CN111929704B - Navigation receiver, navigation information determining method and related device - Google Patents

Navigation receiver, navigation information determining method and related device Download PDF

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Publication number
CN111929704B
CN111929704B CN202011038829.2A CN202011038829A CN111929704B CN 111929704 B CN111929704 B CN 111929704B CN 202011038829 A CN202011038829 A CN 202011038829A CN 111929704 B CN111929704 B CN 111929704B
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time
gnss receiver
interrupt
module
satellite
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CN111929704A (en
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李志成
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Spreadtrum Communications Shanghai Co Ltd
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Spreadtrum Communications Shanghai Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application discloses a navigation receiver, a navigation information determining method and a related device, which are applied to a navigation module, wherein the navigation module comprises a GNSS receiver, a cellular module and a first memory, the GNSS receiver comprises an antenna, a radio frequency front end, a baseband processor and a processor, the baseband processor only comprises a capture engine module and a tracking engine module in the tracking engine module, and the first memory stores a capture engine algorithm module; the antenna is connected with the radio frequency front end, the radio frequency front end is connected with the baseband processor, the baseband processor is connected with the processor, and the processor is connected with the first memory; the GNSS receiver is connected with the cellular module. The method and the device are beneficial to reducing the chip area of the GNSS receiver, saving the cost and reducing the total power consumption of the system.

Description

Navigation receiver, navigation information determining method and related device
Technical Field
The present application relates to the field of navigation positioning technologies, and in particular, to a navigation receiver, a navigation information determining method, and a related apparatus.
Background
Today, location-based services play a very important role in people's daily life. Common examples of location-based services include navigation software, social networking services, location-based advertising and tracking systems. A Global Navigation Satellite System (GNSS) receiver is a major component of a positioning service. GNSS receivers typically consume a large amount of battery power, which is a problem for terminal devices (especially internet of things IoT devices and wearable devices).
Disclosure of Invention
The embodiment of the application provides a navigation receiver, a navigation information determining method and a related device, which aim to reduce the chip area of the GNSS receiver, save the cost and reduce the total power consumption of a system.
In a first aspect, an embodiment of the present application provides a GNSS receiver, which is applied to a navigation module, where the navigation module includes the GNSS receiver, a cellular module, and a first memory, the GNSS receiver includes an antenna, a radio frequency front end, a baseband processor, and a processor, the baseband processor includes only a capture engine module and a tracking engine module of the tracking engine module, and the first memory stores a capture engine algorithm module; wherein the content of the first and second substances,
the antenna is connected with the radio frequency front end, the radio frequency front end is connected with the baseband processor, the baseband processor is connected with the processor, and the processor is connected with the first memory; the GNSS receiver is connected with the cellular module; the capture engine algorithm module is used for being called under preset conditions to realize the functions of the capture engine module, and the preset conditions comprise any one of the following conditions: in the initialization stage, preset information is unavailable, wherein the preset information comprises at least one of the following: time information of the cellular module, navigation messages of satellites, reference positions of the GNSS receiver and reference time of the GNSS receiver;
the GNSS receiver is used for performing information interaction with the cellular module to determine a first interruption time, an interruption time difference, a clock drift parameter and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the GNSS receiver is used for receiving the time information transmitted by the GNSS receiver, and determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration;
and determining satellite acquisition parameters for the current local time of the GNSS receiver, the clock drift parameters, the reference location of the GNSS receiver and the navigation message;
and the tracking engine module is used for executing satellite capturing operation according to the satellite capturing parameters, tracking satellite signals, demodulating the satellite signals to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
In a second aspect, an embodiment of the present application provides a GNSS receiver applied to a navigation module, where the navigation module includes the GNSS receiver, a cellular module, and a first memory, the GNSS receiver includes an antenna, a radio frequency front end, a baseband processor, and a processor, the baseband processor includes only the tracking engine module of a capture engine module and a tracking engine module, and the first memory stores a capture engine algorithm module; the method comprises the following steps:
calling the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, processing the primary capture result through the tracking engine module to obtain a target capture result, calling the positioning calculation algorithm module to execute positioning calculation according to the target capture result to obtain a navigation message, a reference position of the GNSS receiver and reference time of the GNSS receiver;
performing information interaction with the cellular module to determine a first interrupt time, an interrupt time difference, a clock drift parameter, and a time information transmission duration, where the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module according to a time of the first interrupt and a time of a second interrupt, the first interrupt and the second interrupt are both initiated by the GNSS receiver requesting the cellular module, the time information transmission duration is a time difference between a time when the local terminal device receives time information and a second interrupt time, the time information includes the interrupt time difference and the clock drift parameter, and the second interrupt time is a local time latched when the local terminal device receives a second interrupt instruction of the second interrupt;
determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration;
determining satellite capturing parameters according to the current local time of the GNSS receiver, the clock drift parameters, the reference position of the GNSS receiver and the navigation message;
and executing a satellite capturing operation through the tracking engine module according to the satellite capturing parameters, tracking a satellite signal, demodulating the satellite signal to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
In a third aspect, an embodiment of the present application provides a GNSS receiver applied to a navigation module, where the navigation module includes the GNSS receiver, a cellular module, and a first memory, the GNSS receiver includes an antenna, a radio frequency front end, a baseband processor, and a processor, the baseband processor includes only the tracking engine module of a capture engine module and a tracking engine module, and the first memory stores a capture engine algorithm module; the device comprises an initialization unit, an information interaction unit, a determination unit and a capture unit, wherein,
the initialization unit is used for calling the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, processing the primary capture result through the tracking engine module to obtain a target capture result, calling the positioning calculation algorithm module to execute positioning calculation according to the target capture result to obtain navigation messages, the reference position of the GNSS receiver and the reference time of the GNSS receiver;
the information interaction unit is used for carrying out information interaction with the cellular module to determine a first interruption time, an interruption time difference, a clock drift parameter and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the determining unit is configured to determine a current local time of the GNSS receiver according to the first interruption time, the interruption time difference, and the time information transmission duration; determining satellite capturing parameters according to the current local time of the GNSS receiver, the clock drift parameters, the reference position of the GNSS receiver and the navigation message;
the acquisition unit is used for executing satellite acquisition operation according to the satellite acquisition parameters, tracking satellite signals and demodulating the satellite signals to obtain observed values;
the determining unit is further configured to perform a least squares or kalman filtering algorithm using the observation value to determine the navigation information of the GNSS receiver.
