483 results about "Multipath effect" patented technology

The invention discloses a vehicle positioning method and system based on UWB and vehicle constraint, and relates to the field of vehicle positioning, and the method comprises the steps: deploying a UWB reference station in a well mining environment, and enabling a vehicle to be provided with a UWB tag; obtaining distance measurement data of at least two UWB reference stations, and detecting and compensating the distance measurement data to obtain a vehicle UWB position; collecting vehicle-mounted IMU (Inertial Measurement Unit) data, and obtaining a vehicle attitude quaternion through attitude calculation; collecting vehicle wheel speed meter data, and correcting the vehicle wheel speed meter data according to vehicle motion constraint conditions; according to the vehicle UWB position, the vehicle attitude quaternion and the corrected vehicle wheel speed meter data, the vehicle position is obtained through an adaptive Kalman filtering fusion algorithm. Aiming at low positioning precision caused by easy accumulation of errors and drifting of a traditional inertial navigation system in a well mine closed space in the prior art, the invention reduces the influence of a multipath effect in the traditional inertial navigation system on the positioning precision.

The invention provides a method for reducing the multipath effect of a take-off and landing guide radar based on adaptive off-axis tracking, and the method comprises the steps: enabling the take-off and landing guide radar to transmit a signal, and transmitting the signal to a radar direction after receiving the signal; the radar receives the direct signal and the multi-path signal at the same time, and separates and establishes a spatial-temporal characteristic database of the multi-path signal; when the influence of the signal on the angle error exceeds a dynamic threshold value, starting an off-axis tracking mode; dynamically calculating the optimal off-axis angle, locking the elevation angle of the antenna, and performing closed-loop tracking of the azimuth; carrying out conjoint analysis, and identifying and eliminating false targets in real time; intelligent suppression is carried out on angle random errors; a real-time multi-path propagation model is constructed, and phase and amplitude compensation is carried out on a received signal. The method has excellent real-time performance and engineering realizability, and can meet strict requirements of aircraft precision approach guidance. The method has good expandability and adaptability, and provides reliable technical support for guaranteeing safe take-off and landing of the aircraft in severe weather and complex environments.

The invention provides an unmanned aerial vehicle sharing intelligent management method and system based on artificial intelligence, and relates to the technical field of intelligent control, and the method comprises the steps: constructing a space virtual geometric shape through a coordinate mapping algorithm; extracting a geometric center coordinate of the space virtual geometric shape, and calculating an offset between the geometric center coordinate and a communication coverage centroid as a first correction factor; analyzing signal coverage included angle distribution among the three position points, and generating a second correction factor in combination with a path loss model; calculating a multipath effect compensation coefficient as a third correction factor according to the signal attenuation gradient on the virtual shape boundary; fusing the first correction factor, the second correction factor and the third correction factor into a comprehensive correction value; and according to the comprehensive correction value, evaluating a communication interruption risk through a path planning neural network, and generating a multi-path transmission scheme containing a redundant relay node selection rule and a dynamic fragmentation recombination strategy. According to the invention, the communication reliability is improved.

The invention relates to the technical field of communication, in particular to an airborne Tiantong phased-array antenna and an application method thereof. According to the method, phased-array antenna beams are driven to perform electronic scanning according to a geometric azimuth angle, beacon signal blind acquisition is performed in a preset airspace in a wide beam mode, and when an initial signal is detected, the mode is immediately switched to a narrow beam scanning mode; dynamically adjusting a phase weighting coefficient to realize pointing adjustment, so that a signal quality parameter is continuously converged in an optimal threshold interval; carrying aircraft maneuvering acceleration feedback is introduced, beam pointing offset is dynamically compensated based on a pre-constructed interference feature library, and signal fluctuation caused by a multipath effect is suppressed; and continuously checking a data validity flag bit of the main inertial navigation system, seamlessly switching to an antenna built-in inertial navigation data stream when a failure threshold is triggered, and activating a rapid recapture program to maintain zero interruption of a communication link. Through dual-source inertial navigation data fusion and intelligent beam control, rapid and accurate tracking of Tiantong satellites in an airborne environment is realized.

