embodiment of the present application can splice the output results of the original correlator into the required data, thereby realizing the adjustment of the correlator configuration without modifying the hardware circuit of the DSP, so that the tracking accuracy of the satellite signal is higher, it can better adapt to changes in different scenarios, the adjustment method is more flexible, and it does not increase the performance requirements, overall power consumption and cost of the processor, etc., and has high availability.

[0077] For an example of single-channel mode, see any signal channel of electronic device 100 shown in FIG2 , and for an example of multi-channel mode, see logical channel 1 of electronic device 100 shown in FIG3 below. Single-channel mode is the correlator configuration before any configuration modification is performed, and may also be referred to as the original configuration mode.

[0078] Among them, the above-mentioned n signal channels can be regarded as a logical channel, and the embodiment of the present application can be understood as utilizing the correlators of the signal channels in the n original configuration modes to form the required logical channels in combination, so as to achieve better tracking effect when tracking the signal of a certain satellite. The above-mentioned n signal channels may include a main channel and an auxiliary channel, for example, a main channel and (n-1) auxiliary channels, and the auxiliary channels are offset by a certain code phase as a whole relative to the correlators of the main channel. The n signal channels in the above-mentioned logical channel can share the same adjustment information (i.e., the carrier NCO adjustment amount and the pseudo-code NCO adjustment amount), so as to ensure that the tracking loops of these n signal channels are updated in complete synchronization. The pseudo-code NCO adjustment amount can be used to adjust the pseudo-code phase of the current logical channel, and the carrier NCO adjustment amount can be used to adjust the carrier phase / frequency offset of the current logical channel.

[0079] Fig. 3 exemplarily shows a schematic structural diagram of another electronic device 100. The electronic device 100 shown in Fig. 3 is similar to the electronic device 100 shown in Fig. 1 , and the description of related modules can refer to the description of Fig. 1 .

[0080] As shown in FIG3 , the electronic device 100 may include N signal channels, where N is a positive integer. These N signal channels may constitute N′ logical channels, where N′ is a positive integer less than or equal to N. Any logical channel may include one or more signal channels and a corresponding signal tracking loop. For example, the correlator of logical channel 1 is configured in a multi-channel mode, and logical channel 1 includes n signal channels (i.e., signal channel 1 to signal channel n) and a signal tracking loop. There is a code phase offset between the instantaneous correlators of any two signal channels among these n signal channels, and the outputs of the correlators of these n signal channels constitute the output of the correlator of logical channel 1. For example, the correlator of logical channel N′ is configured in a single-channel mode, and logical channel N′ includes a signal channel N and a signal tracking loop. It can be understood that the logical channel N′ shown in FIG3 is the signal channel N shown in FIG2 .

[0081] In one embodiment, in each logical channel, the signal tracking loop in the current logical channel can feed back the same adjustment information to the signal channels in the current logical channel. For example, in logical channel 1 in multi-channel mode, the signal tracking loop can feed back the same adjustment information to signal channels 1 to n. Therefore, each signal channel from signal channel 1 to n can adjust the pseudo code phase and carrier phase / frequency offset based on the adjustment information. For example, in logical channel N′ in single-channel mode, the signal tracking loop can feed back adjustment information to signal channel N. Therefore, signal channel N can adjust the pseudo code phase and carrier phase / frequency offset based on the adjustment information.

[0082] In some examples, when the correlator of logical channel 1 is configured in multi-channel mode, logical channel 1 is used to track the signal of the same satellite. In an embodiment of the present application, the signal of the same satellite can be a satellite signal with the same constellation, frequency and pseudo code type. Specifically, in logical channel 1, n signal channels (i.e., signal channel 1 to signal channel n) are used to track the signal of the same satellite, and the code tracking loop in the signal tracking loop is used to receive the first satellite signal captured by the n signal channels. The code tracking loop is also used to obtain the first code loop adjustment information (i.e., pseudo code NCO adjustment amount) based on the output value of the correlator of the n signal channels, and feed back the first code loop adjustment information to the n signal channels. The code tracking loop is also used to output the observation value of the first satellite signal to the positioning solution module 103, so that the positioning solution module obtains the position information of the electronic device 100 based on the observation value of the first satellite signal. For example, after the satellite signals captured by the n signal channels enter the code tracking loop of the signal tracking loop in logic channel 1, the output values ​​of the multiple correlators in the n signal channels can be transmitted to the code loop discriminator (not shown) for processing, and then processed by the loop filter (not shown) to obtain the pseudo-code NCO adjustment amount. The pseudo-code NCO adjustment amount can then be applied to the n signal channels (such as adjusting the pseudo-code phase of the code tracking loop replica of logic channel 1) to ensure that the real-time code replicated by the code tracking loop of logic channel 1 is consistent with the received pseudo-code.

[0083] In addition, the carrier tracking loop in the signal tracking loop receives the first satellite signal captured by the n signal channels, obtains the first carrier loop adjustment information (i.e., the carrier NCO adjustment amount) according to the output value of the correlator of the n signal channels, and feeds back the first carrier loop adjustment information to the n signal channels. The carrier tracking loop is also used to output the observation value of the first satellite signal to the positioning solution module 103, so that the positioning solution module 103 obtains the position information of the electronic device 100 according to the observation value of the first satellite signal.

[0084] In one embodiment, if a multi-channel mode needs to be implemented, for example, the n signal channels shown in Figure 2 (i.e., signal channel 1 to signal channel n) need to be configured as logical channel 1 shown in Figure 3, the electronic device 100 can configure the tracking parameters of these n signal channels. Optionally, the tracking parameters include the identifier of the tracked satellite. The electronic device 100 can configure the tracking parameters of these n signal channels to include the identifier of satellite 1, so that these n signal channels track the signal of the same satellite 1. Optionally, the tracking parameters include the identifier of the signal tracking loop that receives the output value of the correlator. The electronic device 100 can configure the tracking parameters of these n signal channels to include the identifier of the signal tracking loop in logical channel 1, so that these n signal channels input the output value of the correlator into the same signal tracking loop.

[0085] In one embodiment, in each logical channel, the signal tracking loop in the current logical channel can feedback control information to the signal channel in the current logical channel to adjust the correlator configuration of the logical channel. For example, in logical channel 1 in multi-channel mode, the signal tracking loop can feedback control information to signal channels 1 to n. Therefore, each signal channel in signal channels 1 to n can adjust its own tracking parameters based on the received control information, such as adjusting the tracked satellite and the signal tracking loop receiving the correlator output value. For example, in logical channel N′ in single-channel mode, the signal tracking loop can feedback control information to signal channel N, so that signal channel N adjusts its own tracking parameters based on the control information. Among them, the control information received by any two signal channels in logical channel 1 can be the same or different, and the control information received by the signal channels in logical channel 1 and logical channel N can be the same or different. For example, after adjusting the correlator configuration, the n1 signal channels in logical channel 1 and the signal channel N in logical channel N are divided into 1 logical channel, and the n2 signal channels in logical channel 1 are divided into 1 logical channel, n1+n2=n, and the control information of the n1 signal channels and signal channel N can be the same, so that the n1 signal channels and signal channel N are configured to track the signal of the same satellite, and input the output value of the correlator into the same signal tracking loop. Similarly, the control information of the n2 signal channels can be the same.

[0086] The following describes, by way of example, the configuration and adjustment of the correlator involved in the embodiments of the present application. For ease of explanation, the following embodiments are described using the example of a correlator with a spacing of x and m branches in single-channel mode and a correlator with a spacing of x′ and m′ branches in multi-channel mode.

[0087] Fig. 4 is a schematic diagram showing a signal channel 200 in a single-channel mode. Fig. 4 is illustrated by taking the number of branches m = 9 as an example. The horizontal axis shown in Fig. 4 is the chip axis.

[0088] As shown in Figure 4 , signal path 200 includes nine branches (i.e., nine correlators): one immediate branch, four leading branches, and four lagging branches. The spacing between any two adjacent branches is x chips. Therefore, the spacing between the correlators shown in Figure 4 can be simply referred to as being equally spaced x. The immediate branch is located in the middle of these nine branches, with a chip length of 0. The leading branch has a lead offset compared to the immediate branch and can be sorted in order of lead offset: -x chip lead branch, -2x chip lead branch, -3x chip lead branch, and -4x chip lead branch. The lagging branches have a lag offset compared to the immediate branch and can be sorted in order of lag offset: x chip lag branch, 2x chip lag branch, 3x chip lag branch, and 4x chip lag branch.

[0089] It should be noted that the chip value of the correlator / branch in the embodiments of the present application is not the actual code phase, but rather the relative chip value / chip offset compared to the pseudo-code phase of the current code tracking loop replica. For example, a chip value of 0 for the immediate branch indicates that there is no offset between the code phase of the immediate branch and the pseudo-code phase of the current code tracking loop replica. In other words, the pseudo-code phase of the current code tracking loop replica is the code phase of the immediate branch. For example, a chip value of -x for the lead branch indicates that the code phase of the outdated branch is -x ahead of the pseudo-code phase of the current code tracking loop replica.