In a fourth aspect, embodiments of the present application provide a GNSS receiver comprising a radio frequency front end, a tracking engine module coupled to the front end, a second memory coupled to the tracking engine module, and one or more programs stored in the second memory and configured to be executed by the tracking engine module, the programs including instructions for performing the steps of any of the methods of the second aspects of the embodiments of the present application.
In a fifth aspect, an embodiment of the present application provides a chip, including: and the processor is used for calling and running the computer program from the memory so that the equipment provided with the chip executes part or all of the steps described in any method of the second aspect of the embodiment of the application.
In a sixth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform some or all of the steps described in any one of the methods of the second aspect of the present application.
In a seventh aspect, this application provides a computer program, where the computer program is operable to cause a computer to perform some or all of the steps as described in any of the methods of the second aspect of this application. The computer program may be a software installation package.
It can be seen that, in the embodiment of the present application, the baseband processor of the GNSS receiver only includes the tracking engine module, and the capture engine module is removed, so that the chip area is reduced, and the cost is saved. When the GNSS receiver is not in a working state, the cellular module maintains the interruption time difference and the clock drift parameter, the accurate time assistance of the cellular communication network is utilized, and the tracking engine module is used for directly capturing the satellite, so that the overall power consumption of the system is reduced because the tracking engine has lower power consumption than the capturing engine. In addition, the robustness of the system can be enhanced by running the capture engine algorithm module under the preset condition.
Drawings
Reference will now be made in brief to the drawings that are needed in describing embodiments or prior art.
FIG. 1 is a schematic diagram of a system architecture of a conventional GNSS receiver according to an embodiment of the present application;
fig. 2 is a schematic hardware structure diagram of a capture engine module according to an embodiment of the present disclosure;
fig. 3 is a schematic system architecture diagram of a navigation module 10 according to an embodiment of the present application;
fig. 4 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
fig. 5 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
fig. 6 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
fig. 7 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
fig. 8 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
fig. 9 is a schematic system architecture diagram of another navigation module 10 provided in the embodiment of the present application;
FIG. 10 is a schematic diagram of a system architecture of another navigation module 10 provided in the embodiments of the present application;
fig. 11 is a schematic flowchart of a navigation information determining method according to an embodiment of the present application;
FIG. 12 is a timeline diagram of a GNSS receiver and a cellular module according to an embodiment of the present application;
fig. 13 is a block diagram illustrating functional units of a navigation information determining apparatus according to an embodiment of the present disclosure;
fig. 14 is a block diagram of functional units of another navigation information determination apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
GNSS includes Global navigation System (GPS) (usa), GLONASS (russia), beidou satellite navigation System BDS (china) and Galileo (european union) as well as other regional systems such as GPS-assisted geostationary enhanced navigation System GAGAN (india), quasi-zenith satellite System QZSS (japan). The GNSS receiver utilizes ranging signals sent by a plurality of satellites to realize real-time positioning, timing and navigation.
As shown in fig. 1, the GNSS receiver includes an antenna, a radio frequency front end, a baseband processor and a processor, wherein the baseband processor includes an acquisition engine module and a tracking engine module. In a typical GNSS receiver implementation, the spatial signals arriving at the antenna are downconverted, filtered and digitized in the front-end section. This process ultimately produces the desired intermediate frequency data, typically expressed as real and complex components (i.e., I (in-phase) and Q (quadrature) components). As shown in fig. 2, the solid line represents a signal flow direction, the dotted line represents an information configuration situation, the capture engine module includes a real component capture channel, a complex component capture channel, and a local code generator, the real component capture channel includes a real component accumulator, a real component integrator and a dump, the complex component capture channel includes a complex component accumulator, a complex component integrator and a dump, the real component accumulator is connected with the real component integrator and the dump, the complex component accumulator is connected with the complex component integrator and the dump, the local code generator adjusts the local code according to a code delay, the code delay represents the amount of code shift before correlating the local code with the input signal, the input signal is divided into real component data and complex component data, the GNSS receiver locally generates a copy of the C/a code and correlates the copy with the IQ-split signal to achieve code alignment. Based on the autocorrelation characteristics of the C/a code, the correlation of the local replica and the input signal generates a peak when they are aligned.
Currently, in current GNSS receiver designs, the capture engine module occupies a larger chip area than other modules (e.g., the tracking engine module), which has a significant impact on the overall cost of the chip. In addition, the acquisition engine mainly carries out search of satellite signals, and because the search range is large, the full-range code domain search and the large-range frequency scanning are often carried out, the calculation amount is extremely large, so that a large amount of battery capacity is consumed, and the power consumption of the tracking engine module is obviously lower than that of the acquisition engine module.
In view of the foregoing problems, embodiments of the present application provide a navigation receiver, a navigation information determining method, and a related apparatus, which are described in detail below with reference to the accompanying drawings.