The invention provides an unmanned aerial vehicle high-precision autonomous navigation method and system based on GNSS and IMU deep fusion, and aims to solve the problems of insufficient navigation precision and poor robustness in a complex electromagnetic environment. Through a tight coupling architecture, GNSS original observed quantity and IMU pre-integration results are jointly modeled in an observation layer, and multi-source constraints are introduced in combination with factor graph optimization, so that the positioning precision and consistency in weak signal and shielding scenes are remarkably improved. For abnormal observation, a robust kernel function is adopted to dynamically adjust the weight, and the influence of electromagnetic interference and a multipath effect is effectively inhibited. Meanwhile, navigation calculation and model prediction control MPC are combined, and sub-meter hovering and high-precision trajectory tracking are achieved. According to the method, in high-voltage transmission line inspection, dependence on a high-cost sensor is reduced, the engineering application value is high, the method can be widely applied to the fields of electric power inspection, disaster emergency, infrastructure monitoring and the like, and reliable technical support is provided for high-precision autonomous navigation of the unmanned aerial vehicle in a complex environment.

The invention relates to the technical field of power line communication, and discloses a frame synchronization method and device for broadband power line communication, and the method comprises the steps: carrying out the symbolization cross-correlation operation of a received signal, and obtaining a cross-correlation result sequence; performing secondary autocorrelation analysis and accumulation processing on the cross-correlation values in the sequence to generate an autocorrelation accumulated value sequence; screening candidate peak positions according to absolute values of the self-correlation accumulated values; defining a synchronous peak analysis window around the candidate peak position, and setting a noise reference window in an area far away from the window; verifying the validity of the candidate peak based on the difference between the autocorrelation accumulated values of the synchronization peak window and the noise reference window; and if the verification is valid, calculating and determining a final synchronization position through a mean value of a plurality of peak value positions in the synchronization peak window. According to the method, the problem of inaccurate synchronization peak positioning under the multipath effect and noise interference in the existing method is solved through the self-correlation accumulation and noise separation mechanism, and the reliability of frame synchronization is improved.

The invention discloses a signal processing method based on deep learning and adaptive filtering fusion. The method comprises the following steps: S1, collecting and preprocessing an original signal; s2, carrying out adaptive filtering; s3, constructing a deep neural network model to perform deep feature extraction on the filtered signal; s4, signal fusion and interference elimination are carried out; S5, a real-time closed-loop feedback mechanism is established, and dynamic parameter adjustment is carried out; s6, performing an end-to-end dynamic optimization process; s7, performing iterative updating and high-confidence sample judgment; and S8, processing a newly collected signal by using the trained adaptive filtering module and the deep neural network model, and generating a reconstructed signal through signal fusion. According to the method, through effective fusion of adaptive filtering and the deep neural network, accurate suppression and high-dimensional feature extraction of a multipath effect, nonlinear noise and transient interference in a complex wireless signal are realized, so that the precision, robustness and real-time performance of signal processing are remarkably improved.

The invention relates to the technical field of voice processing, in particular to a mixed voice processing method, electronic equipment and a computer readable medium. The method comprises the following steps: collecting mixed voice and environment influence parameters; carrying out bionic frequency domain analysis on the mixed voice to obtain low-frequency attenuation compensation characteristic data; performing multipath effect propagation analysis on the low-frequency attenuation compensation characteristic data through the environmental influence parameters to generate channel distortion data; performing time domain-frequency domain joint deconvolution processing on the mixed voice by using the channel distortion data to generate a direct sound component and a reflected sound component; performing adversarial training based on the direct sound component and the reflected sound component to generate anti-multipath speech enhancement data; and constructing a dynamic frequency compensation filter based on preset environmental acoustic characteristics. Through the multi-stage signal processing, frequency compensation and real-time optimization technology, the output quality of the mixed voice is improved.

