1. A method for satellite signal acquisition, the method comprising:

acquiring a first satellite signal and a second satellite signal with the same pseudo code;

acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal;

superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal;

and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

2. The method of claim 1,

the acquiring a corresponding first accumulated signal based on the first satellite signal comprises:

performing radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal;

acquiring a first mixing signal based on the first intermediate frequency signal;

acquiring a local pseudo-random code through a pseudo-code generator;

performing coherent accumulation operation on the first mixing signal for preset times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results;

performing non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulated signal;

and the number of the first and second groups,

said obtaining a corresponding second summed signal based on said second satellite signal comprises:

performing radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal;

acquiring a second mixing signal based on the second intermediate frequency signal;

performing coherent accumulation operation on the second mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of second coherent accumulation results;

and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain the second accumulated signal.

3. The method of claim 2,

the obtaining a first mixing signal based on the first intermediate frequency signal includes:

obtaining a first cosine signal and a first sine signal through a first carrier digital control oscillator;

mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal;

mixing the first intermediate frequency signal by using the first sinusoidal signal to obtain a second sub-mixing signal;

the performing coherent accumulation operation on the first mixing signal for a preset number of times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results, including:

performing coherent accumulation operation on the first sub-mixing signal and the second sub-mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results;

the non-coherent accumulation of the first coherent accumulation results to obtain the first accumulated signal includes:

performing non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain the first accumulation signal;

and the number of the first and second groups,

the obtaining a second mixing signal based on the second intermediate frequency signal includes:

obtaining a second cosine signal and a second sine signal through a second carrier digital control oscillator;

mixing the second intermediate frequency signal by using the second cosine signal to obtain a third sub-mixing signal;

mixing the second intermediate frequency signal by using the second sinusoidal signal to obtain a fourth sub-mixing signal;

the performing the preset number of coherent accumulation operations on the second mixing signal by using the local pseudo-random code to obtain a plurality of first coherent accumulation results, including:

performing coherent accumulation operation on the third sub-mixing signal and the fourth sub-mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of third sub-coherent accumulation results and a plurality of fourth sub-coherent accumulation results;

the non-coherent accumulation of the second coherent accumulation results to obtain the second accumulated signal includes:

and performing non-coherent accumulation on the plurality of third sub-coherent accumulation results and the plurality of fourth sub-coherent accumulation results to obtain the second accumulated signal.

4. The method of claim 2,

the performing coherent accumulation operation on the first mixing signal for a preset number of times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results, including:

acquiring preset coherent accumulation time;

based on the coherent accumulation time, performing the preset times of correlation operation on the first mixing signal by using the local pseudo-random code to obtain a plurality of first correlation signals;

performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results;

and the number of the first and second groups,

the performing the preset number of coherent accumulation operations on the second mixing signal by using the local pseudo-random code to obtain a plurality of second coherent accumulation results, including:

based on the coherent accumulation time, performing the preset times of correlation operation on the second mixing signal by using the local pseudo-random code to obtain a plurality of second correlation signals;

and carrying out coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results.

5. The method of claim 4,

the performing, based on the coherent accumulation time, a preset number of correlation operations on the first mixing signal using the local pseudo-random code to obtain a plurality of first correlation signals includes:

acquiring preset accumulation times;

based on the coherent accumulation time, performing correlation operation of the accumulation times on the first mixing signal by using the local pseudo-random code to obtain a plurality of first correlation signals; wherein the number of the first correlation signals is the accumulation times;

performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results, including;

performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times;

and the number of the first and second groups,

the performing, based on the coherent accumulation time, the preset number of correlation operations on the second mixing signal by using the local pseudo-random code to obtain a plurality of second correlation signals, including:

based on the coherent accumulation time, performing correlation operation of the accumulation times on the second mixing signal by using the local pseudo-random code to obtain a plurality of second correlation signals; wherein the number of the second correlation signals is the accumulated times;

performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results, including:

performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times.

6. The method of any one of claims 1 to 5, wherein the first satellite signal and the second satellite signal having the same pseudo code comprise: the first satellite signal and the second satellite signal which are sent by the same satellite equipment at different frequency points and have the same pseudo code.

7. The method of claim 1, wherein after obtaining the superimposed signal, further comprising:

and when the peak value of the superposed signal is smaller than the threshold acquisition threshold value, the first satellite signal and the second satellite signal with the same pseudo code are acquired again.