[0090] In an embodiment of the present application, the single-channel mode shown in Figure 4 can be adjusted to a correlator configuration of a multi-channel mode, for example, adjusted in an equidistant manner as shown in Figures 5A-5C below, or adjusted in a non-equidistant manner as shown in Figures 6A-6C below.

[0091] First, let's introduce the relevant definitions involved in the adjustment process of the correlator configuration. If the rational factor of a rational number s is t, then there exists an integer o such that o×t=s. The greatest rational common factor of a rational number s and a rational number r is denoted as GCD(s,r)=t, then there exists a minimum integer u and v such that u×t=s and v×t=r. For example,

[0092] FIG5A exemplarily shows a schematic diagram of adjusting the correlator configuration in an equidistant manner.

[0093] Assuming that the correlator configuration mode needs to be adjusted from a single-channel mode (one signal channel, equal spacing x, number of branches m=9) to a multi-channel mode (multiple signal channels, equal spacing x′, number of branches m′), the adjustment process may include but is not limited to the following steps:

[0094] First, find the greatest rational common factor of x and x′ GCD(x,x′) = k, then there exist integers a and b such that a×k = x and b×k = x′;

[0095] Second, one signal channel is used as the primary channel, and (a-1) signal channels are used as auxiliary channels. These a (n=a in this case) channels track the same satellite signal. The structure of each signal channel can be seen in Figure 4. The primary channel is not offset, while the dth of the (a-1) auxiliary channels is offset by d×k chips, where d is a positive integer less than a. As shown in Figure 5A, auxiliary channel 1 is offset by 1×k relative to the primary channel, and auxiliary channel 2 (not shown) is offset by 2×k relative to the primary channel. This pattern continues, with auxiliary channel (a-1) offset by (a-1)×k relative to the primary channel.

[0096] Third, grab the required correlator values ​​according to the spacing x′, and you can form up to x′ correlators with equal spacing, where Indicates rounding down.

[0097] Figures 5B and 5C illustrate exemplary configurations of correlators in a multi-channel mode. Figures 5B and 5C illustrate the multi-channel mode achieved by adjusting the equal spacing shown in Figure 5A as an example. Figures 5B and 5C illustrate the multi-channel mode using n=a=4, i.e., four signal channels in the multi-channel mode.

[0098] Figure 5B uses x′=k as an example. As shown in Figure 5B , in multi-channel mode, there can be m′=36 branches (i.e., 36 correlators), including: 1 immediate branch (chip 0), 16 leading branches (chips from -x′ to -16x′), and 19 lagging branches (chips from x′ to 19x′). The distance between any two adjacent branches is x′.

[0099] Figure 5C uses x′=3×k as an example. As shown in Figure 5C , in multi-channel mode, there can be m′=12 branches (i.e., 12 correlators), including: 1 immediate branch (chip 0), 5 leading branches (chips from -x′ to -5x′), and 6 lagging branches (chips from x′ to 6x′). The distance between any two adjacent branches is x′.

[0100] It can be seen that the spacing of the correlators configured as shown in FIG5B is smaller, ie, the granularity is finer, and the spacing of the correlators configured as shown in FIG5C is larger, ie, the granularity is coarser.

[0101] FIG6A exemplarily shows a schematic diagram of adjusting the correlator configuration in a non-equidistant manner.

[0102] Assume that the correlator configuration mode needs to be adjusted from single-channel mode (1 signal channel, equal spacing x, number of branches m = 9) to multi-channel mode (n signal channels, spacing The number of branches is m′), and these n signal channels track the same satellite signal. The structure of each signal channel can be seen in the structure shown in FIG4 .

[0103] As shown in Figure 6A, the n signal channels are numbered 0, 1, ..., (n-1) in sequence, where the channel numbered 0 is the primary channel and the channels numbered as positive integers less than n (i.e., integers in the range of 1 to (n-1)) are secondary channels. The offset of these n signal channels relative to the primary channel is The expression is as follows:

[0104] Where i is an integer greater than or equal to 0 and less than n, Δ iis the offset of the signal channel numbered i (referred to as channel i) relative to the main channel (numbered 0), Δ0=0.

[0105] As shown in FIG6A , the offset of channel 1 relative to the main channel is Δ1, the offset of channel 2 (not shown) relative to the main channel is Δ2, and so on. The offset of channel (n-1) relative to the main channel is Δ n-1 ,therefore, It can also be expressed as the following formula:

[0106] Then, the target spacing can be Grab the required correlator values, that is, extract the required m′ correlator values ​​from the (n×m) correlator values. The expression is as follows:

[0107] Where x′ j is the chip spacing between the jth correlator and the j+1th correlator. For example, the chip spacing between the 1st correlator and the 2nd correlator is x′1, the chip spacing between the 2nd correlator and the 3rd correlator is x′2, and so on. The chip spacing between the (m′-1)th correlator and the m′th correlator is x′ m′-1 ,therefore, It can also be expressed as the following formula:

[0108] Figures 6B and 6C illustrate further exemplary configurations of correlators in multi-channel mode. Figures 6B and 6C illustrate the multi-channel mode obtained by adjusting the non-uniform spacing shown in Figure 6A. Figures 6B and 6C illustrate the multi-channel mode using x = 1 / 2, m = 5, and n = 2 as an example, indicating that there are two signal channels in the multi-channel mode, and in each signal channel, the correlator spacing is 1 / 2 chip, and the number of branches is 5.

[0109] Figure 6B shows As shown in FIG6B , in multi-channel mode, there may be m′=10 branches (i.e., 10 correlators), including: 1 immediate branch (chip is 0), 4 leading branches (chips are in descending order: -3 / 8, -1 / 2, -7 / 8, -1), and 5 lagging branches (chips are in descending order: 1 / 8, 1 / 2, 5 / 8, 1, 9 / 8). The span (also called range) of the current correlator is -1 to 9 / 8. The current spacing (j is 9) is expressed as follows:

[0110] Figure 6C shows As shown in FIG6C , in multi-channel mode, there may be m′=10 branches (i.e., 10 correlators), including: 1 immediate branch (chip is 0), 2 leading branches (chips are -1 / 2 and -1), and 7 lagging branches (chips are in descending order: 1 / 2, 3 / 4, 1, 5 / 4, 7 / 4, 9 / 4, 11 / 4). The span of the current correlator is -1 to 11 / 4. The current spacing (j is 9) is expressed as follows:

[0111] It can be seen that the span of the correlator configuration shown in FIG6B is smaller, which can also be called the correlator range is smaller, and the span of the correlator configuration shown in FIG6C is larger, which can also be called the correlator range is larger.

[0112] In one embodiment, when adjusting the correlator configuration, the position of the instantaneous branch can also be adjusted. For example, after adjusting to the multi-channel mode as shown in Figure 5A or Figure 6A above, the position of the instantaneous branch is adjusted. For another example, after selecting n signal channels to track the same satellite signal (the auxiliary channel may not be offset), the position of the instantaneous branch is adjusted.

[0113] For the convenience of explanation, the offset of each chip in single channel mode / multi-channel mode The expression is as follows:

[0114] Among them, c y is the offset value (e.g., advance offset, lag offset) of the yth correlator (i.e., the yth branch), in chips. The offset value of the instantaneous branch can be represented by c p .

[0115] In some examples, the position of the instantaneous branch can be located in the middle, then the offset value of the instantaneous branch is It can be understood as a symmetrical distribution. For example, as shown in FIG4 , the offset of the signal channel 200 is Among them, the instant branch is located in the middle, and the offset value c p =c ′ =0, the branch with a negative offset is the leading branch (4 in total), and the branch with a positive offset is the lagging branch (4 in total).

[0116] In other examples, the position of the instantaneous branch may not be located in the middle, that is, the offset value of the instantaneous branch It can be understood as an asymmetric distribution. For example, FIG7 exemplarily shows the signal channel 200 after adjusting the instantaneous branch position. The offset of the signal channel 200 shown in FIG7 is The instant branch is not located in the middle, but on the rear side, with an offset value of c′ =c ′ =0, the branch with a negative offset is the leading branch (a total of 6), and the branch with a positive offset is the lagging branch (a total of 2).

[0117] It can be seen that compared with the correlator configuration shown in FIG4 , in the correlator configuration shown in FIG7 , more branches are arranged at the offset of the leading code chip (i.e., the proportion of the leading branch is larger). This can be understood as paying more attention to the energy of the leading part. This can effectively solve the problem existing in the multipath scenario: tracking the non-line-of-sight (NLOS) signal and being unable to switch to tracking the line-of-sight (LOS) signal. That is, even if the tracking loop accidentally tracks the NLOS signal, if a peak is identified on the leading branch, that is, if the LOS peak is identified in the leading part, the tracking loop can also be switched to tracking the LOS signal, thereby achieving better anti-multipath effect.