The invention provides a motorcycle unlocking and locking method based on low-frequency radio frequency, Bluetooth and communication protocols, and the method comprises the steps: carrying out the phase compensation of a received signal through an iterative optimization equalizer coefficient until the phase distortion is effectively suppressed; a Kalman filtering algorithm is adopted to filter signals of a receiving end, and a filtered high-quality signal is obtained by establishing a state space model of the signals and updating state estimation by using observation values, so that interference of a multipath effect on a pairing process is reduced; in combination with a retransmission mode of a pairing protocol, dynamically adjusting retransmission parameters by tracking the response time and the success rate of a connection request; a Bluetooth pairing process is simulated, and connection success rates under different environment parameter settings are analyzed through a large number of simulation experiments, so that parameter selection of a pairing protocol is optimized.

The invention discloses an antenna control method and device and electronic equipment, and relates to the field of multimode cooperative communication, and the method comprises the steps: analyzing the characteristics of the environment around an antenna, generating an optimal polarization strategy in combination with a characteristic analysis result and a polarization switching prediction algorithm, transmitting a test signal through an antenna array controller, and recording a channel impulse response, time inversion processing is carried out on the channel impulse response, a time inversion signal and a phase compensation parameter are combined to generate a reverse emission signal, the reverse emission signal is reemitted, an optimal polarization strategy is combined to adjust the polarization state of each array element, a beam forming parameter set is generated, and the phase and amplitude of antenna equipment are adjusted through a controller. And monitoring signal strength and transmission efficiency, and generating a signal transmission performance data report. The antenna polarization switching method and device solve the technical problems that an antenna polarization switching algorithm cannot adapt to a dynamic electromagnetic environment and a multipath effect, the stability is insufficient, the signal strength is unstable, and the communication quality is affected in the related technology.

The invention provides a robust factor graph integrated navigation method based on adaptive MCMC (Markov Chain Monte Carlo), and in an INS / GNSS (Inertial Navigation Satellite System / Global Navigation Satellite System) integrated navigation system, factors such as multipath effect and non-line-of-sight can greatly reduce the positioning accuracy of satellites, so that the effect of the whole integrated navigation system is influenced. In urban traffic, many canyon environments greatly influence the positioning precision of vehicles, so that a combined navigation method with robust performance and estimation precision needs to be researched. The invention provides a robust factor graph integrated navigation method based on the adaptive MCMC. The method comprises the following steps: firstly, introducing adaptive MCMC into a factor graph optimization framework based on a prior stage and a posterior stage so as to accurately estimate GNSS time variable measurement noise covariance; secondly, introducing an innovation x2 detection algorithm to detect and eliminate gross errors; the method can effectively estimate GNSS time-varying variable measurement noise while reducing gross error interference. Compared with a robust adaptive factor graph algorithm based on M estimation and a robust factor graph combined navigation algorithm based on variational Bayes, the method has the advantage that the positioning precision is obviously improved.

The invention discloses an indoor UWB-IMU fusion trajectory tracking system and method based on factor graph optimization, and belongs to the technical field of UWB indoor positioning. The system adopts a multi-stage processing framework, and specifically comprises the following steps: firstly, collecting channel pulse response and distance information by virtue of a wireless communication system, constructing a dynamic environment sensing mechanism, and evaluating the current channel state and the availability of each base station in real time; secondly, for the ranging values of the available base stations in the NLOS environment, compensating by using historical information, and for the ranging values of the unavailable base stations, estimating and correcting by using a time step length; and finally, collaborative optimization is carried out on UWB ranging data, IMU inertial information and base station state information through an SW-FGO algorithm, so that positioning stability is ensured, and adverse effects of obstacle shielding and a multipath effect on trajectory tracking precision are reduced. The invention provides a fusion positioning system which combines the advantages of UWB and IMU, can realize the tracking of a target motion track, and is suitable for most LOS and NLOS indoor mixed scenes.