8. An apparatus for acquiring satellite signals, the apparatus comprising:

the satellite signal acquisition module is used for acquiring a first satellite signal and a second satellite signal which have the same pseudo code;

the accumulated signal acquisition module is used for acquiring a corresponding first accumulated signal based on the first satellite signal and acquiring a corresponding second accumulated signal based on the second satellite signal;

a superimposed signal obtaining module, configured to superimpose the first accumulated signal and the second accumulated signal to obtain a superimposed signal;

and the signal acquisition confirming module is used for confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

9. A satellite navigation receiver comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Background

With the development of satellite communication technology, the method of using a satellite navigation receiver to acquire weak satellite signals is generally performed by using a method of combining coherent integration and non-coherent integration. Through the coherent integration technology, the signal energy can be accumulated, and the signal-to-noise ratio of the signal is improved, however, although the longer the coherent integration time is, the larger the coherent integration gain is obtained, the longer the integration time is, the frequency search interval can also be reduced, so that the frequency domain search space is greatly increased, and the search is lengthened. Therefore, in order to improve the sensitivity of the satellite navigation receiver while ensuring the signal-to-noise ratio of the satellite, the conventional technique generally adopts a method combining coherent integration and non-coherent integration, and the non-coherent integration is insensitive to data jump and frequency deviation thereof, so that the non-coherent integration can be used for further improving the signal-to-noise ratio after the coherent integration.

However, in the conventional method for satellite acquisition by combining coherent integration and non-coherent integration, the required operation time is too long, and it is difficult to quickly acquire a satellite signal.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a satellite signal acquisition method, a satellite signal acquisition device, a satellite navigation receiver, and a storage medium.

A method of satellite signal acquisition, the method comprising:

acquiring a first satellite signal and a second satellite signal with the same pseudo code;

acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal;

superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal;

and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

In one embodiment, said obtaining a corresponding first accumulated signal based on said first satellite signal comprises: performing radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal; acquiring a first mixing signal based on the first intermediate frequency signal; acquiring a local pseudo-random code through a pseudo-code generator; performing coherent accumulation operation on the first mixing signal for preset times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results; performing non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulated signal; and, said obtaining a corresponding second accumulated signal based on said second satellite signal comprises: performing radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal; performing coherent accumulation operation on the second mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of second coherent accumulation results; and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain the second accumulated signal.

In one embodiment, the obtaining a first mixed signal based on the first intermediate frequency signal includes: obtaining a first cosine signal and a first sine signal through a first carrier digital control oscillator; mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal; mixing the first intermediate frequency signal by using the first sinusoidal signal to obtain a second sub-mixing signal; the performing coherent accumulation operation on the first mixing signal for a preset number of times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results, including: performing coherent accumulation operation on the first sub-mixing signal and the second sub-mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results; the non-coherent accumulation of the first coherent accumulation results to obtain the first accumulated signal includes: performing non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain the first accumulation signal; and, obtaining a second mixed signal based on the second intermediate frequency signal, comprising: obtaining a second cosine signal and a second sine signal through a second carrier digital control oscillator; mixing the second intermediate frequency signal by using the second cosine signal to obtain a third sub-mixing signal; mixing the second intermediate frequency signal by using the second sinusoidal signal to obtain a fourth sub-mixing signal; the performing the preset number of coherent accumulation operations on the second mixing signal by using the local pseudo-random code to obtain a plurality of first coherent accumulation results, including: performing coherent accumulation operation on the third sub-mixing signal and the fourth sub-mixing signal for the preset times by using the local pseudo-random code to obtain a plurality of third sub-coherent accumulation results and a plurality of fourth sub-coherent accumulation results; the non-coherent accumulation of the second coherent accumulation results to obtain the second accumulated signal includes: and performing non-coherent accumulation on the plurality of third sub-coherent accumulation results and the plurality of fourth sub-coherent accumulation results to obtain the second accumulated signal.

In one embodiment, the performing a predetermined number of coherent accumulation operations on the first mixing signal using the local pseudo random code to obtain a plurality of first coherent accumulation results includes: acquiring preset coherent accumulation time; based on the coherent accumulation time, performing the preset times of correlation operation on the first mixing signal by using the local pseudo-random code to obtain a plurality of first correlation signals; performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results; and performing the preset number of coherent accumulation operations on the second mixing signal by using the local pseudo-random code to obtain a plurality of second coherent accumulation results, including: based on the coherent accumulation time, performing the preset times of correlation operation on the second mixing signal by using the local pseudo-random code to obtain a plurality of second correlation signals; and carrying out coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results.

In one embodiment, the performing a predetermined number of correlations on the first mixed signal with the local pseudo random code based on the coherent accumulation time to obtain a plurality of first correlation signals includes: acquiring preset accumulation times; based on the coherent accumulation time, performing correlation operation of the accumulation times on the first mixing signal by using the local pseudo-random code to obtain a plurality of first correlation signals; wherein the number of the first correlation signals is the accumulation times; performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results, including; performing coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times; and performing the preset number of correlation operations on the second mixing signal by using the local pseudo-random code based on the coherent accumulation time to obtain a plurality of second correlation signals, including: based on the coherent accumulation time, performing correlation operation of the accumulation times on the second mixing signal by using the local pseudo-random code to obtain a plurality of second correlation signals; wherein the number of the second correlation signals is the accumulated times; performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results, including: performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times.