Referring to fig. 3, fig. 3 is a navigation module 10 according to an embodiment of the present disclosure, where the navigation module 10 includes the GNSS receiver 100, a cellular module 200, and a first memory 300, the GNSS receiver includes an antenna 110, a radio frequency front end 120, a baseband processor 130 and a processor 140, the baseband processor includes only the tracking engine module 131 in the acquisition engine module and the tracking engine module 131, and the first memory 300 stores a acquisition engine algorithm module 310; wherein the content of the first and second substances,
the antenna 110 is connected to the rf front end 120, the rf front end 120 is connected to the baseband processor 130, the baseband processor 130 is connected to the processor 140, and the processor 140 is connected to the first memory 300; the GNSS receiver 100 is connected to the cellular module 200;
the capture engine algorithm module 310 is configured to be called under a preset condition to implement the function of the capture engine module, where the preset condition includes any one of: in the initialization stage, preset information is unavailable, wherein the preset information comprises at least one of the following: time information of the cellular module, navigation messages of satellites, reference positions of the GNSS receiver and reference time of the GNSS receiver;
the GNSS receiver 100 may be operable to perform information interaction with the cellular module 200 to determine a first outage time, an outage time difference, a clock drift parameter and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the GNSS receiver is used for receiving the time information transmitted by the GNSS receiver, and determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration; the received time difference information is transmitted by a software channel, so that the influence of signal transmission delay is eliminated by adding the transmission time of the software channel, and accurate local time is obtained.
The satellite acquisition parameter is determined according to the current local time of the GNSS receiver, the clock drift parameter, the reference position of the GNSS receiver and the navigation message;
and the tracking engine module is used for executing satellite capturing operation according to the satellite capturing parameters, tracking satellite signals, demodulating the satellite signals to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
Wherein the satellite acquisition parameters provide code phase and doppler, which are predictive information for narrowing the acquisition range, the observed values include pseudorange and doppler shift, the observed values obtained by loop tracking are actual measured values, and there is a difference between the values of the satellite acquisition parameters.
In a specific implementation, the rf front end 120 is configured to receive a signal from a satellite through the antenna 110, and pre-process the signal to generate an intermediate frequency signal; the pre-processing may include down-conversion, filtering, amplification, and digitization.
The tracking engine module 131 is configured to remove the carrier and the pseudo-random code of the intermediate frequency signal, demodulate the navigation message to obtain a navigation message, obtain a corresponding navigation data stream from the navigation message, and perform frame synchronization and decoding on the navigation data stream to obtain information related to a satellite.
It should be noted that the first memory 300 shown in fig. 3 is located outside the GNSS receiver, and may be located inside the GNSS receiver, which will be described below.
In one possible example, as shown in fig. 4, the first memory 300 is a memory in the GNSS receiver 100.
Wherein the first memory may be a random access memory, RAM.
In the present possible example, as shown in fig. 5, the first memory 300 is further configured to store a positioning calculation algorithm module 320, and the positioning calculation algorithm module 320 is configured to perform the following operations: and performing a least squares or Kalman filtering algorithm using the observations to determine navigation information for the GNSS receiver.
In particular implementations, the processor 140 may invoke the positioning solution algorithm module 320 to perform operations for determining navigation information of the GNSS receiver using the observations to perform a least squares or kalman filtering algorithm.
In one possible example, as shown in fig. 3, the first memory 300 is a peripheral memory of the GNSS receiver 100.
Wherein the first memory may be a double data rate synchronous dynamic random access memory DDR.
In this possible example, as shown in fig. 6, the GNSS receiver 100 further includes a second memory 150, and the processor 140 is connected to the second memory 150.
In the present possible example, as shown in fig. 7, the second memory 150 further stores a positioning calculation algorithm module 151, and the positioning calculation algorithm module 151 is configured to: and performing a least squares or Kalman filtering algorithm using the observations to determine navigation information for the GNSS receiver.
In one possible example, as shown in fig. 8, the navigation module 10 further comprises a third memory 400, and the GNSS receiver 100 is connected to the third memory 400;
the third memory 400 is configured to store information obtained in a satellite capturing process and/or information obtained in a positioning calculation process, where the satellite capturing process is a process in which the GNSS receiver performs satellite capturing, and the positioning calculation process is a process in which the GNSS receiver determines navigation information according to a capturing result of the satellite capturing process.
Wherein the third memory may be a non-volatile memory NVM. When no aiding information is available in the NVM, the assisted global navigation satellite system GNSS receiver will obtain aiding information from the AGNSS server, including coarse position, time information, and satellite text.
It can be seen that in this example, information about the receiver and satellite information, such as location, Time, Coordinated Universal Time (UTC) parameters and satellite ephemeris, almanac, etc., are saved to NVM (non-volatile memory). This information may help the GNSS perform a warm start without AGNSS services.
In one possible example, as shown in fig. 9, the GNSS receiver 100 is connected to the cellular module through a hardware path and a software path, respectively.
The hardware path may be a general purpose I/O port GPIO, and the software path may be a program transmission mode (information transmission between the GNSS receiver and the cellular module is directly controlled by a user process).
As can be seen, in this example, the hardware path transmits the trigger pulse from the cellular module to the GNSS receiver, the time delay is extremely low and can be ignored, and the accuracy of determining the time information transmission time delay is improved, thereby improving the accuracy of the GNSS receiver.