The invention discloses a power supply communication method and device based on power line carrier communication, and relates to the technical field of power supply communication. Problems of signal attenuation, insufficient anti-interference capability, insufficient stability of power supply communication, insufficient intelligent path switching capability and the like exist in the prior art. According to the method, high-sampling-rate PSD analysis, STFT and LSTM are adopted to predict noise power time sequence data, and a noise-load rate coupling model is established; secondly, based on a transmission line theory, researching channel time-varying characteristics, calculating signal reflection and multipath effects, and calculating channel coherence time through a sliding window; for signal attenuation, low, medium and high frequency band models are respectively established, path attenuation is calculated, and channel capacity is optimized; and finally, through real-time stability analysis, short-term and long-term SNR stability is calculated, and path selection is optimized in combination with a load rate, so that communication quality is ensured. And through integration of channel modeling, time-varying analysis and path optimization, the reliability and stability of power line carrier communication are improved.

The invention discloses a satellite signal distortion compensation and data reconstruction method, system and device and a medium, and belongs to the technical field of satellite communication, and the method comprises the steps: obtaining and processing a satellite communication time domain signal, obtaining a time-frequency graph and a local feature vector, calculating the local feature vector through an encoder, obtaining a global feature, and carrying out the calculation of the global feature; splicing the global feature and the local feature vector to generate a fusion feature vector, and recovering the resolution of the time-frequency graph based on an end-to-end compensation network; and inputting a time-frequency graph and the fusion feature vector to obtain a phase compensation factor, compensating the time-frequency graph by using the phase compensation factor, reconstructing a time-domain signal through inverse short-time Fourier transform, splicing the fusion feature vector and a combined data type label, and inputting the spliced fusion feature vector and combined data type label into a trained neural network to realize semantic reconstruction. The method solves the problem of joint compensation of signal amplitude and phase, guarantees data integrity, gets rid of dependence on complex physical parameter estimation, and can quickly adapt to ionosphere change and multipath effect environment.

The invention relates to the technical field of coal mine telecommunication, and discloses a coal mine underground integrated private network coverage system based on a 5G communication and AR double-transmitting selective-receiving technology, an efficient transmission and baseband processing network is constructed by taking a macro base station as a core on the ground and matching with PTN equipment and a BBU, a 5G micro base station and an RRU are deployed under the ground for a complex environment, and low-loss signal coverage is realized through optical fibers. The AR double-transmitting selective-receiving module ensures that underground data are not lost and have no error through redundant coding and double-link transmission; the edge computing module sinks data processing to the underground, reduces transmission delay and optimizes resource allocation; and the system monitoring and interference suppression unit monitors the operation state in real time, performs multi-stage alarm and resists multipath effect and electromagnetic interference, and finally realizes integration of communication above and under the well, reliability of data transmission, high efficiency of resource utilization and stability of system operation, thereby providing solid communication support for safety production, equipment management and control and personnel scheduling under the coal mine.

The utility model discloses a double-frequency circularly polarized fusion antenna with a large frequency ratio, which comprises a first dielectric plate and a second dielectric plate, the first dielectric plate is positioned above the second dielectric plate, and the lower surface of the first dielectric plate is a copper-clad layer serving as a grounding plate. And a first metal radiator, a second metal radiator, a third metal radiator and a fourth metal radiator are arranged on the upper surface of the antenna. One end, close to the center of the dielectric plate, of the radiator is loaded with a metal column and connected with the grounding plate, and one end, away from the center of the dielectric plate, of the radiator is loaded with a millimeter wave metal probe. A microwave feed network and four 180-degree phase difference power dividers are arranged on the lower surface of the second dielectric plate, an output port of the microwave feed network is connected with the four microwave metal probes, and output ports of the 180-degree phase difference power dividers are connected with the eight millimeter wave metal probes. The dual-frequency circular polarization antenna has a dual-frequency circular polarization characteristic, can effectively reduce the influence of a multipath effect, and achieves the multiplexing of the radiator, thereby reducing the demands for the space resources of communication equipment.