In one embodiment, the first satellite signal and the second satellite signal having the same pseudo code comprise: the first satellite signal and the second satellite signal which are sent by the same satellite equipment at different frequency points and have the same pseudo code.

In one embodiment, after obtaining the superimposed signal, the method further includes: and when the peak value of the superposed signal is smaller than the threshold acquisition threshold value, the first satellite signal and the second satellite signal with the same pseudo code are acquired again.

A satellite signal acquisition apparatus, the apparatus comprising:

the satellite signal acquisition module is used for acquiring a first satellite signal and a second satellite signal which have the same pseudo code;

the accumulated signal acquisition module is used for acquiring a corresponding first accumulated signal based on the first satellite signal and acquiring a corresponding second accumulated signal based on the second satellite signal;

a superimposed signal obtaining module, configured to superimpose the first accumulated signal and the second accumulated signal to obtain a superimposed signal;

and the signal acquisition confirming module is used for confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

A satellite navigation receiver comprising a memory and a processor, the memory storing a computer program, the processor when executing the computer program implementing the steps of: acquiring a first satellite signal and a second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of: acquiring a first satellite signal and a second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

The satellite signal capturing method, the satellite signal capturing device, the satellite navigation receiver and the storage medium acquire the first satellite signal and the second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value. According to the method and the device, the two satellite signals of the same pseudo code are subjected to operation processing simultaneously, so that the operation time required by satellite signal acquisition can be reduced, and the efficiency of satellite signal acquisition is improved.

Drawings

FIG. 1 is a flow diagram illustrating a method for satellite signal acquisition according to one embodiment;

FIG. 2 is a flow chart illustrating a process for obtaining a corresponding first accumulated signal based on a first satellite signal according to an embodiment;

FIG. 3 is a flow diagram illustrating a method for satellite signal acquisition according to one embodiment;

FIG. 4 is a flowchart illustrating a method for acquiring satellite signals according to an exemplary embodiment;

FIG. 5 is a block diagram of a satellite signal acquisition device according to an embodiment;

FIG. 6 is a diagram of the internal architecture of a satellite navigation receiver in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a method for acquiring satellite signals is provided, which is exemplified by being applied to a satellite navigation receiver, the satellite navigation receiver may receive satellite signals, process the satellite signals, and determine that the satellite signals are successfully acquired if the processed satellite signals satisfy an acquisition condition. In this embodiment, the method includes the steps of:

step S101, a satellite navigation receiver acquires a first satellite signal and a second satellite signal with the same pseudo code.

Wherein, the pseudo code refers to a pseudo random code, i.e. a C/a code in a satellite signal. The pseudo codes emitted by certain specific satellite signals are the same, and the satellite navigation receiver can identify two different satellite signals with the same pseudo codes from the satellite signals, such as: the satellite signals with the same pseudo codes can be identified or screened through known information such as ephemeris, almanac, known frequency range of specific satellite signals and the like, and the satellite signals with the same pseudo codes can include B1 frequency point signals and B2 frequency point signals of a Beidou second-generation satellite, or R1 frequency point signals and R2 frequency point signals of a Glonass satellite, and two or more satellite signals with the same pseudo codes and sent by the same other satellite.

Step S102, the satellite navigation receiver obtains a corresponding first accumulated signal based on the first satellite signal, and simultaneously obtains a corresponding second accumulated signal based on the second satellite signal.

The first accumulated signal is obtained by the satellite navigation receiver performing coherent integration, non-coherent integration and other processing on the received first satellite signal, and the second accumulated signal is obtained by the satellite navigation receiver performing coherent integration, non-coherent integration and other processing on the received second satellite signal. The satellite navigation receiver processes the first satellite signal into a first accumulated signal, and simultaneously processes the obtained second satellite signal in the same way, so as to obtain a second accumulated signal.

Step S103, the satellite navigation receiver superposes the first accumulation signal and the second accumulation signal to obtain a superposed signal;

and step S104, when the peak value of the superposed signal is greater than or equal to the threshold acquisition threshold value, the satellite navigation receiver confirms that the satellite signal acquisition is successful.

After the first accumulation signal and the second accumulation signal are obtained in step S102, the obtained first accumulation signal and the second accumulation signal may be superimposed to obtain a superimposed signal, and then the peak value of the superimposed signal is compared with the capture threshold, and when the comparison condition is met (for example, the amplitude of the accumulation signal is greater than or equal to the capture threshold), it may be determined that the specific satellite signal is searched, and at this time, a determination result may be output.

