CN112904374B - Satellite signal strength evaluation method and device, GNSS receiver and medium - Google Patents
Satellite signal strength evaluation method and device, GNSS receiver and medium Download PDFInfo
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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
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application discloses a satellite signal strength evaluation method, a device, a GNSS receiver and a medium, comprising: determining target tracking background noise corresponding to the invisible star of the target; estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. Therefore, by utilizing the tracking background noise of the invisible star in the same frequency band as the visible star in the same satellite navigation system, the influence of the correlation peak of the visible star on background noise calculation can be removed by estimating the satellite signal intensity of the visible star, the accuracy of background noise calculation can be improved, and the accuracy of satellite signal intensity estimation can be further improved, so that the satellite positioning accuracy is improved.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a satellite signal strength evaluation method, a device, a GNSS receiver, and a medium.
Background
The signal-to-noise ratio in a GNSS (i.e., global Navigation Satellite System, global satellite navigation system) receiver is determined by the ratio of the corresponding noise floor, which is an indicator of the estimated satellite signal strength. The receiver comprises a capturing part and a tracking part, and is sensitive to the intensity magnitude difference of satellite signals, and if the estimated intensity of the satellite star deviates from the actual intensity, the accuracy loss of capturing and tracking can be caused, and the positioning result of the system is affected. The estimated intensity is lower than the actual value, which may cause extra time consumption for capturing, and the chip and frequency offset tracking jitter is large; the estimated intensity is higher than the actual value, which may lead to a failure in acquisition and a loss of tracking lock. The prior art generally tracks the result of the noise floor calculation of the multiplex acquisition, making a conversion over the length of time. The captured background noise estimate cannot be used by tracking if there are quantization level differences in the captured and tracked input data, and background noise is typically filtered out in the time or frequency domain of the visible star, but the visible star correlation peak affects background noise estimation accuracy in the prior art.
Disclosure of Invention
Accordingly, an objective of the present application is to provide a satellite signal strength evaluation method, device, GNSS receiver and medium, which can improve the accuracy of the noise floor calculation, and further improve the accuracy of the satellite signal strength evaluation, thereby improving the satellite positioning accuracy. The specific scheme is as follows:
in a first aspect, the present application discloses a satellite signal strength evaluation method, applied to a GNSS receiver, including:
determining target tracking background noise corresponding to the invisible star of the target;
estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
Optionally, the determining the target tracking noise floor corresponding to the invisible target star includes:
acquiring configuration data corresponding to the invisible star of the target;
tracking the invisible star of the target based on the configuration data to obtain corresponding autocorrelation result data;
and determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data.
Optionally, tracking the invisible star of the target based on the configuration data to obtain corresponding autocorrelation result data; determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data comprises the following steps:
tracking the invisible target star based on configuration data corresponding to the invisible target star, determining a corresponding background noise value based on an autocorrelation result every time the autocorrelation result is obtained, and smoothing the current background noise value by using a linear filter until the tracking is finished to obtain the target tracking background noise.
Optionally, the smoothing the current background noise value by using a linear filter includes:
determining a difference between the current background noise value and the background noise value determined based on the last correlation result;
adjusting the weight of the linear filter by utilizing the difference value;
and smoothing the current background noise value by using the linear filter after the weight is adjusted.
Optionally, the acquiring the configuration data corresponding to the target invisible star includes:
and acquiring a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible star, or acquiring the local code, a chip group, a carrier phase group and the navigation message data period.
Optionally, the determining, using the autocorrelation result data, the target tracking noise floor corresponding to the target invisible star includes:
and determining target tracking background noise corresponding to the invisible target star by utilizing the autocorrelation result data in a preset time before tracking the visible target star.
Optionally, the determining the target tracking noise floor corresponding to the invisible target star includes:
when satellite signals of invisible satellites are received, determining tracking background noise corresponding to the invisible satellites, and recording corresponding system frequency band information;
and matching the target tracking background noise corresponding to the target invisible star from the determined tracking background noise of the invisible star based on the satellite navigation system and the frequency band corresponding to the target visible star and the system frequency band information.
In a second aspect, the application discloses a satellite signal strength evaluation device, applied to a GNSS receiver, comprising:
the target tracking background noise determining module is used for determining target tracking background noise corresponding to the invisible target star;
the satellite signal strength evaluation module is used for evaluating the satellite signal strength of the visible star of the target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a third aspect, the present application discloses a GNSS receiver comprising:
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the satellite signal strength evaluation method.