The invention provides a single base station error suppression and positioning method based on unsupervised learning, which automatically models to reach error distribution of a phase difference without label data through a deep learning network, and does not need manual labeling. The system extracts signal features, and non-line-of-sight propagation errors are effectively identified and corrected by using unsupervised learning. Compared with a traditional multi-base-station method, high-precision positioning can be achieved in a complex indoor environment only through a single base station. The method combines the feature extraction capability of deep learning and the distribution modeling of unsupervised learning, significantly reduces the deployment cost, improves the positioning precision and robustness, is especially suitable for scenes with significant dynamic and multipath effects, provides an innovative solution for ultra-wideband positioning, and has a wide application prospect.

The invention belongs to the technical field of radar human body tracking and recognition, and particularly relates to a rotary millimeter wave radar human body tracking and recognition device and method. The millimeter-wave radar module is mounted on the rotating holder module, and the main beam direction of an antenna in the millimeter-wave radar module is perpendicular to the rotating shaft; the millimeter wave radar module is connected with the control module, and the embedded processor is internally provided with a point cloud data processing algorithm and an identity recognition neural network which are used for overcoming the influence of environmental noise and multipath effect on data quality. The problems of fixed field angle and limited monitoring range of the traditional millimeter wave radar are effectively solved; and through an improved data processing algorithm and an identity recognition neural network, the influence of environmental noise and a multipath effect on data quality is overcome, and the reliability and adaptability of the system in a complex scene are remarkably improved.

The invention relates to the technical field of water level measurement, in particular to a water level precision measurement method, system and equipment applied to a water conservancy project, and the method comprises the steps: obtaining an electromagnetic wave signal emitted to the water surface by a radar water level gauge in real time, recording the electromagnetic wave signal as an emission signal, and obtaining an echo signal received at each measurement moment; water level data, measured by the radar water level gauge through the received echo signals, at each measurement moment are obtained; calculating a signal fluctuation degree and an energy loss ratio of each measurement moment, determining a first evaluation value, a second evaluation value and a water level fluctuation degree of each measurement moment, and obtaining an interference coefficient of each measurement moment; and correcting the water level data based on the water level data and the disturbed coefficients of each measurement moment and a plurality of measurement moments before the measurement moment to obtain the corrected water level data of each measurement moment. The interference influence of the multipath effect, noise and water surface fluctuation on the echo signal can be reduced, and the precision of the radar water level gauge on the water level measurement result is improved.

The invention relates to the technical field of intelligent transportation, and particularly discloses a multi-sensor data fusion method based on adaptive Kalman filtering, which is suitable for vehicle trajectory tracking in a tunnel scene. The method comprises the steps of sensor deployment and data acquisition, data preprocessing and anomaly detection, multi-target data association, adaptive filtering fusion and state estimation. By introducing an anomaly detection mechanism and dynamically adjusting a filtering estimation error covariance, the influence of abnormal data such as a multipath effect and electromagnetic interference is effectively suppressed, and the tracking precision and stability of the position, speed and trajectory of the vehicle are improved. The method is remarkably superior to a traditional filtering algorithm in a complex tunnel environment, has the technical advantages of high-precision tracking, high robustness, high adaptability, high real-time performance, comprehensive functions and the like, and can remarkably improve the reliability and performance of a tunnel vehicle monitoring system; the method is suitable for multiple key fields of tunnel safety early warning, accident prevention, traffic flow optimization, emergency response and the like.

The invention relates to the technical field of UWB positioning, and discloses a method for enhancing UWB positioning based on a two-stage algorithm, and the method comprises the steps: constructing a TDoA signal model, obtaining a distance difference equation, carrying out the rough positioning of a tag address according to the distance difference equation, and obtaining a rough positioning result (xcoarse, ycoarse) of the tag address; and a state space model is defined, accurate positioning is carried out based on the state space model according to the rough positioning result (xcoarse, ycoarse), and an accurate positioning result (xfinal, yfinal) is obtained. According to the invention, the UWB and the dual-stage positioning algorithm are combined, so that the problems of non-line-of-sight interference, multipath effect, clock synchronization requirement, calculation efficiency, balance between positioning precision and anti-interference capability and the like are effectively solved, and the performance and reliability of the positioning system are improved.