In the satellite signal capturing method, a satellite navigation receiver acquires a first satellite signal and a second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value. According to the satellite signal acquisition method and device, the satellite navigation receiver is used for simultaneously carrying out operation processing on two satellite signals with the same pseudo code, so that the operation time required by satellite signal acquisition can be reduced, and the efficiency of satellite signal acquisition is improved.

In one embodiment, as shown in fig. 2, the acquiring, by the satellite navigation receiver, a corresponding first accumulated signal based on the first satellite signal in step S102 may include:

step S201, the satellite navigation receiver performs radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal.

The first intermediate frequency signal refers to an intermediate frequency signal obtained by performing frequency reduction processing on the first satellite signal by the satellite navigation receiver, for example, the satellite navigation receiver may perform radio frequency front end processing on the received first satellite information to obtain the first intermediate frequency signal.

In step S202, the satellite navigation receiver obtains a first mixing signal based on the first intermediate frequency signal.

After the first intermediate frequency signal is obtained in step S201, the first intermediate frequency signal may be subjected to signal mixing by using a sine signal and a cosine signal through a mixer, so as to obtain a first mixing signal.

Step S203, the satellite navigation receiver obtains a local pseudo-random code through a pseudo-code generator;

step S204, the satellite navigation receiver performs coherent accumulation operation on the first mixing signal for preset times by using the local pseudo-random code to obtain a plurality of first coherent accumulation results.

The pseudo code generator may be installed inside the satellite navigation receiver and configured to generate a local pseudo random code, and the satellite navigation receiver may first obtain the local pseudo random code generated by the pseudo code generator, and then perform multiple coherent accumulation operations on the first frequency mixing signal obtained in step S202 using the local pseudo random code, where the number of coherent accumulation operations may be selected according to actual needs, and cache multiple first coherent accumulation results obtained after performing the coherent accumulation operations on the first frequency mixing signal each time.

In step S205, the satellite navigation receiver performs non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulation signal.

After the satellite navigation receiver completes the coherent accumulation processing on the first mixing signal for multiple times, the cached multiple first coherent accumulation results may be added to finally obtain a first accumulation signal corresponding to the first satellite signal.

In addition, while the first satellite signal is processed to obtain the first accumulated signal, the satellite navigation receiver also processes the second satellite signal in the same manner to obtain the second accumulated signal.

Specifically, the satellite navigation receiver performs radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal; carrying out coherent accumulation operation on the second mixing signals for the same preset times as the first mixing signals are processed by using the local pseudo-random code to obtain a plurality of second coherent accumulation results; and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain a second accumulation signal.

Further, step S202 may further include: the satellite navigation receiver obtains a first cosine signal and a first sine signal through a first carrier digital control oscillator; mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal; mixing the first intermediate frequency signal by using a first sinusoidal signal to obtain a second sub-mixing signal; step S204 may further include: the satellite navigation receiver performs coherent accumulation operation on the first sub-mixing signals and the second sub-mixing signals for preset times by using local pseudo-random codes to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results; step S205 may further include: and the satellite navigation receiver performs non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain a first accumulation signal.

Specifically, the first carrier digital control oscillator may be installed inside a satellite navigation receiver and may be configured to generate a first sine signal and a first cosine signal, the satellite navigation receiver may mix the obtained first sine signal and the obtained first cosine signal with the first intermediate-frequency signal through the mixer, respectively obtain a first sub-mixing signal and a second sub-mixing signal, respectively perform multiple coherent accumulation operations on the first sub-mixing signal and the second sub-mixing signal with a local pseudo-random code, obtain multiple first sub-coherent accumulation results and multiple second sub-coherent accumulation results, and finally perform non-coherent accumulation on the multiple first sub-coherent accumulation results and the multiple second sub-coherent accumulation results to obtain a first accumulation signal.

Meanwhile, the satellite navigation receiver also generates a second cosine signal and a second sine signal through a second carrier digital control oscillator, and respectively uses the second cosine signal and the second sine signal to carry out frequency mixing on a second intermediate frequency signal to obtain a third sub-mixing signal and a fourth sub-mixing signal, then uses local pseudo-random to carry out multiple times of coherent accumulation operation on the third sub-mixing signal and the fourth sub-mixing signal to obtain multiple third sub-coherent accumulation results and multiple fourth sub-coherent accumulation results, and finally carries out incoherent accumulation on the multiple third sub-coherent accumulation results and the multiple fourth sub-coherent accumulation results to obtain a second accumulation signal.

In addition, step S204 may further include: the method comprises the steps that a satellite navigation receiver obtains preset coherent accumulation time; based on coherent accumulation time, performing preset times of correlation operation on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; and carrying out coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results.

The coherent accumulation time may be set according to actual needs, and may be set according to a period corresponding to the pseudo code, for example, 1ms, and then the satellite navigation receiver may perform multiple 1ms correlation operations on the first mixing signal to obtain multiple first correlation signals, and perform coherent integration on the obtained multiple first correlation signals to obtain multiple first coherent accumulation results.