In one possible example, as shown in fig. 10, the tracking engine module 131 includes a code tracking channel, a carrier tracking channel, and a supplementary carrier module 1311;
the code tracking channel comprises a first real component integral and dump 131a, a first complex component integral and dump 131b, a second real component integral and dump 131c, a second complex component integral and dump 131d, a code discriminator 131e, a code filter 131f, an accumulator 131g and a code numerically controlled oscillator 131h, and the carrier tracking channel comprises a third real component integral and dump 131i, a third complex component integral and dump 131j, a carrier discriminator 131k, a carrier filter 131m and a carrier numerically controlled oscillator 131 n;
the first real component integral and dump 131a, the first complex component integral and dump 131b, the second real component integral and dump 131c, the second complex component integral and dump 131d are all connected to the code discriminator 131e, the code discriminator 131e is connected to the code filter 131f, the code filter 131f is connected to the accumulator 131g, the accumulator 131g is connected to the code numerically controlled oscillator 131h, the third real component integral and dump 131i and the third complex component integral and dump 131i are both connected to the carrier discriminator 131k, the carrier discriminator 131k is connected to the carrier filter 131m, the carrier filter 131m is connected to the auxiliary carrier module 1311 and the carrier numerically controlled oscillator 131n, and the auxiliary carrier module 1311 is connected to the accumulator 131 g.
In particular implementations, to extract information from the input signal, the GNSS receiver tracks the C/a codes by copying them and continuously adjusting their code delays and carrier phases to ensure synchronization with the input signal. In the most common implementation, the receiver implements a code tracking loop and a carrier tracking loop to achieve synchronization with the input signal.
An integrator-dump, and a module for accumulating the correlator output and providing its in-phase I and quadrature Q components. The discriminator is used to process the output of the correlator to provide a measurable quantity (e.g., carrier phase information). The filter is used to filter the output of the discriminator to reduce noise. A numerically controlled oscillator is used to convert the filter output to the available correction factors for doppler frequency and code delay.
The carrier ring jitter is much less than the code ring jitter, so the dynamic characteristic of the code ring Line of sight (LOS) can be eliminated by using the measurement value in the carrier ring, and the order and the bandwidth of the code circulating filter are reduced. This architecture is commonly referred to as a secondary carrier module.
Furthermore, the GNSS and cellular modules may share the same clock.
It can be seen that, in the embodiment of the present application, the baseband processor of the GNSS receiver only includes the tracking engine module, and the capture engine module is removed, so that the chip area is reduced, and the cost is saved. When the GNSS receiver is not in a working state, the cellular module maintains the interruption time difference and the clock drift parameter, the accurate time assistance of the cellular communication network is utilized, and the tracking engine module is used for directly capturing the satellite, so that the overall power consumption of the system is reduced because the tracking engine has lower power consumption than the capturing engine. In addition, the robustness of the system can be enhanced by running the capture engine algorithm module under the preset condition.
In accordance with the foregoing embodiments, please refer to fig. 11, fig. 11 is a method for determining navigation information, which is applied to a GNSS receiver of a navigation module, where the navigation module includes the GNSS receiver, a cellular module, and a first memory, the GNSS receiver includes an antenna, a radio frequency front end, a baseband processor, and a processor, the baseband processor includes only the tracking engine module of a capture engine module and a tracking engine module, and the first memory stores a capture engine algorithm module; the method comprises the following steps:
step 310, calling the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, processing the primary capture result through the tracking engine module to obtain a target capture result, calling the positioning calculation algorithm module to execute positioning calculation according to the target capture result to obtain a navigation message, a reference position of the GNSS receiver and a reference time of the GNSS receiver;
wherein the acquisition includes a full range of code domain searches and a wide range of frequency sweeps. The reference time refers to a GNSS module time line reference, and the subsequent time needs to be maintained based on the time line. The reference time may be updated according to the latest time obtained after the GNSS receiver performs the positioning solution each time to provide timeline accuracy.
Step 320, performing information interaction with the cellular module to determine a first interrupt time, an interrupt time difference, a clock drift parameter, and a time information transmission duration, where the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module according to the time of the first interrupt and the time of a second interrupt, the first interrupt and the second interrupt are both initiated by the GNSS receiver requesting the cellular module, the time information transmission duration is a time difference between a time when the local device receives time information and a second interrupt time, the time information includes the interrupt time difference and the clock drift parameter, and the second interrupt time is a local time latched when the local device receives a second interrupt instruction of the second interrupt;
step 330, determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration;
step 340, determining a satellite capturing parameter according to the current local time of the GNSS receiver, the clock drift parameter, the reference position of the GNSS receiver and the navigation message;
and 350, executing a satellite capturing operation through the tracking engine module according to the satellite capturing parameters, tracking a satellite signal, demodulating the satellite signal to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
In this possible example, the GNSS receiver is connected to the cellular module by a hardware path and a software path, respectively; the interacting information with the cellular module to determine a first outage duration, an outage time difference, a clock drift parameter, and a time information transmission duration includes:
sending a first interrupt request to the cellular module through the software path, receiving a first interrupt instruction from the cellular module through the hardware path, latching a local clock according to the reference time to determine a first interrupt time, and receiving a tag from the cellular module through the software path, recording the first interrupt time and the tag, the first interrupt request instructing the cellular module to perform the following operations: sending the first interrupt instruction to the GNSS receiver through the hardware path, recording time information maintained in a current time system of the cellular module, and sending the tag to the GNSS receiver through the software path;
the tag is used for recording time information on a cellular network timeline, and representing a corresponding relation between software channel transmission information and hardware interruption, wherein the corresponding relation is used for a cellular module to flexibly select historical interruption time information for use when a subsequent GNSS requests the time information, or time information of different interruption events is marked when abnormal retransmission is carried out.
For example, when the transmission of the software path is abnormal, a retransmission policy may be executed, and if there is no tag, the correspondence may be abnormal. The tag may be an interrupt counter or a frame number corresponding to the interrupt.
For another example, the historical time may include a first time, a second time, and a third time, and after the GNSS receiver is started for the fourth time, the cellular module may select the third time according to the tag of the third time and send the third time to the GNSS receiver for calculating the current local time of the GNSS receiver.