In a fourth aspect, the present application discloses a computer readable storage medium storing a computer program which, when executed by a processor, implements the aforementioned satellite signal strength assessment method.
In the method, firstly, target tracking background noise corresponding to the invisible target star is determined; estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, the tracking of the present application does not reuse the captured background noise, and the satellite signal intensity estimation is performed on the visible star by using the tracking background noise of the invisible star in the same frequency band as the visible star in the same satellite navigation system, so that the influence of the correlation peak of the visible star on the background noise calculation can be removed, the accuracy of the background noise calculation can be improved, and the accuracy of the satellite signal intensity estimation can be further improved, thereby improving the satellite positioning accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of an image noise reduction processing method disclosed in the present application;
FIG. 2 is a flow chart of satellite signal demodulation in the prior art;
fig. 3 is a schematic diagram of a satellite navigation system and a frequency band corresponding to the satellite navigation system provided in the present application;
FIG. 4 is a flowchart of a specific satellite signal strength estimation method disclosed in the present application;
fig. 5 is a schematic structural diagram of a satellite signal strength evaluation device disclosed in the present application;
FIG. 6 is a schematic structural diagram of a specific satellite signal evaluation apparatus disclosed in the present application;
fig. 7 is a block diagram of a GNSS receiver disclosed in the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The signal-to-noise ratio in a GNSS receiver is determined by the ratio of the corresponding noise floor, which is an indicator for evaluating the satellite signal strength. The receiver comprises a capturing part and a tracking part, and is sensitive to the intensity magnitude difference of satellite signals, and if the estimated intensity of the satellite star deviates from the actual intensity, the accuracy loss of capturing and tracking can be caused, and the positioning result of the system is affected. The estimated intensity is lower than the actual value, which may cause extra time consumption for capturing, and the chip and frequency offset tracking jitter is large; the estimated intensity is higher than the actual value, which may lead to a failure in acquisition and a loss of tracking lock. The prior art generally tracks the result of the noise floor calculation of the multiplex acquisition, making a conversion over the length of time. The captured background noise estimate cannot be used by tracking if there are quantization level differences in the captured and tracked input data, and background noise is typically filtered out in the time or frequency domain of the visible star, but the visible star correlation peak affects background noise estimation accuracy in the prior art. Therefore, the satellite signal strength evaluation scheme can improve the accuracy of the background noise calculation, further improve the accuracy of satellite signal strength evaluation, and further improve the satellite positioning accuracy.
Referring to fig. 1, an embodiment of the present application discloses a satellite signal strength evaluation method, including:
step S11: and determining target tracking background noise corresponding to the invisible target star.
In a specific embodiment, the embodiment may obtain configuration data corresponding to the target invisible star; tracking the invisible star of the target based on the configuration data to obtain corresponding autocorrelation result data; and determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data.
In a specific embodiment, the configuration data corresponding to the target invisible star may be obtained based on an asterisk of the target invisible star, a satellite navigation system and a frequency band. Specifically, the corresponding target invisible star can be determined based on the satellite navigation system and the frequency band of the target visible star, and the star mark, the satellite navigation system and the frequency band of the target invisible star can be directly configured. The star of the target invisible star can be determined according to a satellite emission list disclosed by each navigation system, for example, the target visible star of the GPS L1 frequency band is to be evaluated, one invisible star of the GPS L1 frequency band can be determined as the target invisible star according to the satellite emission list disclosed by each navigation system, the star of the target invisible star is obtained, and in a specific embodiment, the star of a plurality of target invisible stars can be configured according to actual needs so as to evaluate the satellite signal intensity of a plurality of corresponding target visible stars. The method comprises the steps of acquiring an asterisk of an invisible star, a satellite navigation system and a frequency band, and calling configuration data corresponding to the invisible star of a target from a preset configuration database based on the asterisk of the invisible star of the target, the satellite navigation system and the frequency band. Of course, the configuration data input by the user may be directly acquired.
Further, in a specific embodiment, the target invisible star may be tracked based on configuration data corresponding to the target invisible star, and each time an autocorrelation result is obtained, a corresponding background noise value is determined based on the autocorrelation result, and a linear filter is used to smooth the current background noise value until tracking is completed, so as to obtain the target tracking background noise.