Meanwhile, the satellite navigation receiver also performs multiple 1ms correlation operations on the second mixing signal to obtain multiple second correlation signals, and performs coherent integration on the multiple second correlation signals to obtain multiple second coherent accumulation results.

Further, based on the coherent accumulation time, the satellite navigation receiver performs a preset number of correlation operations on the first mixing signal by using a local pseudo-random code to obtain a plurality of first correlation signals, which may include: acquiring preset accumulation times; based on coherent accumulation time, performing correlation operation of accumulation times on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; the number of the first correlation signals is the accumulation times.

Specifically, the accumulated number of times may be set in the satellite navigation receiver according to actual needs, and the satellite navigation receiver performs correlation operation on the first mixing signal according to the accumulated number of times to obtain the first correlation signal with the accumulated number of times, for example: the accumulation frequency can be set to be 10 times, so that the satellite navigation receiver can perform correlation operation for 10 times to obtain 10 first correlation signals, perform coherent integration on the 10 correlation signals respectively to obtain 10 first coherent accumulation results, and perform non-coherent accumulation on the 10 first coherent accumulation results to obtain the first accumulation signal.

Meanwhile, the satellite navigation receiver may also perform correlation operation on the second mixing signal according to the set accumulation times to obtain second correlation signals of the accumulation times, and similar to the above example, 10 first correlation signals may be obtained, and at the same time, 10 second correlation signals may also be obtained.

Compared with the conventional technology, the advantage is that, in order to obtain the result of performing correlation operation for 1ms each time and repeating the correlation operation for 20 times in total, the conventional technology typically performs correlation operation for 20 times and 1ms, and typically requires 20ms to complete coherent integration, and the technical solution provided by the present application can averagely divide the correlation operation for 20 times into 10 processing processes for the first mixing signal and 10 processing processes for the second mixing signal, and because the processing processes are performed simultaneously, the present application can complete the process which can be realized by the conventional technology and requires 20ms only by 10ms, so that the time of coherent integration can be greatly reduced.

In the embodiment, the first accumulated signal and the second accumulated signal are obtained by processing the first satellite signal and the second satellite signal at the same time, so that the time required for coherent integration can be reduced while the signal-to-noise ratio is ensured, and the efficiency of satellite signal acquisition is further improved.

In one embodiment, the first satellite signal and the second satellite signal having the same pseudo code may include: the first satellite signal and the second satellite signal which are sent by the same satellite equipment at different frequency points and have the same pseudo code.

For example: the first satellite signal and the second satellite signal may be a B1 frequency point signal and a B2 frequency point signal of a second generation Beidou satellite, or an R1 frequency point signal and an R2 frequency point signal of a Glonass satellite.

In one embodiment, after step S104, the method may further include: when the peak value of the superposed signal is smaller than the threshold acquisition threshold value, the satellite navigation receiver acquires the first satellite signal and the second satellite signal with the same pseudo code again.

And if the peak value of the superposed signal is smaller than the threshold capture threshold value, judging that the satellite signal capture fails, and at the moment, the satellite navigation receiver can adjust the first carrier wave digital control oscillator, the second carrier wave digital control oscillator and the pseudo-code generator according to the set search step length to continue to search the signal.

In an embodiment, the satellite navigation receiver may also perform correlation operation according to a preset code phase interval, for example, the correlation operation may be half a chip, then code phase search may be performed on different frequency points of the satellite at this time, for example, code phase search may be performed on a second generation beidou B1 frequency point and a B2 frequency point, the interval is half a chip, 4092 code phases are total, then, signal processing may be performed on 4092 code phases at this time at the same time, at this time, 4092 incoherent superposition results may be obtained in step S104, then a peak value exceeding a threshold value is inquired in the 4092 incoherent superposition results, and a code phase where the peak value is located is a common acquisition code phase result of the B1 frequency point and the B2 frequency point.

In one embodiment, as shown in fig. 3, a method for satellite signal acquisition is provided, which may include the steps of:

step S301, a satellite navigation receiver acquires a first satellite signal and a second satellite signal with the same pseudo code;

step S302, the satellite navigation receiver performs radio frequency front end processing on a first satellite signal to obtain a first intermediate frequency signal; acquiring a first mixing signal based on the first intermediate frequency signal;

step S303, the satellite navigation receiver performs radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal;

step S304, the satellite navigation receiver obtains a local pseudo-random code through the pseudo-random code generator; acquiring preset coherent accumulation time; acquiring preset accumulation times;

step S305, based on coherent accumulation time, the satellite navigation receiver performs correlation operation of accumulation times on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; wherein, the number of the first correlation signals is the accumulation times;

step S306, the satellite navigation receiver performs coherent integration by using the plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times;

step S307, the satellite navigation receiver performs incoherent accumulation on the plurality of first coherent accumulation results to obtain first accumulation signals;