Sending a time information request message to the cellular module over the software path, the time information request message for instructing the cellular module to: sending a second interrupt instruction to the GNSS receiver through the hardware path, determining an interrupt time difference and a clock drift parameter between the current interrupt and the first interrupt, and sending the interrupt time difference and the clock drift parameter to the GNSS receiver through the software path;
receiving the second interrupt instruction from the cellular module through the hardware path, and latching a local clock according to the reference time to determine a second interrupt time;
receiving the interrupt time difference and the clock drift parameter from the cellular module over the software path, and determining a time information transmission duration between a time of receiving the interrupt time difference and the clock drift parameter and the second interrupt time.
For terminals such as mobile phones, internet of things and wearable equipment, the cellular module is always in a working state. Thus, it can maintain a continuous timeline. The GNSS receiver operates only when the application requests a positioning service, so its time is discontinuous. As shown in fig. 12, which is a schematic diagram of a GNSS timeline and a cellular timeline, the interaction process between the GNSS receiver and the cellular module based on the timelines specifically includes the following steps:
and 3.1, starting the GNSS receiver, calling a capture engine algorithm module to search for satellites, executing positioning calculation, and determining navigation messages, the reference position of the GNSS receiver and the reference time of the GNSS receiver.
Step 3.2, the GNSS receiver sends a first interrupt request to the cellular module.
Step 3.3, the cellular module receives the first interrupt request, triggers a first interrupt at the edge of the next frame, sends a first interrupt instruction to the GNSS receiver, and records the time information maintained in the current cellular module time system, i.e. the cellular time information, and then it sends the tag of the first interrupt, which may be an interrupt counter or a frame number corresponding to the interrupt, to the GNSS receiver through the software path.
And 3.4, after receiving the first interrupt instruction, the GNSS receiver latches the local clock as first interrupt time, and stores the first interrupt time and the corresponding label to the NVM.
Step 3.5, in the subsequent initiated positioning service, the GNSS sends a time information request message to the cellular module, the time information including the interrupt time difference and the clock drift information.
Typically, the second interrupt request occurs at the start of the next GNSS. Of course, the second interrupt request may also occur at some time period during the continuous positioning in order to evaluate the time accuracy provided by the cellular module.
And 3.6, the cellular module receives the time information request message, sends a second interrupt instruction to the GNSS receiver through the hardware path, triggers a label of the second interrupt to the GNSS receiver through the software path, calculates the time difference between the second interrupt and the first interrupt, and estimates the clock drift information.
And 3.7, the GNSS receiver receives a second interruption instruction, determines second interruption time, and receives interruption time difference and time drift information.
And 3.8, the GNSS receiver determines the time information transmission duration according to the time when the local terminal equipment receives the time information and the second interruption time.
And 3.9, the GNSS receiver determines the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration.
In particular implementations, multiple interrupt requests may be initiated during successive position fixes of the GNSS in order to assess the accuracy of the cellular module's time. The cellular estimated time is compared to the accurate GNSS time to assess the time accuracy of the cellular module. The GNSS receiver performs filter estimation. The filtration process used the following linear model:
τ(t+Ts)= τ(t)+ Ts×τ’(t)+ωτ(t)
τMeasurement(t)= τ(t)+τ(t)
where τ represents estimated cellular network time (in terms of GPS time), τ' denotes the corresponding time rate of change, ωτRepresenting the model error (usually assumed to be white gaussian noise), TsRepresenting the time interval (or measuring frequency), τMeasurementRepresenting the GPS time resolved by GNSS positioning,τthe representation represents an observation error.
Constructing a time-dependent Kalman filter by the model and passing tauMeasurementEstimate τ and τ', and the filtered output τ is the systematic deviation that needs to be resolved.
In one possible example, the satellite acquisition parameters include code phase and doppler parameters; the determining a satellite capturing parameter according to the current local time of the GNSS receiver, the clock drift parameter, the reference position of the GNSS receiver, and the navigation message includes: determining a signal propagation time between the satellite and the GNSS receiver from the resolved position of the satellite and the reference position of the GNSS receiver; determining the clock deviation of the satellite according to the navigation message; determining the emission time of the satellite according to the signal propagation time, the current local time of the GNSS receiver and the clock deviation of the satellite; determining the code phase according to the transmitting time of the satellite; determining the speed of the satellite according to the navigation message; and determining the Doppler parameter according to the speed of the satellite, the speed of the GNSS receiver and the clock drift parameter.
Wherein the resolved position of the satellite is resolved from the navigation message or obtained from an AGNSS server. The speed of the GNSS receiver refers to a value at the time of last positioning or a set speed as stationary.
In this possible example, the time of transmission of the satellite is calculated by the following formula:
Ttramsmit=Treceiver－△Ttravel－△TsatClkBias
wherein, TtramsmitRepresenting the time of transmission, T, of said satellitereceiverRepresenting the current local time, Δ T, of said GNSS receivertravelRepresenting said signal propagation time, Δ TsatClkBiasRepresenting the clock bias of the satellite.
In this possible example, the navigation information includes at least one of: position, velocity and time.
It can be seen that, in the embodiment of the present application, the baseband processor of the GNSS receiver only includes the tracking engine module, and the capture engine module is removed, so that the chip area is reduced, and the cost is saved. When the GNSS receiver is not in a working state, the cellular module maintains the interruption time difference and the clock drift parameter, the accurate time assistance of the cellular communication network is utilized, and the tracking engine module is used for directly capturing the satellite, so that the overall power consumption of the system is reduced because the tracking engine has lower power consumption than the capturing engine. In addition, the robustness of the system can be enhanced by running the capture engine algorithm module under the preset condition.
Embodiments of the present application provide a navigation information determining apparatus, which may be a GNSS receiver. Specifically, the navigation information determination device is configured to perform the steps performed by the GNSS receiver in the above navigation information determination method. The navigation information determining apparatus provided in the embodiment of the present application may include modules corresponding to the respective steps.