The step of smoothing the current background noise value by using the linear filter may specifically include: determining a difference between the current background noise value and the background noise value determined based on the last correlation result; adjusting the weight of the linear filter by utilizing the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
In a specific embodiment, the embodiment may acquire a local code, a chip range, a carrier phase range, and a navigation message data period corresponding to the target invisible star.
In another specific embodiment, the embodiment may acquire a local code, a chip set, a carrier phase set, and a navigation message data period corresponding to the target invisible star.
It should be noted that the configuration information directly affects the accuracy of the background noise estimation. If not within the navigation message data period, the data symbol flip may cause problems such as small autocorrelation values. If the chip range and the carrier phase range are too small, the noise characteristics may not be fully reflected; the range is too large, and the calculation power consumption is increased. In this embodiment, the navigation message data period may be a standard navigation message data period, or may be 1/N of the standard navigation message data period, where N is an integer, and it should be noted that the navigation message data period/N is also an integer, but cannot be infinitely small, otherwise, the obtained correlation value has no meaning. The chip range and the carrier phase range can be determined based on the test data, and the calculation power consumption is minimized on the premise of completely embodying the noise characteristic.
The interval between the chip group and the carrier phase group can be fixed or dynamic, and is adjusted according to the precision requirement, the interval is increased for coarse estimation of the background noise, and the interval is reduced for fine estimation of the background noise.
That is, the configuration data of the embodiments of the present application may include quantized chip groups, carrier phase groups.
It should be noted that although the invisible satellites are non-transmitted satellites, the configuration local codes conform to the law of the corresponding satellite navigation system, and the correlation results of the invisible satellites in the same frequency band with the same system have the same channel characteristics. Because the navigation message data information modulated by the invisible star input signal is random data, the input signal and the local code are subjected to autocorrelation traversal in a chip range and a carrier phase range by utilizing the characteristic that data symbols are not overturned in a navigation message data period, the obtained average value of the correlation amplitude is the square value of the background noise, and then the square value is obtained, so that the single background noise value can be obtained. In a specific embodiment, the autocorrelation process of the serial processing may be split into multiple parallel processing to reduce the calculation amount, for example, m=m1+m2+m3+ … +mn configuration information may be smoothed after autocorrelation is performed, M1 may be split to be smoothed after autocorrelation is performed, M2 may be smoothed after autocorrelation is performed, and the like.
In this embodiment, the tracking module of the GNSS receiver may be used to track the invisible star of the target based on the configuration data, so as to obtain corresponding autocorrelation result data.
It should be noted that the tracking module of the GNSS receiver mainly generates two local signals, namely a local carrier and a local code, to realize demodulation of the satellite signals.
The input signal may be expressed as s (t) =a×d (t- τ) c (t- τ) sc (t- τ) e jθ ；
Wherein θ=θ 0 +f t, f represents carrier frequency, θ represents carrier phase, t represents time, a represents input signal amplitude, d represents navigation message data, c represents subcodes, sc represents spreading codes, and τ represents chip delay.
The ADC (analog-digital converter) inputs signals are continuously tracked by adjusting chip delay, and after the spread spectrum codes, subcodes and carriers are stripped, the navigation message data d are demodulated, wherein the code tracking usually adopts a lead-lag Delay Locked Loop (DLL), the input signals are correlated with three local codes, and the carrier tracking usually adopts a frequency-locked loop and a phase-locked loop (FLL/PLL), and the input signals are phase-discriminated. For example, referring to fig. 2, fig. 2 is a flow chart of satellite signal demodulation in the prior art.
Therefore, the tracking module of the GNSS receiver is multiplexed, the tracking process of the visible star is completely coupled, the modification of the system architecture can be reduced, and the hardware overhead caused by additional autocorrelation calculation is reduced.
Step S12: estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a specific embodiment, the Satellite navigation system may be Beidou, galileo, GPS (i.e. Global Positioning System, global positioning System), GLONASS (Grosvens), IRNSS (i.e. Indian Regional Navigation Satellite System, indian regional navigation Satellite system), SBAS (i.e. Satellite-Based Augmentation System, satellite based augmentation system), QZSS (i.e. Quasi-Zenith Satellite System, quasi-zenith Satellite system), and the corresponding frequency bands may be L1, L2, L5, L6, and the like. For example, referring to fig. 3, fig. 3 is a schematic diagram of a satellite navigation system and a frequency band according to an embodiment of the present application. GPS, BD (Beidou), GAL (Galileo), GLO (Geranos) all comprise L1, L2, L5 and L6 frequency bands.