[0118] The LOS signal is an unobstructed signal that travels directly from the satellite to the GNSS receiver / GNSS receiving module. However, in certain environments (such as densely populated urban areas), GNSS satellite signals are severely affected by multipath. The GNSS receiver / GNSS receiving module may receive GNSS satellite signals that have been affected by reflections, known as NLOS signals. This scenario is known as a multipath scenario. Therefore, to improve GNSS positioning accuracy, anti-multipath interference methods, such as processing NLOS signals, are necessary.

[0119] In one embodiment, the multi-channel mode may include a first mode and a second mode, wherein the correlator span (also referred to as the correlator range) of the first mode is smaller than the correlator span of the second mode, and / or the correlator spacing of the first mode is smaller than the correlator spacing of the second mode. In some examples, the correlator span of the first mode is less than or equal to a preset span 1, and the correlator span of the second mode is greater than a preset span 2, and / or the correlator spacing of the first mode is less than or equal to the preset spacing 1, and the correlator spacing of the second mode is greater than a preset spacing 2, wherein the preset span 1 is less than or equal to the preset span 2, and the preset spacing 1 is less than or equal to the preset spacing 2. For example, the preset span 1 and the preset span 2 are equal and are the correlator span in the single-channel mode, and the preset spacing 1 and the preset spacing 2 are equal and are the correlator spacing in the single-channel mode. The correlator in the first mode can search for correlation peaks in a smaller range and / or with finer granularity, and can identify more subtle correlator energy peak deviations (e.g., multipath errors). The correlator in the second mode can search for correlation peaks in a larger range and / or with coarser granularity, and can search for LOS peaks in a larger range. These two modes can be applied in different scenarios, effectively improving tracking resolution, accuracy, and robustness. For example, in harsh environments, the first mode is used when the multipath signal is close to the main signal, while the second mode is used when the multipath signal is far away from the main signal.

[0120] In some examples, the first mode and the second mode can be achieved by adjusting x' shown in FIG5A, the correlator configuration of the first mode is the configuration shown in FIG5B, and the correlator configuration of the second mode is the configuration shown in FIG5C. In some other examples, the first mode and the second mode can be achieved by adjusting x' shown in FIG6A. The correlator configuration of the first mode is as shown in FIG6B , and the correlator configuration of the second mode is as shown in FIG6C . The above example is illustrated by taking the first mode and the second mode as an example implemented by the same adjustment method. In a specific implementation, the first mode and the second mode can also be implemented by different adjustment methods. Examples of the first mode and the second mode are shown in FIG8A and FIG8B below, respectively.

[0121] Figures 8A and 8B illustrate exemplary schematic diagrams of correlator configurations in a multi-channel mode. Figures 8A and 8B use x = 1 / 2, m = 9, and n = 2 as an example, indicating that the multi-channel mode includes two signal channels (i.e., a primary channel and an auxiliary channel), and that in each signal channel, the correlator spacing is 1 / 2 and the number of branches is 9.

[0122] FIG8A is a schematic diagram showing a correlator configuration of a first mode.

[0123] FIG8A illustrates the multi-channel mode obtained by adjusting the code phase of the auxiliary channel relative to the main channel in the equal spacing manner shown in FIG5A. As shown in FIG8A, the code phase of the auxiliary channel is offset by k = 1 / 4 code chip. There are currently m' = 18 branches, including: 1 immediate branch (code chip 0), 8 leading branches (code chips ranging from -2 to -1 / 4), and 9 lagging branches (code chips ranging from 1 / 4 to 9 / 4). The spacing between any two adjacent branches is x' = 1 / 4. The span of the current correlator is from -2 to 9 / 4.

[0124] FIG8B is a schematic diagram showing a correlator configuration of a second mode.

[0125] FIG8B illustrates the example of adjusting the position of the instantaneous branch in the correlator configuration to obtain a multi-channel mode. As shown in FIG8B , the code phase of the instantaneous branch of the primary channel is offset by -2 chips, and the code phase of the instantaneous branch of the secondary channel is offset by 9 / 4 chips. Currently, there are m′=18 branches, including: 1 instantaneous branch (chip 0), 8 leading branches (chips ranging from -4 to -1 / 2), and 9 lagging branches (chips ranging from 1 / 2 to 9 / 2). The spacing between any two adjacent branches is x′=1 / 2. The span of the current correlator is from -4 to 9 / 2.

[0126] In the correlator configurations shown in FIG8A and FIG8B , the correlator shown in FIG8A has a smaller span, and the correlator shown in FIG8B has a larger span; the correlator shown in FIG8A has a smaller spacing, and the correlator shown in FIG8B has an even smaller spacing.

[0127] In one embodiment, the multi-channel mode may include a third mode and a fourth mode, wherein the proportion of the leading branch in the third mode is smaller than the proportion of the leading branch in the fourth mode. It can be understood that the fourth mode pays more attention to the energy of the leading part.

[0128] In some examples, the correlator configuration of the second mode mentioned above is used as an example for explanation. The correlator configuration in the third mode can be seen in Figure 8B (the third mode is the second mode at this time), and the correlator configuration in the fourth mode can be seen in Figure 8C. The description of Figure 8B has been explained above. As shown in Figure 8C, the code phase of the instant branch of the main channel is offset by -9 / 2 code chips as a whole, and the code phase of the instant branch of the auxiliary channel is not offset. There are currently m′=18 branches, of which there are: 1 instant branch (code chip is 0), 13 leading branches (code chips are from -13 / 2 to -1 / 2 in sequence), and 4 lagging branches (code chips are from 1 / 2 to 2 in sequence). The spacing between any two adjacent branches is x′=1 / 2. The span of the current correlator is -13 / 2 to 2. In the correlator configurations shown in Figure 8B and Figure 8C, the number of branches m' is equal, the spacing x' is equal, and the absolute value of the correlator span is also equal (both are 17 / 2), but the positions of the instantaneous branches are different, and accordingly, the number of leading branches and lagging branches is also different. In the correlator configuration shown in Figure 8B, the position of the instantaneous branch is in the middle, so the offset value c of the instantaneous branch is p = c9 = 0, accordingly, the proportion of the leading branch is small. In the correlator configuration shown in FIG8C, the position of the instantaneous branch is not located in the middle, but is located at the rear side. FIG8C uses the offset value c of the instantaneous branch to calculate the p =c 14 =0 as an example. Accordingly, the proportion of the leading branch is larger, that is, more attention is paid to the energy of the leading part.

[0129] The above embodiment shows the first mode, the second mode (i.e., the third mode) and the fourth mode. In a specific implementation, there may also be other multi-channel modes. For example, the third mode and the fourth mode may be obtained based on the correlator configuration of the first mode. At this time, the third mode may be the first mode (the position of the instant branch is located in the middle). Compared with the position of the instant branch in the first mode, the position of the instant branch in the fourth mode is further to the rear. The embodiment of the present application does not limit the specific type of the multi-channel mode.

[0130] Next, we will introduce the configuration method involved in the embodiments of the present application. This method can be applied to the electronic device 100 / DSP102 shown in Figure 1. This method can also be applied to the electronic device 100 / DSP102 shown in Figure 2. This method can also be applied to the electronic device 100 / DSP102 shown in Figure 3. The electronic device 100 / DSP102 used to perform the configuration method involved in the embodiments of the present application may include N signal channels and a code tracking loop.

[0131] Please refer to Figure 9, which is a flowchart of a configuration method provided in an embodiment of the present application. The method may include but is not limited to the following steps:

[0132] S101: A code tracking loop receives a first satellite signal captured by n signal channels.

[0133] In one embodiment, the N signal channels include the n signal channels, and the signals of the same satellite can be tracked through the n signal channels, that is, the correlators of the n signal channels are configured in the multi-channel mode.

[0134] In one embodiment, the code tracking loop and the n signal channels may constitute a logical channel. For example, the logical channel 1 shown in FIG3 includes n signal channels and one signal tracking loop (including the code tracking loop). The logical channel may be used to track signals from the same satellite.

[0135] S102: The code tracking loop obtains first code loop adjustment information according to the output values ​​of the correlators of the n signal channels.

[0136] Based on the above description, it can be concluded that any signal channel can include m correlators (i.e., the number of branches is m), and the spacing is x. For a specific structural example, see the signal channel 200 shown in Figure 4. When the correlators of the above n signal channels are configured in multi-channel mode, the number of correlators (i.e., the number of branches) is m', and the spacing is x' / x ′ ' j (x' for equal spacing and x for non-equal spacing ′ ' j ). For configuration examples of these n signal channels in the multi-channel mode, see the equally spaced multi-channel modes shown in FIG5B , FIG5C , FIG8A , FIG8B , and FIG8C , and the non-equally spaced multi-channel modes shown in FIG6B and FIG6C .