step S308, based on coherent accumulation time, the satellite navigation receiver performs correlation operation of accumulation times on the second mixing signals by using local pseudo-random codes to obtain a plurality of second correlation signals; wherein, the number of the second correlation signals is the accumulated times;

step S309, the satellite navigation receiver performs coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times;

step S310, the satellite navigation receiver carries out incoherent accumulation on a plurality of second coherent accumulation results to obtain second accumulation signals;

step S311, the satellite navigation receiver superposes the first accumulation signal and the second accumulation signal to obtain a superposed signal;

in step S312, when the peak value of the superimposed signal is greater than or equal to the threshold acquisition threshold, the satellite navigation receiver confirms that the satellite signal acquisition is successful.

The satellite signal capturing method provided by the embodiment can simultaneously perform signal processing on the first satellite signal and the second satellite signal, reduce the operation time and improve the capturing efficiency of the satellite signal.

The following describes a satellite signal acquisition method by way of an application example, which can be applied to the flow diagram of the satellite signal acquisition method shown in fig. 4, and may include the following steps:

step 1: and setting acquisition parameters of a receiver, and setting the code phase interval of two frequency points, wherein the total number of the code phases is N, the coherent accumulation time is Xms, and the incoherent accumulation frequency is Y.

For example: suppose that the code phase search is carried out on the Beidou second-generation B1 frequency point and the B2 frequency point, the interval is half chip, 4092 code phases in total, the coherent accumulation time is 1ms, and the incoherent accumulation times are 20.

Step 2: and performing correlation operation on the intermediate frequency data of the first frequency point after down-conversion to zero frequency and the local pseudo-random code to obtain coherent accumulation result values of N code phases, and caching.

For example: after the intermediate frequency signal of the frequency point B1 is down-converted to zero frequency, coherent accumulation operation is carried out on each code phase to obtain a 1ms coherent accumulation result value of 4092 code phases, and the result value is cached.

And step 3, continuously performing the coherent accumulation operation for Y/2 times, and adding the cache results for Y/2 times to obtain Y/2 times of incoherent accumulation result values of N code phases of the first frequency point.

For example: the coherent accumulation operation is continuously performed for 10 times, and the buffered results for 10 times are added to obtain the incoherent accumulation result for 10 times of the B1 frequency bin.

And 4, performing the same operation on the second frequency point while performing the step 2 and the step 3, and obtaining Y/2 times of incoherent accumulation result values of the N code phases of the second frequency point.

For example: and (3) carrying out the same operation on the B2 frequency points while carrying out the step 2 and the step 3, and obtaining 10 times of incoherent accumulation results of the B2 frequency points.

And step 5, finally adding the Y/2 times of incoherent accumulation result values of the N code phases of the two frequency points to obtain the final Y times of incoherent accumulation values of the N code phases.

For example: finally, the sum of 10 times of incoherent accumulation results of B1 frequency points is added with the sum of 10 times of incoherent accumulation results of B2 frequency points. The final sum of 20 incoherent summations is obtained.

And 6, inquiring peak values exceeding a threshold value from the incoherent results of the N code phases, wherein the code phase where the peak value is located is the common code phase acquisition result of the two frequency points.

For example: the peak value exceeding the threshold value is inquired from the incoherent results of 4092 code phases, and the code phase where the peak value is located is the result of acquiring the code phase commonly by the frequency points B1 and B2.

It can be seen that, in this example, compared with the case that each frequency point performs 20 times of incoherent accumulation in the conventional technology, the resource replacement speed of performing 10 times of incoherent accumulation at 2 frequency points is reduced by half of the acquisition time, so that the acquisition speed is improved.

It should be understood that although the various steps in the flow charts of fig. 1-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 5, there is provided a satellite signal acquisition apparatus comprising: a satellite signal acquisition module 501, an accumulated signal acquisition module 502, a superposed signal acquisition module 503, and a signal acquisition confirmation module 504, wherein:

a satellite signal obtaining module 501, configured to obtain a first satellite signal and a second satellite signal having the same pseudo code;

an accumulated signal obtaining module 502, configured to obtain a corresponding first accumulated signal based on a first satellite signal, and simultaneously obtain a corresponding second accumulated signal based on a second satellite signal;

a superimposed signal obtaining module 503, configured to superimpose the first accumulated signal and the second accumulated signal to obtain a superimposed signal;

a signal acquisition confirmation module 504, configured to confirm that the satellite signal acquisition is successful when a peak value of the superimposed signal is greater than or equal to a threshold acquisition threshold.