The invention provides a vehicle-mounted GNSS carrier-to-noise ratio space-time correlation active interference source positioning method and system, and relates to the technical field of data processing, and the method comprises the steps: extracting carrier-to-noise ratio sequences of a first reference point, a second reference point and a third reference point, and constructing a geometric correlation model expanded by a time dimension; on the basis of a geometric correlation model, comparing the real-time carrier-to-noise ratio dynamic change characteristics with a prediction result of the model, calculating a prediction deviation, and separating normal carrier-to-noise ratio fluctuation caused by motion of the vehicle and abnormal carrier-to-noise ratio fluctuation caused by external interference according to the prediction deviation; when abnormal carrier-to-noise ratio fluctuation is detected, spectrum characteristic identification of a multipath effect and active interference is carried out by combining building height and road material reflection coefficient information in a high-precision map, and if active interference is confirmed, the direction of an interference source is calculated according to signal attenuation gradient vectors of the three space-time reference points. According to the invention, rapid orientation of the interference source can be realized.

The invention discloses a multipath effect suppression method for indoor visible light positioning, relates to the technical field of indoor visible light communication and positioning, and aims to solve the problems in the prior art, the method comprises the following steps: constructing a fractional order chaotic signal generator and starting to generate a chaotic sequence signal; the chaotic sequence signals are modulated and loaded to an LED array and a driving circuit thereof, and optical signals carrying fractional order chaotic characteristics are generated and transmitted; after being propagated indoors, the optical signal is acquired by a photoelectric detector, is preprocessed and then is transmitted to a field FPGA (Field Programmable Gate Array); in the FPGA, based on a compressed sensing theory, modeling the received signal and constructing an adaptive sensing matrix to obtain a compressed observation signal; iteratively recovering sparse channel response from the compressed observation signal by adopting a path focusing guide orthogonal matching pursuit algorithm; and the FPGA extracts main path information from the reconstructed sparse channel response, and calculates a final positioning coordinate in combination with an arrival time positioning model. And in indoor visible light positioning, the method has a good capability of resisting a multipath effect.

The invention relates to the technical field of Bluetooth positioning, and discloses a Bluetooth positioning method and system based on multi-beacon RSSI weighted optimization, and the method comprises the steps: sequentially switching and scanning a broadcast signal of a target Bluetooth tag through a plurality of Bluetooth beacons disposed at a fixed position, so as to obtain a plurality of groups of RSSI measurement values from different directions; performing filtering processing on the multiple groups of RSSI measurement values to suppress signal fluctuation; calculating the weight of each beacon based on the filtered RSSI value, and constructing a weighted least square positioning model; and solving the coordinate position of the target Bluetooth tag by using a weighted least square positioning model. According to the invention, through adoption of a multi-beacon rapid switching acquisition and RSSI weighted optimization mechanism, signal quality differences of different beacons can be effectively distinguished, and dynamic weight descending processing is carried out on measurement values which are seriously interfered by a multipath effect and shielding, so that the positioning precision and stability in a complex indoor environment are remarkably improved.

The invention relates to an unmanned aerial vehicle high-precision positioning method based on a satellite-based enhancement system and adaptive Kalman filtering. The method comprises the following steps: acquiring multimode satellite data; analyzing the satellite-based enhanced telegraph text data, and performing error correction on the original observation data; based on the corrected observation data, dynamically adjusting a process noise covariance matrix by using the motion state of the unmanned aerial vehicle, and constructing an adaptive Kalman filtering model; and based on an adaptive Kalman filtering model, fusing the corrected observation data and inertial measurement unit data to obtain unmanned aerial vehicle positioning. The method aims to solve the problems that unmanned aerial vehicle positioning in complex environments (such as urban canyons, electromagnetic interference areas and mountainous areas without ground base stations) is remarkable in multipath effect and has dynamic noise interference, and traditional differential positioning depends on ground base stations. The centimeter-level continuous positioning of the unmanned aerial vehicle in a complex scene is realized through triple technical breakthroughs of satellite-based differential correction, dynamic optimization of environmental perception filtering parameters and multi-source data tight coupling solution.