[0137] In one embodiment, the output values ​​of the correlators of the n signal channels used by the code tracking loop may be the output values ​​of some or all of the n×m correlators of the n signal channels, i.e., the output values ​​of the m′ correlators. In some examples, the correlators of the n signal channels are configured in the multi-channel mode shown in FIG8A , where n=2 and the number of branches m′=18. The code tracking loop may obtain the first code loop adjustment information based on the output values ​​of the 18 correlators shown in FIG8A .

[0138] In one embodiment, the first code loop adjustment information may include: an estimated pseudo code phase of the first satellite signal (which may be referred to as an estimated peak value), and a difference between the pseudo code phase of the current logical channel and the estimated peak value (which may be referred to as an estimated difference). The code tracking loop may estimate the pseudo code phase of the first satellite signal based on the output values ​​of the correlators of the n signal channels, and optionally, based on historical information. For an example of the historical information, see the description of the historical information in S205.

[0139] In one embodiment, the code tracking loop can use a preset discriminator, use the output values ​​of the correlators of the above-mentioned n signal channels as the input of the discriminator, and obtain the output of the discriminator (i.e., the first code loop adjustment information). For example, the preset discriminator is a double difference discriminator.

[0140] S103: The code tracking loop sends first code loop adjustment information to the n signal channels.

[0141] In one embodiment, the first code loop adjustment information is a pseudo code NCO adjustment amount, which is used to adjust the pseudo code phase of the current logical channel (including the aforementioned n signal channels) (for example, including adjusting the phase of the pseudo code on the instantaneous branch). For example, the estimated difference in the first code loop adjustment information is used as the pseudo code phase adjustment amount for the current logical channel to ensure that the phase of the pseudo code on the instantaneous branch is consistent with the pseudo code phase of the received first satellite signal. In some examples, each of the aforementioned n signal channels can use the same first code loop adjustment information, that is, each signal channel can adjust its pseudo code phase based on the first code loop adjustment information.

[0142] In one embodiment, the electronic device further includes a carrier tracking loop, which can also receive the first satellite signal captured by n signal channels, obtain first carrier loop adjustment information based on the output values ​​of the correlators of the above n signal channels, and send the first carrier loop adjustment information to the above n signal channels. The first carrier loop adjustment information is a carrier NCO adjustment amount, and the carrier NCO adjustment amount is used to adjust the carrier phase / frequency offset of the current logical channel. In some examples, each of the above n signal channels can use the same first carrier loop adjustment information, that is, each signal channel can adjust the carrier phase / frequency offset of the signal channel according to the first carrier loop adjustment information.

[0143] S104: The code tracking loop outputs the observation value of the first satellite signal to the positioning solution module.

[0144] In one embodiment, the code tracking loop can obtain the observed value of the first satellite signal based on the output values ​​of the correlators of the n signal channels. The observed value of the first satellite signal is used to obtain the position information of the electronic device 100 / DSP102 according to the positioning solution module.

[0145] It can be understood that the code tracking loop is a closed-loop feedback loop, so S102-S103 can be executed multiple times in a loop, but the first code loop adjustment information obtained each time S102-S103 is executed can be different. S104 can be understood as a branch operation derived from the S102-S103 loop, and the first code loop adjustment information used in S104 can be the first code loop adjustment information obtained during one of the multiple loop executions. For example, the method shown in FIG9 is applied to the electronic device 100 / DSP102 shown in FIG3 , the n signal channels shown in FIG9 belong to logical channel 1, the code tracking loop shown in FIG9 belongs to the signal tracking loop in logical channel 1, and the first code loop adjustment information shown in FIG9 corresponds to the adjustment information sent by the signal tracking loop in logical channel 1 to the n signal channels.

[0146] In the method shown in FIG9 , a signal tracking loop in software form can track the signal of the same satellite through n signal channels and use the output values ​​of the correlators of these n signal channels in combination, rather than using only one signal channel to track the signal of one satellite, to achieve the effect of adjusting the configuration of the correlator. For example, n can be different for different satellites, thereby achieving differentiated correlator configurations for different satellites to achieve better tracking effects. It can be understood as splicing the output results of the original correlators into the required data to achieve an equivalent expansion effect. Therefore, the adjustment of the correlator configuration can be achieved without modifying the hardware configuration of the correlator (such as the correlator spacing and number of branches of the signal channel 200 shown in FIG4 ), so that the tracking accuracy of the satellite signal is higher, it is more adaptable to changes in different scenarios, the adjustment method is more flexible, and it does not increase the performance requirements of the processor, the overall power consumption and cost, etc., and the availability is higher.

[0147] It can be understood that the hardware configuration of the current electronic device 100 is relatively high, and the total number of signal channels N is relatively large. If one signal channel is used to track the signal of one satellite, there will be many idle channels. Therefore, the embodiment of the present application tracks the signal of the same satellite through n signal channels. It can not only adjust the correlator configuration (improve tracking accuracy) without modifying the hardware configuration of the correlator, but also effectively utilize the idle channels, and the product has higher availability.

[0148] In one embodiment, the electronic device 100 / DSP 102 may also determine in real time whether to adjust the configuration mode of the correlator during the satellite signal tracking process. The specific implementation process can be seen in FIG10 below.

[0149] Please refer to Figure 10, which is a flowchart of another configuration method provided by an embodiment of the present application. The method may include but is not limited to the following steps:

[0150] S201: The code tracking loop receives a second satellite signal captured by the first signal channel.

[0151] In one embodiment, the N signal channels include a first signal channel, which may include one or more signal channels. When the correlator of the first signal channel is configured in the single-channel mode, the first signal channel includes only one signal channel. For specific examples, see any one of the signal channels shown in FIG2 , or the logical channel N′ (including signal channel N) shown in FIG3 . When the correlator of the first signal channel is configured in the multi-channel mode, the first signal channel includes multiple signal channels. For specific examples, see the logical channel 1 (including signal channel 1 to signal channel n) shown in FIG3 . In some examples, the correlator configuration of the first signal channel defaults to the single-channel mode.

[0152] S202: The code tracking loop obtains second code loop adjustment information according to the output value of the correlator of the first signal channel.

[0153] In one embodiment, in conjunction with the descriptions of the single-channel mode and the multi-channel mode, when the correlator of the first signal channel is configured in the single-channel mode, the code tracking loop can obtain the second code loop adjustment information based on the output values ​​of the m correlators of the first signal channel; when the correlator of the first signal channel is configured in the multi-channel mode, the code tracking loop can obtain the second code loop adjustment information based on the output values ​​of the m′ correlators of the first signal channel. Other descriptions are similar to those of S102 in FIG. For details, please refer to the description of S102 in FIG.

[0154] S203: The code tracking loop sends second code loop adjustment information to the first signal channel.

[0155] The description of S203 is similar to that of S103 in FIG. 9 , except that the first signal channel may include multiple signal channels or one signal channel. For details, please refer to the description of S103 in FIG. 9 .

[0156] S204: The code tracking loop outputs the observation value of the second satellite signal to the positioning solution module.

[0157] In one embodiment, the code tracking loop can obtain the observed value of the second satellite signal based on the output value of the correlator of the first signal channel. The observed value of the second satellite signal is used to obtain the position information of the electronic device 100 / DSP102 according to the positioning solution module.

[0158] It is understandable that the code tracking loop is a closed-loop feedback loop. Therefore, S202-S203 can be executed multiple times in a loop, but the second code loop adjustment information obtained each time S202-S203 is executed can be different. S204 can be understood as a branch operation derived from the S202-S203 loop. The second code loop adjustment information used in S204 can be the second code loop adjustment information obtained during one of the multiple executions.

[0159] When the correlator of the first signal channel is configured in a multi-channel mode, S201 to S204 are consistent with S101 to S104 in FIG. 9 .

[0160] S205: The code tracking loop determines whether to adjust the correlator configuration of the first signal channel.

[0161] In one embodiment, when the code tracking loop determines to adjust the correlator configuration of the first signal channel, S206 can be executed. When the code tracking loop determines not to adjust the correlator configuration of the first signal channel, the second satellite signal can continue to be captured and tracked through the unadjusted first signal channel, for example, S201-S204 can be executed again.

[0162] In one embodiment, the correlator configuration of the first signal channel may include but is not limited to at least one of the following: the number of signal channels in the first signal channel (the first signal channel is used to track the second satellite signal, and therefore may also be referred to as the number of signal channels used to track the second satellite signal), the spacing of the correlators, the number of correlators, the position of the instantaneous correlators, the span of the correlators, or the offset of the auxiliary channel relative to the main channel.