In the embodiment of the present application, the navigation information determining apparatus may be divided into the functional modules according to the method example, for example, each functional module may be divided according to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
In the case of dividing each function module by corresponding functions, fig. 13 shows a schematic view of a possible configuration of the navigation information determining apparatus according to the above-described embodiment. As shown in fig. 13, the navigation information determining apparatus 4 is applied to a GNSS receiver of a navigation module including the GNSS receiver, a cellular module, and a first memory, the GNSS receiver including an antenna, a radio frequency front end, a baseband processor and a processor, the baseband processor including only the tracking engine module of a capture engine module and a tracking engine module, the first memory storing a capture engine algorithm module; the navigation information determining apparatus 4 comprises an initializing unit 40, an information interacting unit 41, a determining unit 42, a capturing unit 43, wherein,
the initialization unit 40 is configured to invoke the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, process the primary capture result through the tracking engine module to obtain a target capture result, invoke the positioning calculation algorithm module to perform positioning calculation according to the target capture result, and obtain a navigation message, a reference position of the GNSS receiver, and a reference time of the GNSS receiver;
the information interaction unit 41 is configured to perform information interaction with the cellular module to determine a first interruption time, an interruption time difference, a clock drift parameter, and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the determining unit 42 is configured to determine the current local time of the GNSS receiver according to the first interruption time, the interruption time difference, and the time information transmission duration; determining satellite capturing parameters according to the current local time of the GNSS receiver, the clock drift parameters, the reference position of the GNSS receiver and the navigation message;
the capturing unit 43 is configured to perform a satellite capturing operation according to the satellite capturing parameters, track a satellite signal, and demodulate the satellite signal to obtain an observed value;
the determining unit 42 is further configured to perform a least squares or kalman filtering algorithm using the observation value to determine the navigation information of the GNSS receiver.
In one possible example, the GNSS receiver is connected to the cellular module by a hardware path and a software path, respectively; the determining unit 42 is specifically configured to: sending a first interrupt request to the cellular module through the software path, receiving a first interrupt instruction from the cellular module through the hardware path, latching a local clock according to the reference time to determine a first interrupt time, and receiving a tag from the cellular module through the software path, recording the first interrupt time and the tag, the first interrupt request instructing the cellular module to perform the following operations: sending the first interrupt instruction to the GNSS receiver through the hardware path, recording time information maintained in a current time system of the cellular module, and sending the tag to the GNSS receiver through the software path; sending a time information request message to the cellular module over the software path, the time information request message for instructing the cellular module to: sending a second interrupt instruction to the GNSS receiver through the hardware path, determining an interrupt time difference and a clock drift parameter between the current interrupt and the first interrupt, and sending the interrupt time difference and the clock drift parameter to the GNSS receiver through the software path; receiving the second interrupt instruction from the cellular module through the hardware path, and latching a local clock according to the reference time to determine a second interrupt time; receiving the interrupt time difference and the clock drift parameter from the cellular module over the software path, and determining a time information transmission duration between a time of receiving the interrupt time difference and the clock drift parameter and the second interrupt time.
In one possible example, the satellite acquisition parameters include code phase and doppler parameters; the determining unit is specifically configured to: determining a signal propagation time between the satellite and the GNSS receiver from the resolved position of the satellite and the reference position of the GNSS receiver; determining the clock deviation of the satellite according to the navigation message; determining the emission time of the satellite according to the signal propagation time, the current local time of the GNSS receiver and the clock deviation of the satellite; determining the code phase according to the transmitting time of the satellite; determining the speed of the satellite according to the navigation message; and determining the Doppler parameter according to the speed of the satellite, the speed of the GNSS receiver and the clock drift parameter.
In one possible example, the time of transmission of the satellite is calculated by the following formula:
Ttramsmit=Treceiver－△Ttravel－△TsatClkBias
wherein, TtramsmitRepresenting the time of transmission, T, of said satellitereceiverRepresenting the current local time, Δ T, of said GNSS receivertravelRepresenting said signal propagation time, Δ TsatClkBiasRepresenting the clock bias of the satellite.
In one possible example, the navigation information includes at least one of: position, velocity and time.
All relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Of course, the navigation information determining apparatus provided in the embodiment of the present application includes, but is not limited to, the above modules, for example: the navigation information determining means may further include a storage unit 44. The storage unit 44 may be used to store program codes and data of the navigation information determining apparatus.
In the case of using an integrated unit, a schematic structural diagram of a navigation information determination device provided in an embodiment of the present application is shown in fig. 14. In fig. 14, the navigation information determining apparatus 5 includes: a processing module 50 and a communication module 51. The processing module 50 is used for controlling and managing actions of the navigation information determination device, such as steps performed by the initialization unit 40, the information interaction unit 41, the determination unit 42, the capturing unit 43, and/or other processes for performing the techniques described herein. The communication module 51 is used to support interaction between the navigation information determination apparatus and other devices. As shown in fig. 14, the navigation information determining apparatus may further include a storage module 52, and the storage module 52 is used for storing program codes and data of the navigation information determining apparatus, for example, contents stored in the storage unit 44.
The Processing module 50 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 51 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 52 may be a memory.
All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Both the navigation information determination device 4 and the navigation information determination device 5 can perform the steps performed by the GNSS receiver in the navigation information determination method shown in fig. 11.
The embodiment of the present application further provides a chip, where the chip includes a processor, configured to call and run a computer program from a memory, so that a device in which the chip is installed performs some or all of the steps described in the terminal in the above method embodiment.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform some or all of the steps described in the terminal in the above method embodiment.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to perform some or all of the steps described in the above method embodiment for a network-side device.