In a specific embodiment, the autocorrelation result data may be used to determine the target tracking noise floor corresponding to the target invisible star within a preset time before tracking the target visible star.
That is, before the target invisible star is tracked, the tracking background noise of the corresponding target invisible star needs to be calculated, and the preset time is in millisecond level within the preset time, so that the tracking background noise calculation and the visible star tracking are almost in the same time period, and the noise change characteristics of the tracking channel can be reflected in real time.
In view of the above, the embodiment of the present application first determines the target tracking noise corresponding to the invisible star of the target; estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, in the embodiment of the application, the tracking background noise of the invisible star in the same frequency band as the visible star in the same satellite navigation system is utilized to perform satellite signal intensity estimation on the visible star, so that the influence of the correlation peak of the visible star on background noise calculation can be removed, the accuracy of background noise calculation can be improved, the accuracy of satellite signal intensity estimation is further improved, and the satellite positioning accuracy is further improved.
Referring to fig. 4, an embodiment of the present application discloses a specific satellite signal strength evaluation method, which is applied to a GNSS receiver, and includes:
step S21: and when satellite signals of the invisible satellites are received, determining tracking background noise corresponding to the invisible satellites, and recording corresponding system frequency band information.
The calculation process of tracking noise may refer to the corresponding content disclosed in the foregoing embodiment, and will not be described herein.
In a specific embodiment, the system frequency band information may include a satellite navigation system and a frequency band.
In another specific embodiment, the system frequency band information may be identification information corresponding to a satellite navigation system and a frequency band, and the corresponding satellite navigation system and frequency band are determined based on the system frequency band information.
Step S22: and matching the target tracking background noise corresponding to the target invisible star from the determined tracking background noise of the invisible star based on the satellite navigation system and the frequency band corresponding to the target visible star and the system frequency band information.
In a specific embodiment, the target tracking noise floor corresponding to the target invisible star can be matched based on a preset time condition and the system frequency band information;
the preset time condition is that the target tracking background noise is the tracking background noise determined in the preset time before the visible star tracking of the target.
Step S23: estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In a specific embodiment, a GNSS receiver receives a satellite signal, matches a satellite navigation system, a frequency band and an asterisk corresponding to the satellite signal, then determines that the received satellite signal is a satellite signal of a visible star or a satellite signal of an invisible star based on a visible star list, tracks the invisible star if the satellite signal of the invisible star is received, obtains relevant result data, determines a corresponding tracking noise based on the relevant result data, and records system frequency band information. And if satellite signals of the visible star are received, the visible star is used as a target visible star, the visible star is captured, then the visible star is tracked, and target tracking noise corresponding to the target invisible star is matched from the determined tracking noise based on recorded system frequency band information.
Referring to fig. 5, an embodiment of the present application discloses a satellite signal strength evaluation device, which is applied to a GNSS receiver, and includes:
the target tracking background noise determining module 11 is used for determining target tracking background noise corresponding to the target invisible star;
a satellite signal strength evaluation module 12 for evaluating satellite signal strength of a target visible star tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
In view of the above, the embodiment of the present application first determines the target tracking noise corresponding to the invisible star of the target; estimating satellite signal intensity of a visible star of a target tracked by the GNSS receiver based on the target tracking noise floor; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system. That is, in the embodiment of the application, the tracking background noise of the invisible star in the same frequency band as the visible star in the same satellite navigation system is utilized to perform satellite signal intensity estimation on the visible star, so that the influence of the correlation peak of the visible star on background noise calculation can be removed, the accuracy of background noise calculation can be improved, the accuracy of satellite signal intensity estimation is further improved, and the satellite positioning accuracy is further improved.
In a specific embodiment, the target tracking noise floor determining module 11 specifically includes:
and the configuration data acquisition sub-module is used for acquiring the configuration data corresponding to the invisible star of the target.
The autocorrelation result acquisition sub-module is used for tracking the invisible target star based on the configuration data to obtain corresponding autocorrelation result data;
and the tracking background noise determination submodule is used for determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data.
Specifically, the tracking noise determination submodule specifically includes:
a background noise value determining unit for determining a corresponding background noise value based on the autocorrelation result every time the autocorrelation result is obtained
And the background noise value smoothing unit is used for smoothing the current background noise value by utilizing a linear filter until tracking is finished, so as to obtain the target tracking background noise.