[0163] In one embodiment, the code tracking loop can determine whether to adjust the correlator configuration of the first signal channel based on a first parameter. The first parameter may include but is not limited to at least one of the following: the number of currently idle channels, the modification time interval, the satellite constellation, the satellite frequency, the pseudorange residual, the pseudocode NCO adjustment amount, or environmental information of the environment in which the electronic device 100 is located. Among them, the currently idle channel is a signal channel that is not currently in use, such as a signal channel that is not used to capture and track satellite signals. The modification time interval is the epoch from the last adjustment of the correlator configuration to the current judgment, that is, the difference between the time of the last adjustment of the correlator configuration and the current time. The pseudorange residual is, for example, obtained by the position velocity time (PVT) module in the electronic device 100 after the positioning solution module performs positioning solution. The pseudorange residual can be used to judge the code loop tracking effect. The pseudocode NCO adjustment amount is, for example, the second code loop adjustment information obtained in S202. Environmental information can represent the type of environment in which the electronic device 100 / DSP 102 is currently located, such as an open environment or a harsh environment. The environmental information is obtained based on, for example, but not limited to, at least one of the following: historical information, the carrier-to-noise ratio of the second satellite signal observation, the pseudorange residual, and the dilution of precision (DOP). Historical information includes, for example, but not limited to, at least one of the following: the carrier-to-noise ratio of the satellite signal observation at the last epoch (last second), the pseudorange residual at the last epoch, or historical average measurement information (for examples of measurement information, see the parameters such as the pseudorange residual in the above examples). Specific judgment examples are as follows:

[0164] In one example, the code tracking loop can make a judgment based on the number of currently idle channels. In one case, assuming that the correlator of the first signal channel is configured in single-channel mode, if the number of currently idle channels is less than or equal to a preset threshold value 1, the correlator configuration of the first signal channel may not be adjusted to save channel resources. Alternatively, if the number of currently idle channels is greater than a preset threshold value 2, the correlator configuration of the first signal channel may be adjusted to a multi-channel mode to effectively utilize idle channel resources. In another case, assuming that the correlator of the first signal channel is configured in a multi-channel mode, if the number of currently idle channels is less than or equal to a preset threshold value 3, the correlator configuration of the first signal channel may be adjusted to a single-channel mode, or the number of signal channels included in the first signal channel (i.e., the above-mentioned n) may be reduced (n is still greater than 1, i.e., the multi-channel mode is still maintained) to save channel resources. Alternatively, if the number of currently idle channels is greater than a preset threshold value 4, the correlator configuration of the first signal channel may not be adjusted, or the number of signal channels included in the first signal channel (i.e., the above-mentioned n) may be increased to effectively utilize idle channel resources. The preset threshold value 2 is greater than or equal to the preset threshold value 1, and the preset threshold value 4 is greater than or equal to the preset threshold value 3.

[0165] In Example 2, the code tracking loop can make a judgment based on the modification time interval. If the modification time interval is less than or equal to the preset threshold 5, the correlator configuration of the first signal channel may not be adjusted, thereby avoiding frequent adjustments of the code loop correlator and increasing stability.

[0166] In a third example, the code tracking loop can be judged based on the satellite constellation. Assume that the overall visibility of the satellite signal from constellation 1 is good in a certain area, while the satellite signal from constellation 2 is relatively poor. When the second satellite signal changes from the satellite signal from constellation 1 to the satellite signal from constellation 2, the tracking can be switched from the multi-channel mode to the single-channel mode shown in Figure 4 above. When the second satellite signal changes from the satellite signal from constellation 2 to the satellite signal from constellation 1, the multi-channel mode can be used for tracking, for example, by adjusting the correlator configuration of the first signal channel to the first mode in the multi-channel mode described above, to more carefully track the high-quality signal.

[0167] Example 4: The code tracking loop can make a judgment based on the satellite frequency. In the pseudocodes of satellite signals of different frequencies, the length of a single chip may be different. For example, the chip length of the L1 signal of the global positioning system (GPS) is about 294 meters (m), and the chip length of the GPS L5 signal is about 29.4m. The L5 signal with a shorter chip length has a better anti-multipath effect. When the second satellite signal changes from the L1 signal to the L5 signal, the number of branches of the first signal channel can be increased, for example, the correlator configuration of the first signal channel is adjusted to the second mode in the above-mentioned multi-channel mode to search for correlation peaks in a larger range. Alternatively, when the second satellite signal changes from the L1 signal to the L5 signal, the correlator spacing of the first signal channel can also be reduced, for example, the correlator configuration of the first signal channel is adjusted to the first mode in the above-mentioned multi-channel mode to identify more subtle correlator energy peak deviations. It can be understood that when the second satellite signal is an L5 signal, the first mode or the second mode can be selected according to the current environment. For specific examples, please refer to the following example 7.

[0168] Example 5: The code tracking loop can make a judgment based on the pseudorange residual. When the pseudorange residual is greater than or equal to the preset threshold 6, the characterization code loop tracking deviation is large, and the correlator span and / or correlator spacing of the first signal channel can be increased, for example, the correlator configuration of the first signal channel is adjusted to the second mode in the above-mentioned multi-channel mode to search for correlation peaks at a coarser granularity and / or a larger range. When the pseudorange residual is less than the preset threshold 7, the characterization code loop tracking deviation is small, and the correlator spacing and / or correlator span of the first signal channel can be reduced, for example, the correlator configuration of the first signal channel is adjusted to the first mode in the above-mentioned multi-channel mode to search for correlation peaks at a finer granularity and / or a smaller range. The preset threshold 6 is greater than or equal to the preset threshold 7.

[0169] Example six, the code tracking loop can make a judgment based on the pseudo-code NCO adjustment amount. When the code loop NCO adjustment amount is greater than or equal to the preset threshold 8 within the preset time length 1, the correlator span of the first signal channel can be increased, for example, the correlator configuration of the first signal channel is adjusted to the second mode in the above-mentioned multi-channel mode to search for correlation peaks in a larger range. When the code loop NCO adjustment amount is less than the preset threshold 9 within the preset time length 2, the correlator spacing of the first signal channel can be reduced, for example, the correlator configuration of the first signal channel is adjusted to the first mode in the above-mentioned multi-channel mode to search for correlation peaks at a finer granularity. The preset threshold 8 is greater than or equal to the preset threshold 9.

[0170] Example seven, the code tracking loop can be judged based on environmental information. When the environmental information indicates that it is currently in an open scene (the code loop tracking effect is generally good), the correlator configuration of the first signal channel can be adjusted to a single-channel mode, or the number of signal channels included in the first signal channel (i.e., the above-mentioned n) can be reduced (n is still greater than 1, i.e., the multi-channel mode is still maintained) to save channel resources. When the environmental information indicates that it is currently in a harsh scene (the code loop tracking effect is generally poor), the distance between the multipath signal and the main signal is judged. If the distance is greater than or equal to the preset threshold 10, the correlator span of the first signal channel can be increased, for example, the correlator configuration of the first signal channel is adjusted to the second mode in the above-mentioned multi-channel mode to search for correlation peaks in a larger range. If the distance is less than the preset threshold 11, the correlator spacing of the first signal channel can be reduced, for example, the correlator configuration of the first signal channel is adjusted to the first mode in the above-mentioned multi-channel mode to search for correlation peaks at a finer granularity. The preset threshold 10 is greater than or equal to the preset threshold 11.

[0171] S206: The code tracking loop sends first control information to the first signal channel, so that the first signal channel adjusts the correlator configuration according to the first control information.

[0172] In one embodiment, the first control information indicates that the correlator configuration of the first signal channel is adjusted. For example, the first control information may include information about the adjusted correlator configuration. After the correlator configuration of the first signal channel is adjusted, the second satellite signal can be captured and tracked through the first signal channel after the correlator configuration is adjusted, for example, S201-S204 are executed again (wherein the first signal channel is the first signal channel after the correlator configuration is adjusted). In some examples, the first control information may include tracking parameters of the first signal channel to be adjusted / adjusted. For example, the tracking parameters include the identifier of the tracked satellite, the identifier of the signal tracking loop that receives the correlator output value, etc. In some examples, when the first signal channel includes multiple signal channels, the first control information may include control information of the multiple signal channels. Each signal channel in the first signal channel can adjust its own tracking parameters according to the corresponding control information, such as adjusting the tracked satellite and the signal tracking loop that receives the correlator output value, thereby achieving adjustment of the correlator configuration of the first signal channel. For specific examples, please refer to the description of Figure 3 above. Optionally, multiple signal channels in the first signal channel after adjusting the correlator configuration may use the same control information, so that the multiple signal channels can track information of the same satellite and input the correlator output values ​​into the same signal tracking loop.

[0173] In one embodiment, when the first signal channel is in single-channel mode and the first control information indicates that the correlator configuration of the first signal channel is in multi-channel mode, the adjustment method of the correlator configuration of the first signal channel may include but is not limited to: the equidistant method shown in Figure 5A above or the non-equidistant method shown in Figure 6A above, and may optionally also include the above-mentioned adjustment of the position of the instant branch.