In an embodiment, the accumulated signal obtaining module 502 is further configured to perform radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal; acquiring a first mixing signal based on the first intermediate frequency signal; acquiring a local pseudo-random code through a pseudo-code generator; performing coherent accumulation operation on the first mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first coherent accumulation results; carrying out non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulation signal; the second intermediate frequency processing module is used for carrying out radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal; performing coherent accumulation operation on the second mixing signal for preset times by using a local pseudo-random code to obtain a plurality of second coherent accumulation results; and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain a second accumulation signal.

In an embodiment, the accumulated signal obtaining module 502 is further configured to obtain a first cosine signal and a first sine signal through a first carrier digital controlled oscillator; mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal; mixing the first intermediate frequency signal by using the first sinusoidal signal to obtain a second sub-mixing signal; performing coherent accumulation operation on the first sub-mixing signal and the second sub-mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results; performing non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain a first accumulated signal; the second carrier digital control oscillator is used for obtaining a second cosine signal and a second sine signal; mixing the second intermediate frequency signal by using the second cosine signal to obtain a third sub-mixing signal; mixing the second intermediate frequency signal by using a second sinusoidal signal to obtain a fourth sub-mixing signal; performing coherent accumulation operation on the third sub-mixing signals and the fourth sub-mixing signals for preset times by using a local pseudo-random code to obtain a plurality of third sub-coherent accumulation results and a plurality of fourth sub-coherent accumulation results; and performing non-coherent accumulation on the plurality of third sub-coherent accumulation results and the plurality of fourth sub-coherent accumulation results to obtain a second accumulation signal.

In one embodiment, the accumulated signal obtaining module 502 is further configured to obtain a preset coherent accumulation time; based on coherent accumulation time, performing preset times of correlation operation on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; the local pseudo-random code is used for carrying out correlation operation on the second mixing signal for preset times based on the coherent accumulation time to obtain a plurality of second correlation signals; and carrying out coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results.

In one embodiment, the accumulated signal obtaining module 502 is further configured to obtain a preset accumulated number of times; based on coherent accumulation time, performing correlation operation of accumulation times on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; wherein, the number of the first correlation signals is the accumulation times; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times; and the correlation operation unit is used for performing correlation operation of accumulation times on the second mixing signals by using the local pseudo-random code based on the coherent accumulation time to obtain a plurality of second correlation signals; wherein, the number of the second correlation signals is the accumulated times; performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times.

In one embodiment, the first satellite signal and the second satellite signal having the same pseudo code comprise: the first satellite signal and the second satellite signal which are sent by the same satellite equipment at different frequency points and have the same pseudo code.

In one embodiment, the signal acquisition confirmation module 504 is further configured to reacquire the first satellite signal and the second satellite signal having the same pseudo code when the peak value of the superimposed signal is less than a threshold acquisition threshold.

For specific limitations of the satellite signal acquisition apparatus, reference may be made to the above limitations of the satellite signal acquisition method, which are not described herein again. The modules in the satellite signal acquisition device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the satellite navigation receiver, and can also be stored in a memory in the satellite navigation receiver in a software form, so that the processor can call and execute the corresponding operations of the modules.

In one embodiment, a satellite navigation receiver is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The satellite navigation receiver comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the satellite navigation receiver is configured to provide computational and control capabilities. The memory of the satellite navigation receiver comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the satellite navigation receiver is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of satellite signal acquisition. The display screen of the satellite navigation receiver can be a liquid crystal display screen or an electronic ink display screen, and the input device of the satellite navigation receiver can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the satellite navigation receiver, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present aspects and does not constitute a limitation on the satellite navigation receiver to which the present aspects apply, and that a particular satellite navigation receiver may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

In one embodiment, there is provided a satellite navigation receiver comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program implementing the steps of: acquiring a first satellite signal and a second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

In one embodiment, the processor, when executing the computer program, further performs the steps of: performing radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal; acquiring a first mixing signal based on the first intermediate frequency signal; acquiring a local pseudo-random code through a pseudo-code generator; performing coherent accumulation operation on the first mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first coherent accumulation results; carrying out non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulation signal; performing radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal; performing coherent accumulation operation on the second mixing signal for preset times by using a local pseudo-random code to obtain a plurality of second coherent accumulation results; and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain a second accumulation signal.