The present application further provides a computer program product, where the computer program product includes a computer program operable to make a computer perform some or all of the steps described in the terminal in the above method embodiments. The computer program product may be a software installation package.
The steps of a method or algorithm described in the embodiments of the present application may be implemented in hardware, or may be implemented by a processor executing software instructions. The software instructions may be comprised of corresponding software modules that may be stored in Random Access Memory (RAM), flash Memory, Read Only Memory (ROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), registers, a hard disk, a removable disk, a compact disc Read Only Memory (CD-ROM), or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. Additionally, the ASIC may reside in an access network device, a target network device, or a core network device. Of course, the processor and the storage medium may reside as discrete components in an access network device, a target network device, or a core network device.
Those skilled in the art will appreciate that in one or more of the examples described above, the functionality described in the embodiments of the present application may be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, 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 loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., Digital Video Disk (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others. The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the embodiments of the present application in further detail, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present application, and are not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims (17)

1. A GNSS receiver for a GNSS, applied to a navigation module comprising the GNSS receiver, a cellular module and a first memory, the GNSS receiver comprising an antenna, a radio frequency front end, a baseband processor and a processor, the baseband processor comprising only the tracking engine module of a capture engine module and a tracking engine module, the first memory storing a capture engine algorithm module; wherein the content of the first and second substances,
the antenna is connected with the radio frequency front end, the radio frequency front end is connected with the baseband processor, the baseband processor is connected with the processor, and the processor is connected with the first memory; the GNSS receiver is connected with the cellular module;
the capture engine algorithm module is used for being called under preset conditions to realize the functions of the capture engine module, and the preset conditions comprise any one of the following conditions: in the initialization stage, preset information is unavailable, wherein the preset information comprises at least one of the following: time information of the cellular module, navigation messages of satellites, reference positions of the GNSS receiver and reference time of the GNSS receiver;
the GNSS receiver is used for performing information interaction with the cellular module to determine a first interruption time, an interruption time difference, a clock drift parameter and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the GNSS receiver is used for receiving the time information transmitted by the GNSS receiver, and determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration;
the satellite acquisition parameter is determined according to the current local time of the GNSS receiver, the clock drift parameter, the reference position of the GNSS receiver and the navigation message;
and the tracking engine module is used for executing satellite capturing operation according to the satellite capturing parameters, tracking satellite signals, demodulating the satellite signals to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
2. The GNSS receiver of claim 1 wherein the first memory is a memory in the GNSS receiver.
3. The GNSS receiver of claim 2 wherein the first memory is further configured to store a positioning solution algorithm module configured to: and performing a least squares or Kalman filtering algorithm using the observations to determine navigation information for the GNSS receiver.
4. The GNSS receiver of claim 2, wherein the first memory is a peripheral memory of the GNSS receiver.
5. The GNSS receiver of claim 1 or 2 further comprising a second memory, the processor being coupled to the second memory.
6. The GNSS receiver of claim 5, wherein the second memory further stores a positioning calculation algorithm module for: and performing a least squares or Kalman filtering algorithm using the observations to determine navigation information for the GNSS receiver.
7. The GNSS receiver of claim 6, wherein the navigation module further comprises a third memory, the GNSS receiver being coupled to the third memory;
the third memory is configured to store information obtained in a satellite capturing process, and/or execute information obtained in a positioning calculation process, where the satellite capturing process is a process in which the GNSS receiver performs satellite capturing, and the positioning calculation process is a process in which the GNSS receiver determines navigation information according to a capturing result of the satellite capturing process.
8. The GNSS receiver of claim 7, wherein the GNSS receiver is connected to the cellular module by a hardware path and a software path, respectively.
9. The GNSS receiver of claim 8 wherein the tracking engine module comprises a code tracking channel, a carrier tracking channel and an auxiliary carrier module;
the carrier tracking channel comprises a third real component integral and dump device, a third complex component integral and dump device, a carrier discriminator, a carrier filter and a carrier numerically controlled oscillator;
the first real component integral and dump, the first complex component integral and dump, the second real component integral and dump, and the second complex component integral and dump are all connected with the code discriminator, the code discriminator is connected with the code filter, the code filter is connected with the accumulator, the accumulator is connected with the code numerically-controlled oscillator, the third real component integral and dump, and the third complex component integral and dump are all connected with the carrier discriminator, the carrier discriminator is connected with the carrier filter, the carrier filter is connected with the auxiliary carrier module and the carrier numerically-controlled oscillator, and the auxiliary carrier module is connected with the accumulator.
10. A navigation information determination method, applied to a GNSS receiver of a navigation module, the navigation module including the GNSS receiver, a cellular module, and a first memory, the GNSS receiver including an antenna, a radio frequency front end, a baseband processor and a processor, the baseband processor including only the tracking engine module of a capture engine module and a tracking engine module, the first memory storing a capture engine algorithm module; the method comprises the following steps:
calling the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, processing the primary capture result through the tracking engine module to obtain a target capture result, calling the positioning calculation algorithm module to execute positioning calculation according to the target capture result to obtain a navigation message, a reference position of the GNSS receiver and reference time of the GNSS receiver;
performing information interaction with the cellular module to determine a first interrupt time, an interrupt time difference, a clock drift parameter, and a time information transmission duration, where the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module according to a time of the first interrupt and a time of a second interrupt, the first interrupt and the second interrupt are both initiated by the GNSS receiver requesting the cellular module, the time information transmission duration is a time difference between a time when the local terminal device receives time information and a second interrupt time, the time information includes the interrupt time difference and the clock drift parameter, and the second interrupt time is a local time latched when the local terminal device receives a second interrupt instruction of the second interrupt;
determining the current local time of the GNSS receiver according to the first interruption time, the interruption time difference and the time information transmission duration;
determining satellite capturing parameters according to the current local time of the GNSS receiver, the clock drift parameters, the reference position of the GNSS receiver and the navigation message;
and executing a satellite capturing operation through the tracking engine module according to the satellite capturing parameters, tracking a satellite signal, demodulating the satellite signal to obtain an observation value, and determining navigation information of the GNSS receiver by using the observation value.