[0174] Exemplarily, the method shown in FIG10 is applied to the electronic device 100 / DSP 102 shown in FIG2 / FIG3. When the correlator of the first signal channel is configured in single-channel mode, the first signal channel is any one of the signal channels shown in FIG2 (assuming it is signal channel 1), the code tracking loop belongs to signal tracking loop 1 shown in FIG2, and the second code loop adjustment information corresponds to adjustment information 1 shown in FIG2. When the correlator of the first signal channel is configured in multi-channel mode, the first signal channel belongs to logical channel 1 shown in FIG3, the code tracking loop belongs to the signal tracking loop in logical channel 1 shown in FIG3, and the second code loop adjustment information corresponds to the adjustment information sent by the signal tracking loop in logical channel 1 to n signal channels shown in FIG3.

[0175] In one embodiment, the electronic device 100 / DSP 102 may also adaptively switch the multi-channel mode of the signal channel during the satellite signal tracking process. The specific implementation process can be seen in FIG11 below.

[0176] Please refer to Figure 11, which is a flowchart of another configuration method provided by an embodiment of the present application. The method may include but is not limited to the following steps:

[0177] S301: The code tracking loop determines whether the first condition is met.

[0178] In one embodiment, after the electronic device 100 / DSP 102 is initialized, the code tracking loop determines whether the first condition is met to determine the correlator configuration of the second signal channel. This can be understood as determining the initial correlator configuration of the second signal channel. The N signal channels of the electronic device 100 / DSP 102 include the second signal channel.

[0179] In one embodiment, when the code tracking loop determines that the first condition is satisfied, control information indicating that the correlator configuration is set to the first mode may be sent to the second signal channel, for example, the second signal channel executes S302. When the code tracking loop determines that the first condition is not satisfied, control information indicating that the correlator configuration is set to the second mode may be sent to the second signal channel, for example, the second signal channel executes S303.

[0180] In one embodiment, the judgment process in S301 is similar to that in S205 of FIG. 10 , and the first condition may be related to the first parameter in S205 (e.g., the number of currently idle channels, satellite constellation, satellite frequency, or environmental information). In some examples, the first condition is that the number of currently idle channels is greater than or equal to a preset threshold of 12. In other examples, the first condition is that the current constellation of the third satellite signal is constellation 1. In still other examples, the first condition is that the environmental information indicates that the current scenario is harsh.

[0181] S302: The correlator configuration of the second signal channel is set to the first mode in the multi-channel mode.

[0182] In one embodiment, when the first condition is met, the second signal channel may set the correlator configuration to the first mode in the multi-channel mode according to the control information sent by the code tracking loop indicating that the correlator configuration is set to the first mode.

[0183] S303: The correlator configuration of the second signal channel is set to the second mode in the multi-channel mode.

[0184] In one embodiment, when the first condition is not met, the second signal channel may set the correlator configuration to the second mode in the multi-channel mode according to control information sent by the code tracking loop indicating that the correlator configuration is set to the second mode.

[0185] For example, the correlator configurations of the first mode and the second mode can be seen in Figures 8A and 8B, respectively. For another example, the correlator configurations of the first mode and the second mode can be seen in Figures 8A and 8C, respectively.

[0186] S304: The code tracking loop receives the third satellite signal captured by the second signal channel, and outputs the observation value of the third satellite signal to the positioning solution module.

[0187] S304 is similar to S101 to S104 in FIG. 9 , and for details, please refer to the description of S101 to S104 in FIG. 9 .

[0188] S305: The code tracking loop determines whether to adjust the multi-channel mode of the second signal channel.

[0189] In one embodiment, when the code tracking loop determines to adjust the multi-channel mode of the second signal channel, S306 can be executed. When the code tracking loop determines not to adjust the multi-channel mode of the second signal channel, the third satellite signal can continue to be captured and tracked through the unadjusted second signal channel, for example, S304 can be executed again.

[0190] In one embodiment, the judgment idea of ​​S305 is similar to the judgment idea of ​​S205 in Figure 10. The code tracking loop can determine whether to adjust the multi-channel mode of the second signal channel based on the first parameter. In some examples, the code tracking loop can determine whether to adjust the multi-channel mode of the second signal channel based on the pseudorange residual. Specifically, when the correlator of the second signal channel is configured in the first mode (i.e., S302 has been executed), the code tracking loop can determine whether the pseudorange residual is greater than or equal to threshold A. When the pseudorange residual is greater than or equal to threshold A, it is determined that the multi-channel mode of the second signal channel is adjusted to the second mode. When the pseudorange residual is less than threshold A, it is determined that the multi-channel mode of the second signal channel is not adjusted. When the correlator of the second signal channel is configured in the second mode (i.e., S303 has been executed), the code tracking loop can determine whether the pseudorange residual is less than or equal to threshold B. When the pseudorange residual is less than or equal to threshold B, it is determined that the multi-channel mode of the second signal channel is adjusted to the first mode. When the pseudorange residual is greater than threshold B, it is determined that the multi-channel mode of the second signal channel is not adjusted.

[0191] In one embodiment, threshold A is associated with the length L1 corresponding to the maximum offset chip phase of the current correlator, for example, threshold A = L1. Exemplarily, the correlator of the second signal channel is configured as the first mode shown in FIG8A. The maximum offset chip phase of the correlator shown in FIG8A is: the chip of the leftmost correlator (i.e., -2 chips) or the chip of the rightmost correlator (i.e., 9 / 4 chips). The smaller of -2 chips can be used as the maximum offset chip phase. Assuming threshold A = L1, threshold A has a length of 2 chips. In one embodiment, threshold B is associated with the length L2 corresponding to the minimum offset chip phase of the current correlator, for example, threshold B = 2×L1. Exemplarily, the correlator of the second signal channel is configured as the second mode shown in FIG8B. The minimum offset chip phase of the correlator shown in FIG8B is the correlator spacing, i.e., 1 / 2 chip. Assuming threshold B = 2×L1, threshold B has a length of 1 chip. In some examples, it is assumed that the threshold A is 2 chips long and the threshold B is 1 chip long. Since the chip length of the GPS L5 signal is l chip =29.4m, then threshold A = 2×l chip =58.8m, threshold B=1 chip =29.4m.

[0192] S306: The code tracking loop sends second control information to the second signal channel, so that the second signal channel adjusts the multi-channel mode according to the second control information.

[0193] In one embodiment, the second control information indicates adjustment of the multi-channel mode of the second signal channel. For example, the second control information may include information about the adjusted multi-channel mode. After the multi-channel mode of the second signal channel is adjusted, the third satellite signal can be captured and tracked via the second signal channel after the multi-channel mode is adjusted, for example, by executing S304 again (wherein the second signal channel is the second signal channel after the multi-channel mode is adjusted). The description of the second control information is similar to that of the first control information in S206 of Figure 10 and is not repeated here.

[0194] FIG11 illustrates an example of determining the initial correlator configuration of the second signal channel through S301. In another embodiment, the initial correlator configuration of the second signal channel may also default to the first mode or the second mode, that is, S302 or S303 is directly executed without executing S301.

[0195] FIG11 illustrates the adaptive switching of the first and second modes of the multi-channel mode as an example. In a specific implementation, any two multi-channel modes can be adaptively switched, for example, the third mode shown in FIG8B and the fourth mode shown in FIG8C can be adaptively switched. The specific process is similar to the process shown in FIG11, except that the specific judgment methods of S301 and S305 are different. Not limited to this, three or more multi-channel modes can also be adaptively switched, for example, the first mode shown in FIG8A, the second mode (i.e., the third mode) shown in FIG8B, and the fourth mode shown in FIG8C can be adaptively switched. The embodiment of the present application does not limit the type and number of adaptively switched multi-channel modes.

[0196] In one embodiment, the signal channel in the electronic device 100 / DSP 102 can also adaptively switch between single-channel mode and multi-channel mode, or between multiple multi-channel modes during the tracking of satellite signals. The specific implementation process can be seen in Figure 12 below.

[0197] Please refer to Figure 12, which is a flowchart of another configuration method provided by an embodiment of the present application. The method may include but is not limited to the following steps:

[0198] S401: The code tracking loop determines whether the second condition is met.

[0199] In one embodiment, after the electronic device 100 / DSP 102 is initialized, the code tracking loop determines whether the second condition is met to determine the correlator configuration for the third signal channel. This can be understood as determining the initial correlator configuration for the third signal channel. The N signal channels of the electronic device 100 / DSP 102 include the third signal channel.

[0200] In one embodiment, when the code tracking loop determines that the second condition is not satisfied, the correlator configuration of the third signal channel may be control information for a single-channel mode, for example, S402. When the code tracking loop determines that the second condition is satisfied, control information indicating that the correlator configuration is set to a multi-channel mode may be sent to the third signal channel, for example, the third signal channel executes S403.