In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining a first cosine signal and a first sine signal through a first carrier digital control oscillator; mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal; mixing the first intermediate frequency signal by using the first sinusoidal signal to obtain a second sub-mixing signal; performing coherent accumulation operation on the first sub-mixing signal and the second sub-mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results; performing non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain a first accumulated signal; and obtaining a second cosine signal and a second sine signal through a second carrier digital control oscillator; mixing the second intermediate frequency signal by using the second cosine signal to obtain a third sub-mixing signal; mixing the second intermediate frequency signal by using a second sinusoidal signal to obtain a fourth sub-mixing signal; performing coherent accumulation operation on the third sub-mixing signals and the fourth sub-mixing signals for preset times by using a local pseudo-random code to obtain a plurality of third sub-coherent accumulation results and a plurality of fourth sub-coherent accumulation results; and performing non-coherent accumulation on the plurality of third sub-coherent accumulation results and the plurality of fourth sub-coherent accumulation results to obtain a second accumulation signal.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring preset coherent accumulation time; based on coherent accumulation time, performing preset times of correlation operation on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; on the basis of coherent accumulation time, performing preset times of correlation operation on the second mixing signals by using local pseudo-random codes to obtain a plurality of second correlation signals; and carrying out coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring preset accumulation times; based on coherent accumulation time, performing correlation operation of accumulation times on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; wherein, the number of the first correlation signals is the accumulation times; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times; on the basis of coherent accumulation time, performing correlation operation of accumulation times on the second mixing signals by using local pseudo-random codes to obtain a plurality of second correlation signals; wherein, the number of the second correlation signals is the accumulated times; performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the peak value of the superposed signal is smaller than the threshold acquisition threshold value, the first satellite signal and the second satellite signal with the same pseudo code are acquired again.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a first satellite signal and a second satellite signal with the same pseudo code; acquiring a corresponding first accumulated signal based on the first satellite signal, and acquiring a corresponding second accumulated signal based on the second satellite signal; superposing the first accumulated signal and the second accumulated signal to obtain a superposed signal; and confirming that the satellite signal acquisition is successful when the peak value of the superposed signal is greater than or equal to a threshold acquisition threshold value.

In one embodiment, the computer program when executed by the processor further performs the steps of: performing radio frequency front end processing on the first satellite signal to obtain a first intermediate frequency signal; acquiring a first mixing signal based on the first intermediate frequency signal; acquiring a local pseudo-random code through a pseudo-code generator; performing coherent accumulation operation on the first mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first coherent accumulation results; carrying out non-coherent accumulation on the plurality of first coherent accumulation results to obtain a first accumulation signal; performing radio frequency front end processing on the second satellite signal to obtain a second intermediate frequency signal; acquiring a second mixing signal based on the second intermediate frequency signal; performing coherent accumulation operation on the second mixing signal for preset times by using a local pseudo-random code to obtain a plurality of second coherent accumulation results; and carrying out non-coherent accumulation on the plurality of second coherent accumulation results to obtain a second accumulation signal.

In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining a first cosine signal and a first sine signal through a first carrier digital control oscillator; mixing the first intermediate frequency signal by using the first cosine signal to obtain a first sub-mixing signal; mixing the first intermediate frequency signal by using the first sinusoidal signal to obtain a second sub-mixing signal; performing coherent accumulation operation on the first sub-mixing signal and the second sub-mixing signal for preset times by using a local pseudo-random code to obtain a plurality of first sub-coherent accumulation results and a plurality of second sub-coherent accumulation results; performing non-coherent accumulation on the plurality of first sub-coherent accumulation results and the plurality of second sub-coherent accumulation results to obtain a first accumulated signal; and obtaining a second cosine signal and a second sine signal through a second carrier digital control oscillator; mixing the second intermediate frequency signal by using the second cosine signal to obtain a third sub-mixing signal; mixing the second intermediate frequency signal by using a second sinusoidal signal to obtain a fourth sub-mixing signal; performing coherent accumulation operation on the third sub-mixing signals and the fourth sub-mixing signals for preset times by using a local pseudo-random code to obtain a plurality of third sub-coherent accumulation results and a plurality of fourth sub-coherent accumulation results; and performing non-coherent accumulation on the plurality of third sub-coherent accumulation results and the plurality of fourth sub-coherent accumulation results to obtain a second accumulation signal.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring preset coherent accumulation time; based on coherent accumulation time, performing preset times of correlation operation on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; on the basis of coherent accumulation time, performing preset times of correlation operation on the second mixing signals by using local pseudo-random codes to obtain a plurality of second correlation signals; and carrying out coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring preset accumulation times; based on coherent accumulation time, performing correlation operation of accumulation times on the first mixing signals by using local pseudo-random codes to obtain a plurality of first correlation signals; wherein, the number of the first correlation signals is the accumulation times; carrying out coherent integration by using a plurality of first correlation signals to obtain a plurality of first coherent accumulation results; wherein the number of the first coherent accumulation results is the accumulation times; on the basis of coherent accumulation time, performing correlation operation of accumulation times on the second mixing signals by using local pseudo-random codes to obtain a plurality of second correlation signals; wherein, the number of the second correlation signals is the accumulated times; performing coherent integration by using the plurality of second correlation signals to obtain a plurality of second coherent accumulation results; wherein the number of the second coherent accumulation results is the accumulation times.

In one embodiment, the computer program when executed by the processor further performs the steps of: and when the peak value of the superposed signal is smaller than the threshold acquisition threshold value, the first satellite signal and the second satellite signal with the same pseudo code are acquired again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.