In a specific embodiment, the background noise value smoothing unit is specifically configured to determine a difference between the current background noise value and the background noise value determined based on the previous correlation result; adjusting the weight of the linear filter by utilizing the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
The configuration data obtaining sub-module is specifically configured to obtain a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible star, or a local code, a chip group, a carrier phase group and a navigation message data period.
The target tracking noise floor determining module 11 is specifically configured to determine, in a preset time before tracking the target visible star, a target tracking noise floor corresponding to the target invisible star by using the autocorrelation result data.
In another specific embodiment, the target tracking noise determination module 11 is specifically configured to determine, when receiving a satellite signal of an invisible star, tracking noise corresponding to the invisible star, and record corresponding system frequency band information; and matching the target tracking background noise corresponding to the target invisible star from the determined tracking background noise of the invisible star based on the satellite navigation system and the frequency band corresponding to the target visible star and the system frequency band information.
For example, referring to fig. 6, fig. 6 discloses a specific structure diagram of a satellite signal evaluation device in the embodiment of the present application, and it should be noted that an existing GNSS receiver includes a system matching module, a visible star judging module, a capturing module, a tracking module and a positioning module. The embodiment can multiplex a system matching module, a visible star judging module, a tracking module, a background noise estimating module and a smoothing module. The system matching module is used for matching the satellite navigation system of the current satellite and the frequency band of the satellite navigation system. The visible star judging module is used for judging whether the current star is in a visible star list, wherein the visible star list refers to satellite star signs transmitted by the navigation system and the frequency band of the navigation system, and if the current star is not in the visible star list, the current star is not the invisible star. The tracking module is the self-correlation result obtaining sub-module, the background noise estimating module is the background noise value determining unit, and the smoothing module is the background noise value smoothing unit.
In a specific embodiment, when a satellite signal is received, a satellite navigation system, a frequency band and an asterisk corresponding to the satellite signal are matched through a system matching module, then the received satellite signal is judged to be a satellite signal of a visible star or a satellite signal of an invisible star based on a visible star list through a visible star judging module, if the satellite signal of the invisible star is received, the invisible star is tracked through a tracking module to obtain relevant result data, then a corresponding single noise floor value is determined through a noise floor estimating module based on the relevant result data, and the single noise floor value is smoothed through a smoothing module until tracking is finished, so that final tracking noise floor is obtained, and the frequency band information of the system is recorded. And if satellite signals of the visible star are received, the visible star is taken as a target visible star, the visible star is captured through a capturing module, then the tracking module tracks the visible star, target tracking background noise corresponding to the target invisible star is matched from the determined tracking background noise based on recorded system frequency band information, the satellite signal intensity of the visible star is estimated, and the satellite signal intensity is input into a positioning module.
The system matching module is used for matching a satellite navigation system, a frequency band and an asterisk corresponding to the satellite signal, judging whether the satellite navigation system and the frequency band are a system and a frequency band without evaluating background noise or not based on the system frequency band information recorded by the smoothing module, if so, starting the visible star judging module, and judging whether the received satellite signal is a satellite signal of a visible star or a satellite signal of an invisible star based on a visible star list.
That is, whether the current satellite is the satellite corresponding to the system and the frequency band without estimating the background noise can be judged in the system matching module through the background noise value fed back by the smoothing module and the system frequency band information matched with the background noise value. And combining the system and the frequency band output by the system matching module, and matching the invisible star by the visible star judging module to enter the tracking module. In a specific embodiment, the background noise estimation module inputs the configuration of the local code, the chip range, the carrier phase range, the navigation message data period and the like into the tracking module. The tracking module carries out autocorrelation processing, strips the spread spectrum code, the subcode and the carrier wave, and outputs a correlation result to the bottom noise estimation module. The background noise estimation module averages the related results to obtain a background noise value square value, and finally starts to obtain a single background noise value and outputs the single background noise value to the smoothing module. Repeating the two steps until the non-star-tracking is finished. And smoothing the single noise floor value by using a linear filter through a smoothing module, recording the system frequency band information matched with the single noise floor value, and feeding back to a system matching module. And whether the current background noise value is an initial value in the system frequency band can be known through the background noise values output by the system matching module and the background noise estimation module. Specifically, whether the current background noise value is an initial value of the system under the frequency band can be determined based on the system frequency band information corresponding to the background noise value and all satellite systems and frequency bands matched by the system matching module, if not, the difference between the current background noise value and the background noise value determined based on the last related result is determined; adjusting the weight of the linear filter by utilizing the difference value; and smoothing the current background noise value by using the linear filter after the weight is adjusted.