[0201] In one embodiment, the judgment process in S401 is similar to that in S205 of FIG. 10 , and the second condition may be related to the first parameter in S205 (e.g., the number of currently idle channels, satellite constellation, satellite frequency, or environmental information). In some examples, the second condition is that the frequency of the current fourth satellite signal is L5, and the number of currently idle channels is greater than or equal to the total number of channels N multiplied by a preset ratio (the preset ratio is greater than 0 and less than 1, such as 0.35). In other examples, the second condition is that environmental information indicates that the current scenario is harsh.

[0202] S402: The correlator configuration of the third signal channel is set to a single-channel mode.

[0203] In one embodiment, when the second condition is not met, the correlator configuration of the third signal channel may use a single-channel mode. In some examples, after the electronic device 100 / DSP 102 is initialized, if the code tracking loop determines that the second condition is not met, no control information instructing adjustment / setting of the correlator configuration is sent to the third signal channel, and the third signal channel may be in single-channel mode by default.

[0204] S403: The correlator configuration of the third signal channel is set to a multi-channel mode.

[0205] In one embodiment, when the second condition is met, the third signal channel may set the correlator configuration to the multi-channel mode according to the control information sent by the code tracking loop indicating that the correlator configuration is set to the multi-channel mode.

[0206] For example, the correlator configuration in the single-channel mode can be seen in FIG4 , and the correlator configuration in the multi-channel mode can be seen in FIG5B , FIG5C , FIG6B , FIG6C , FIG8A , FIG8B , or FIG8C .

[0207] S404: The code tracking loop receives the fourth satellite signal captured by the third signal channel in the single-channel mode, and outputs the observation value of the fourth satellite signal to the positioning solution module.

[0208] In one embodiment, the third signal channel in single-channel mode can be used to acquire and track a fourth satellite signal, i.e., executing S404. S404 is similar to the case where the correlator of the first signal channel is configured in single-channel mode in S201-S204 of FIG. 10. For details, please refer to the description of S201-S204 of FIG. 10.

[0209] In one embodiment, after S404 , the code tracking loop may again determine whether the second condition is met (ie, execute S401 ) to determine whether the correlator configuration of the third signal channel remains in the single-channel mode or is adjusted to the multi-channel mode.

[0210] S405: The code tracking loop receives the fourth satellite signal captured by the third signal channel in the multi-channel mode, and outputs the observation value of the fourth satellite signal to the positioning solution module.

[0211] S405 is similar to the case where the correlator of the first signal channel is configured in the multi-channel mode in S201 to S204 of FIG. 10 . For details, please refer to the description of S201 to S204 of FIG. 10 .

[0212] In one embodiment, after S405 , the code tracking loop may execute S406 to determine whether the correlator configuration of the third signal channel is adjusted to a single-channel mode or maintained in a multi-channel mode.

[0213] S406: The code tracking loop determines whether to adjust the correlator configuration of the third signal channel to a single-channel mode.

[0214] In one embodiment, when the code tracking loop determines that the correlator configuration of the third signal channel is adjusted to the single-channel mode, control information indicating that the correlator configuration is set to the single-channel mode may be sent to the third signal channel, so that the third signal channel sets the correlator configuration to the single-channel mode according to the control information, for example, in step S402. When the code tracking loop determines that the correlator configuration of the third signal channel remains in the multi-channel mode, it may determine whether to adjust the type of the multi-channel mode of the third signal channel, that is, execute step S407.

[0215] In one embodiment, the code tracking loop may determine whether to adjust the correlator configuration of the third signal channel to a single-channel mode based on the quality of the current fourth satellite signal. When the quality is greater than or equal to a first quality threshold (which can be understood as good quality), the correlator configuration of the third signal channel is adjusted to the single-channel mode. When the quality is less than a second quality threshold (which can be understood as poor quality), the correlator configuration of the third signal channel is determined to remain in a multi-channel mode, and the first quality threshold is greater than or equal to the second quality threshold.

[0216] In some examples, the elevation angle of the satellite signal can represent the quality of the satellite signal. When the elevation angle of the current fourth satellite signal is greater than or equal to a preset elevation angle threshold, the satellite representing the fourth satellite signal is a high-elevation satellite (generally without multipath interference), and can be considered to have a quality higher than or equal to a first quality threshold. The code tracking loop can then determine to adjust the correlator configuration of the third signal channel to single-channel mode to release channel resources. When the elevation angle of the current fourth satellite signal is less than the preset elevation angle threshold, it can be considered that the quality is lower than the second quality threshold. The code tracking loop can then determine to maintain the correlator configuration of the third signal channel in multi-channel mode. In other examples, when the correlator configuration of the third signal channel is the first mode in the multi-channel mode, the code tracking loop can determine whether the elevation angle of the current fourth satellite signal is greater than or equal to threshold C. If it is greater than or equal to threshold C, it is determined to adjust the correlator configuration of the third signal channel to single-channel mode. If it is less than threshold C, it is determined to maintain the correlator configuration of the third signal channel in multi-channel mode. When the correlator of the third signal channel is configured to the second mode in the multi-channel mode, the tracking loop can determine whether the elevation angle of the current fourth satellite signal is greater than or equal to the threshold D. If it is greater than or equal to the threshold D, it is determined to adjust the correlator configuration of the third signal channel to the single-channel mode. If it is less than the threshold D, it is determined that the correlator configuration of the third signal channel remains in the multi-channel mode. Optionally, the threshold C is greater than the threshold D. For example, the threshold C is 60 degrees and the threshold D is 55 degrees. Not limited to the above examples, in other examples, it is also possible to determine whether to adjust the correlator configuration of the third signal channel to the single-channel mode based on other parameters that can characterize the quality. For example, when parameter 1 is less than or equal to the preset threshold, it indicates that the quality is higher than or equal to the first quality threshold. When parameter 1 is greater than the preset threshold, it indicates that the quality is lower than the second quality threshold. The embodiments of the present application do not limit the specific parameter types.

[0217] S407: The code tracking loop determines whether to adjust the multi-channel mode of the third signal channel.

[0218] In one embodiment, when the code tracking loop determines to adjust the multi-channel mode of the third signal channel, S408 may be executed. When the code tracking loop determines not to adjust the multi-channel mode of the third signal channel, the fourth satellite signal may continue to be captured and tracked via the unadjusted third signal channel, for example, by executing S405 again. The determination method of S407 is similar to the determination method of S305 in Figure 11. For details, please refer to the description of S305 in Figure 11.

[0219] S408: The code tracking loop sends third control information to the third signal channel, so that the third signal channel adjusts the multi-channel mode according to the third control information.

[0220] In one embodiment, the third control information indicates adjustment of the multi-channel mode of the third signal channel. For example, the third control information may include information about the adjusted multi-channel mode. After the multi-channel mode of the third signal channel is adjusted, the fourth satellite signal can be captured and tracked via the third signal channel after the multi-channel mode is adjusted, for example, by executing S405 again (wherein the third signal channel is the third signal channel after the multi-channel mode is adjusted). The description of the third control information is similar to that of the first control information in S206 of Figure 10 and is not repeated here.

[0221] FIG12 illustrates an example of determining the initial correlator configuration of the third signal channel through S401. In another embodiment, the initial correlator configuration of the third signal channel may also default to a single-channel mode or a multi-channel mode, that is, the electronic device 100 / DSP 102 does not execute S401 after initialization, but directly executes S402 or S403.

[0222] FIG13 exemplarily shows a state transition diagram of a correlator configuration of a fourth signal channel.

[0223] As shown in FIG13 , when the correlator of the fourth signal channel is configured in single-channel mode, it can be switched to multi-channel mode if condition 1 is satisfied. When the correlator of the fourth signal channel is configured in multi-channel mode, it can be switched to single-channel mode if condition 2 is satisfied. In some examples, the fourth signal channel is the third signal channel in FIG12 , condition 1 is the second condition in S401 , and condition 2 is the condition determined by the code tracking loop in S406 for adjusting the configuration of the correlator of the third signal channel to single-channel mode (e.g., the elevation angle is greater than or equal to a preset elevation angle threshold).

[0224] As shown in Figure 13, when the correlator of the fourth signal channel is configured in the first mode of the multi-channel mode, if condition 3 is met, the mode can be switched to the second mode of the multi-channel mode. When the correlator of the fourth signal channel is configured in the second mode of the multi-channel mode, if condition 4 is met, the mode can be switched to the first mode of the multi-channel mode. In some examples, the fourth signal channel is the second signal channel in Figure 11 / the third signal channel in Figure 12. For descriptions of conditions 3 and 4, refer to the description of S305. For example, condition 3 is that the pseudorange residual is greater than or equal to threshold A, and condition 4 is that the pseudorange residual is less than or equal to threshold B.