The invention relates to the technical field of power signals, in particular to a power line broadband carrier signal adaptive enhancement and noise reduction method and system. According to the method, the multi-dimensional interference characteristics of the power line transmission environment are acquired and the initial modulation parameters are pre-adjusted, so that the influence of environmental interference can be reduced at the initial stage of signal transmission, the signal transmission quality is improved, and the multi-path delay inequality of the aggregated signal and the channel attenuation coefficient are acquired in real time and are combined with dynamic channel adjustment, so that the signal transmission efficiency is improved. Signal components can be dynamically adjusted and optimized according to real-time changes of a power line channel, the adaptive capacity of a system is improved, signals can be optimized in real time by means of real-time transmission quality monitoring and optimization of enhanced carrier signals, the lagging influence of signal quality is avoided, and the system performance is improved. The method ensures that the power line communication system has good adaptive enhancement and noise reduction capabilities, improves the overall performance of the communication system, and can effectively overcome the influence of multipath effect, electromagnetic interference, attenuation and other factors on channel estimation in the prior art.

The invention discloses a real-time position obtaining method and system based on Beidou satellite positioning, and relates to the technical field of high-precision positioning, and the method comprises the steps: receiving a Beidou satellite signal, obtaining an original observation value, obtaining precise ephemeris, clock correction information and error correction parameters, carrying out the decoding and preprocessing of the obtained data, and carrying out the decoding and preprocessing of the obtained data; and carrying out position calculation according to the preprocessed data and the error correction parameters to obtain real-time position coordinates, transmitting the real-time position coordinates to a remote monitoring center, continuously updating the satellite signals and the error correction parameters, and carrying out dynamic monitoring. Through the steps of receiving Beidou satellite signals, acquiring precise ephemeris and error information, decoding and preprocessing the signals, resolving the position, dynamically monitoring and the like, high-precision and stable real-time positioning is realized, the influence of ionosphere and troposphere errors and a multi-path effect is effectively reduced, and the positioning precision and reliability are improved.

The invention relates to the field of underwater sound control, in particular to a differential spread spectrum underwater sound remote control method resistant to channel interference and Doppler. The invention provides a differential spread spectrum signal processing method based on an underwater sound remote control system, and provides a set of multipath interference resisting method combining peak searching and deconvolution aiming at a multipath effect. Aiming at the influence of noise and Doppler, a differential spread spectrum signal in a code element difference mode is used as a response signal of the UUV, a double-pulse method is firstly used for Doppler coarse compensation during resolving, and then an orthogonal receiver is used for orthogonal demodulation to obtain two paths of signals; finally, coefficients containing residual Doppler and sampling errors can be offset as much as possible in a differential solution link in a differential conjugate multiplication mode. A simulation result shows that compared with a traditional method, the anti-noise and anti-multipath capability is high, and when the relative movement speed between the UUV and the water surface mother ship is small, the bit error rate is lower.

The present application relates to the technical field of speech processing, and particularly relates to a mixed speech processing method, an electronic device and a computer readable medium. The method comprises the following steps: collecting mixed speech and environmental influence parameters; performing bionics frequency domain analysis on the mixed speech to obtain low-frequency attenuation compensation feature data; performing multipath effect propagation analysis on the low-frequency attenuation compensation feature data through the environmental influence parameters to generate channel distortion data; performing time domain-frequency domain joint deconvolution processing on the mixed speech by using the channel distortion data to generate direct sound components and reflected sound components; performing adversarial training based on the direct sound components and the reflected sound components to generate anti-multipath speech enhancement data; and constructing a dynamic frequency compensation filter based on preset environmental acoustic characteristics. The present application improves the output quality of mixed speech through multi-stage signal processing, frequency compensation and real-time optimization technology.