Referring to fig. 7, an embodiment of the present application discloses a GNSS receiver, including a processor 21 and a memory 22; wherein the memory 22 is used for storing a computer program; the processor 21 is configured to execute the computer program, where the computer program when executed by the processor implements the satellite signal strength evaluation method disclosed in the foregoing embodiment.
For the specific process of the satellite signal strength evaluation method, reference may be made to the corresponding content disclosed in the foregoing embodiment, and no further description is given here.
Further, the embodiment of the application also discloses a computer readable storage medium for storing a computer program, wherein the computer program is executed by a processor to implement the satellite signal strength evaluation method disclosed in the previous embodiment.
For the specific process of the satellite signal strength evaluation method, reference may be made to the corresponding content disclosed in the foregoing embodiment, and no further description is given here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above describes in detail a satellite signal strength evaluation method, device, GNSS receiver and medium provided in the present application, and specific examples are applied herein to illustrate the principles and embodiments of the present application, where the above description of the embodiments is only for helping to understand the method and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. A satellite signal strength evaluation method, applied to a GNSS receiver, comprising:
determining target tracking background noise corresponding to the invisible star of the target;
estimating satellite signal intensity of a target visible star tracked by the GNSS receiver based on the target tracking noise floor and satellite signals received by the GNSS receiver; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
2. The method for evaluating the satellite signal strength according to claim 1, wherein determining the target tracking noise floor corresponding to the target invisible star comprises:
acquiring configuration data corresponding to the invisible star of the target;
tracking the invisible star of the target based on the configuration data to obtain corresponding autocorrelation result data;
and determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data.
3. The method according to claim 2, wherein the tracking of the target invisible star based on the configuration data results in corresponding autocorrelation result data; determining target tracking background noise corresponding to the target invisible star by utilizing the autocorrelation result data comprises the following steps:
tracking the invisible target star based on configuration data corresponding to the invisible target star, determining a corresponding background noise value based on an autocorrelation result every time the autocorrelation result is obtained, and smoothing the current background noise value by using a linear filter until the tracking is finished to obtain the target tracking background noise.
4. A satellite signal strength assessment method according to claim 3, wherein said smoothing the current background noise value using a linear filter comprises:
determining a difference between the current background noise value and the background noise value determined based on the last correlation result;
adjusting the weight of the linear filter by utilizing the difference value;
and smoothing the current background noise value by using the linear filter after the weight is adjusted.
5. The method for evaluating the satellite signal strength according to claim 2, wherein the acquiring the configuration data corresponding to the target invisible star includes:
and acquiring a local code, a chip range, a carrier phase range and a navigation message data period corresponding to the target invisible star, or acquiring the local code, a chip group, a carrier phase group and the navigation message data period.
6. The method of claim 2, wherein determining the target tracking noise floor corresponding to the target invisible star using the autocorrelation result data comprises:
and determining target tracking background noise corresponding to the invisible target star by utilizing the autocorrelation result data in a preset time before tracking the visible target star.
7. The method for evaluating the satellite signal strength according to claim 1, wherein determining the target tracking noise floor corresponding to the target invisible star comprises:
when satellite signals of invisible satellites are received, determining tracking background noise corresponding to the invisible satellites, and recording corresponding system frequency band information;
and matching the target tracking background noise corresponding to the target invisible star from the determined tracking background noise of the invisible star based on the satellite navigation system and the frequency band corresponding to the target visible star and the system frequency band information.
8. A satellite signal strength evaluation device, for use in a GNSS receiver, comprising:
the target tracking background noise determining module is used for determining target tracking background noise corresponding to the invisible target star;
the satellite signal intensity evaluation module is used for evaluating the satellite signal intensity of the visible target star tracked by the GNSS receiver based on the target tracking noise floor and the satellite signal received by the GNSS receiver; the target visible star and the target invisible star are satellites in the same frequency band of the same satellite navigation system.
9. A GNSS receiver, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the satellite signal strength assessment method according to any one of claims 1 to 7.
10. A computer readable storage medium for storing a computer program which when executed by a processor implements the satellite signal strength assessment method according to any one of claims 1 to 7.
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