[0225] In the methods shown in Figures 10-12, the electronic device 100 / DSP 102 can adaptively adjust the correlator configuration of the signal channel during the satellite signal tracking process. For example, dynamic adjustment of the correlator configuration can be achieved under different satellites, different environments, and different time periods, further adapting to changes in different scenarios and improving the tracking accuracy and robustness of satellite signals. In addition, the multi-channel mode is only used when specific conditions are met. For example, in S406 of Figure 12, the single-channel mode is used when the quality of the satellite signal is good. In this case, a good tracking effect can be achieved without multi-channel mode tracking. Therefore, the current use of the single-channel mode can avoid occupying too many channel resources, thereby reducing the overall number of tracked satellites, while ensuring the tracking effect, and thus improves availability.

[0226] The methods provided in the various embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a digital video disc (DWD), or a semiconductor medium (e.g., a solid state drive (SSD)). As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments may be modified, or some of the technical features thereof may be replaced by equivalents. However, such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A configuration method, characterized in that: Applied to electronic equipment, the method comprises: The electronic device uses n signal channels to receive a first satellite signal from a same satellite, each of the n signal channels includes m correlators, and n and m are integers greater than 1; The electronic device obtains first code loop adjustment information and an observation value of the first satellite signal according to the output values ​​of the correlators of the n signal channels, the first code loop adjustment information is used to adjust the pseudo code phases of the n signal channels, and the observation value of the first satellite signal is used to obtain the position information of the electronic device.

2. The method according to claim 1, characterized in that The electronic device acquires first code loop adjustment information and an observed value of the first satellite signal according to output values ​​of the correlators of the n signal channels, including: The electronic device obtains the first code loop adjustment information and the observed value of the first satellite signal according to output values ​​of m′ correlators, where the m′ correlators are part or all of the n×m correlators of the n signal channels, and m′ is an integer greater than 1 and less than or equal to n×m; The n signal channels include 1 main channel and n-1 auxiliary channels, and the auxiliary channels are offset relative to the main channel; The distance between any two adjacent correlators in one of the signal channels is equal and is x.

3. The method according to claim 2, characterized in that The spacing between any two adjacent correlators among the m′ correlators is equal and is x′, and the offset of the dth auxiliary channel relative to the main channel is d×k, d is a positive integer less than n, k is a rational common factor of x and x′, wherein x=n×k.

4. The method according to claim 2 or 3, characterized in that Among the m' correlators, the instantaneous correlator is The correlator is located at the After a correlator.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The electronic device obtains first carrier loop adjustment information according to the output values ​​of the correlators of the n signal channels, where the first carrier loop adjustment information is used to adjust the carrier phase or frequency offset of the n signal channels.

6. The method according to any one of claims 1 to 5, characterized in that: The correlators of the n signal channels are configured as a multi-channel mode, and the multi-channel mode includes a first mode or a second mode, wherein: The correlator span in the first mode is less than or equal to a first preset span, the correlator span in the second mode is greater than a second preset span, and the first preset span is less than or equal to the second preset span; and / or, The correlator spacing in the first mode is less than or equal to a first preset spacing, the correlator spacing in the second mode is greater than a second preset spacing, and the first preset spacing is less than or equal to the second preset spacing.

7. The method according to claim 6, characterized in that The method further comprises: Before the electronic device uses n signal channels to receive the first satellite signal of the same satellite, determining whether a first condition is met; When the first condition is met, the electronic device configures the correlator configuration mode of the n signal channels to the first mode; When the first condition is not met, the electronic device configures the correlator configuration mode of the n signal channels to the second mode; wherein the first condition is related to a first parameter, and the first parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment in which the electronic device is located.

8. The method according to claim 7, characterized in that The first condition is that the number of currently idle signal channels is greater than or equal to the first channel number.

9. The method according to any one of claims 6 to 8, characterized in that: The method further comprises: After the electronic device acquires the first code loop adjustment information and the observed value of the first satellite signal according to the output values ​​of the correlators of the n signal channels, when the correlators of the n signal channels are configured as the first mode, the electronic device determines whether the pseudorange residual is greater than or equal to a first threshold; when the pseudorange residual is greater than or equal to the first threshold, the electronic device sets the correlators of the n signal channels to the second mode; After the electronic device obtains the first code loop adjustment information and the observation value of the first satellite signal according to the output values ​​of the correlators of the n signal channels, when the correlators of the n signal channels are configured as the second mode, the electronic device determines whether the pseudorange residual is less than or equal to the second threshold; when the pseudorange residual is less than or equal to the second threshold, the electronic device sets the correlator configuration of the n signal channels to the first mode.

10. The method according to any one of claims 1 to 9, characterized in that: The electronic device uses n signal channels to receive a first satellite signal from the same satellite, including: When the second condition is met, the electronic device receives the first satellite signal using the n signal channels; The method further comprises: Before the electronic device uses n signal channels to receive a first satellite signal from the same satellite, the electronic device determines whether a second condition is satisfied; the second condition is related to a second parameter, and the second parameter includes at least one of the following: the number of currently idle signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, or information about the environment in which the electronic device is located; When the second condition is not met, the electronic device uses one signal channel to receive the first satellite signal, and obtains code loop adjustment information and an observation value according to an output value of a correlator of the one signal channel.

11. The method according to claim 10, characterized in that The second condition is that the frequency of the first satellite signal is L5, and the number of currently idle signal channels is greater than or equal to a preset proportion of the total number of channels.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: After the electronic device acquires the first code loop adjustment information and the observed value of the first satellite signal according to the output values ​​of the correlators of the n signal channels, the electronic device determines whether the quality of the first satellite signal is higher than or equal to a preset quality threshold; When the quality of the first satellite signal is higher than or equal to the preset quality threshold, the electronic device uses one signal channel to receive the first satellite signal.

13. The method according to any one of claims 1 to 12, characterized in that: The method further comprises: After the electronic device acquires the first code loop adjustment information and the observed value of the first satellite signal according to the output values ​​of the correlators of the n signal channels, the electronic device determines whether to adjust the correlator configuration of the n signal channels according to a third parameter, where the third parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the n signal channels, the satellite constellation of the first satellite signal, the satellite frequency of the first satellite signal, the pseudorange residual, the first code loop adjustment information, or information about the environment in which the electronic device is located; When it is determined to adjust the correlator configurations of the n signal channels, the electronic device adjusts the correlator configurations of the n signal channels.

14. The method according to claim 13, characterized in that The electronic device adjusts the correlator configurations of the n signal channels, including: The electronic device adjusts at least one of the following correlator configurations of the n signal channels: the number of signal channels used to track the first satellite signal, the spacing of the correlators, the number of correlators, the position of the instantaneous correlators, or the span of the correlators.

15. The method according to any one of claims 1 to 14, characterized in that: The method further comprises: The electronic device receives a second satellite signal using a first signal channel, wherein the first signal channel is one signal channel; The electronic device obtains second code loop adjustment information and an observed value of the second satellite signal according to an output value of the correlator of the first signal channel, wherein the second code loop adjustment information is used to adjust the pseudo code phase of the first signal channel, and the observed value of the second satellite signal is used to obtain position information of the electronic device; The electronic device determines whether to adjust the correlator configuration of the first signal channel according to a fourth parameter, where the fourth parameter includes at least one of the following: the number of currently idle signal channels, the time interval for modifying the correlator configuration of the first signal channel, the satellite constellation of the second satellite signal, the satellite frequency of the second satellite signal, the pseudorange residual, the second code loop adjustment information, or information about the environment in which the electronic device is located; When it is determined to adjust the correlator configuration of the first signal channel, the electronic device adjusts the correlator configuration of the first signal channel, and the correlator configuration of the first signal channel adjusted by the electronic device includes at least one of the following: the number of signal channels used to track the second satellite signal, the spacing of the correlators, the number of correlators, the position of the instantaneous correlator, or the span of the correlator.

16. The method according to claim 15, characterized in that The second satellite signal and the first satellite signal belong to a signal of the same satellite, and the electronic device adjusts the correlator configuration of the first signal channel, including: The electronic device sets the correlator configuration of the first signal channel to a multi-channel mode; The electronic device uses n signal channels to receive a first satellite signal from the same satellite, including: After the electronic device sets the correlator configuration of the first signal channel to a multi-channel mode, the electronic device uses the n signal channels to receive the first satellite signal of the same satellite.

17. The method according to any one of claims 1 to 16, characterized in that: The n signal channels are part of the signal channels included in the electronic device.

18. An electronic device, characterized in that: The electronic device comprises n signal channels, where n is a positive integer greater than 1, and is used to execute the method according to any one of claims 1 to 17.

19. An electronic device, characterized in that: The method comprises a transceiver, a processor and a memory, wherein the memory is used to store a computer program, and the processor calls the computer program to execute the method according to any one of claims 1 to 17.

20. A computer storage medium, characterized in that The computer storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 17 is implemented.

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