11. The method of claim 10, wherein the GNSS receiver is connected to the cellular module via a hardware path and a software path, respectively; the interacting information with the cellular module to determine a first outage duration, an outage time difference, a clock drift parameter, and a time information transmission duration includes:
sending a first interrupt request to the cellular module through the software path, receiving a first interrupt instruction from the cellular module through the hardware path, latching a local clock according to the reference time to determine a first interrupt time, and receiving a tag from the cellular module through the software path, recording the first interrupt time and the tag, the first interrupt request instructing the cellular module to perform the following operations: sending the first interrupt instruction to the GNSS receiver through the hardware path, recording time information maintained in a current time system of the cellular module, and sending the tag to the GNSS receiver through the software path, where the tag is used to record time information on a cellular network timeline and indicate a correspondence between transmission information of the software path and hardware interrupt, and the correspondence is used for the cellular module to select historical interrupt time information for use when requesting time information from a subsequent GNSS, or to specify time information of different interrupt events when retransmitting an exception;
sending a time information request message to the cellular module over the software path, the time information request message for instructing the cellular module to: sending a second interrupt instruction to the GNSS receiver through the hardware path, determining an interrupt time difference and a clock drift parameter between the current interrupt and the first interrupt, and sending the interrupt time difference and the clock drift parameter to the GNSS receiver through the software path;
receiving the second interrupt instruction from the cellular module through the hardware path, and latching a local clock according to the reference time to determine a second interrupt time;
receiving the interrupt time difference and the clock drift parameter from the cellular module over the software path, and determining a time information transmission duration between a time of receiving the interrupt time difference and the clock drift parameter and the second interrupt time.
12. The method of claim 10 or 11, wherein the satellite acquisition parameters include code phase and doppler parameters; the determining a satellite capturing parameter according to the current local time of the GNSS receiver, the clock drift parameter, the reference position of the GNSS receiver, and the navigation message includes:
determining a signal propagation time between the satellite and the GNSS receiver from the resolved position of the satellite and the reference position of the GNSS receiver;
determining the clock deviation of the satellite according to the navigation message;
determining the emission time of the satellite according to the signal propagation time, the current local time of the GNSS receiver and the clock deviation of the satellite;
determining the code phase according to the transmitting time of the satellite;
determining the speed of the satellite according to the navigation message;
and determining the Doppler parameter according to the speed of the satellite, the speed of the GNSS receiver and the clock drift parameter.
13. The method of claim 12, wherein the time of transmission of the satellite is calculated by the following equation:
Ttramsmit=Treceiver－△Ttravel－△TsatClkBias
wherein, TtramsmitRepresenting the time of transmission, T, of said satellitereceiverIndicating the GNSS receiver is currentLocal time,. DELTA.TtravelRepresenting said signal propagation time, Δ TsatClkBiasRepresenting the clock bias of the satellite.
14. The method of claim 13, wherein the navigation information comprises at least one of: position, velocity and time.
15. A navigation information determination apparatus, characterized by a GNSS receiver applied to a navigation module, the navigation module comprising the GNSS receiver, a cellular module, and a first memory, the GNSS receiver comprising an antenna, a radio frequency front end, a baseband processor and a processor, the baseband processor comprising only the tracking engine module of a capture engine module and a tracking engine module, the first memory storing a capture engine algorithm module; the device comprises an initialization unit, an information interaction unit, a determination unit and a capture unit, wherein,
the initialization unit is used for calling the capture engine algorithm module to capture signals of satellites to obtain a primary capture result, processing the primary capture result through the tracking engine module to obtain a target capture result, calling the positioning calculation algorithm module to execute positioning calculation according to the target capture result to obtain navigation messages, the reference position of the GNSS receiver and the reference time of the GNSS receiver;
the information interaction unit is used for carrying out information interaction with the cellular module to determine a first interruption time, an interruption time difference, a clock drift parameter and a time information transmission duration, the first interrupt time is a local time latched when a first interrupt instruction of a first interrupt is received, the interrupt time difference is a time difference determined by the cellular module based on the time of the first interrupt and the time of the second interrupt, the first interrupt and the second interrupt are each initiated by the GNSS receiver requesting the cellular module, the time information transmission duration refers to a time difference between the time when the local terminal equipment receives the time information and the second interruption time, the time information comprises the interrupt time difference and the clock drift parameter, and the second interrupt time is local time latched when the local terminal equipment receives a second interrupt instruction of the second interrupt;
the determining unit is configured to determine a current local time of the GNSS receiver according to the first interruption time, the interruption time difference, and the time information transmission duration; determining satellite capturing parameters according to the current local time of the GNSS receiver, the clock drift parameters, the reference position of the GNSS receiver and the navigation message;
the acquisition unit is used for executing satellite acquisition operation according to the satellite acquisition parameters, tracking satellite signals and demodulating the satellite signals to obtain observed values;
the determining unit is further configured to perform a least squares or kalman filtering algorithm using the observation value to determine the navigation information of the GNSS receiver.
16. A GNSS receiver comprising a radio frequency front end, a tracking engine module connected to the front end, a second memory connected to the tracking engine module, and one or more programs stored in the second memory and configured for execution by the tracking engine module, the programs comprising instructions for performing the steps in the method of any of claims 10-14.
17. A computer-readable storage medium, characterized in that it stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 10-14.
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