阅读说明：本技术 卫星信号捕获方法、装置、rdss接收机及卫星信号捕获系统 (Satellite signal capturing method and device, RDSS receiver and satellite signal capturing system ) 是由 王菲 凌伟东 毛磊 潘军 高峰 许祥滨 孙功宪 于 2021-08-19 设计创作，主要内容包括：本申请公开了一种卫星信号捕获方法、装置、RDSS接收机及卫星信号捕获系统,所述方法包括：从RNSS接收机中获取时间辅助信息,时间辅助信息包括秒脉冲及辅助时间精度；根据时间辅助信息,同步本地时钟的本地时间及本地时间精度；根据本地时间、卫星的卫星位置及RNSS接收机的当前位置,获取卫星的精确信号发射时间；将精确信号发射时间标记为相位搜索中心,根据相位搜索中心,及通过本地时间精度、预设的卫星位置精度和预设的RNSS接收机位置精度确定的卫星信号发射时间精度,获取卫星信号的码相位搜索范围；根据码相位搜索范围对卫星信号进行捕获。本申请可缩小RDSS接收机进行卫星信号捕获时需要搜索的相位范围,减少RDSS接收机进行卫星信号捕获时的功耗。(The application discloses a satellite signal capturing method, a device, an RDSS receiver and a satellite signal capturing system, wherein the method comprises the following steps: acquiring time auxiliary information from an RNSS receiver, wherein the time auxiliary information comprises pulse per second and auxiliary time precision; synchronizing the local time and the local time precision of the local clock according to the time auxiliary information; acquiring accurate signal transmitting time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver; marking the accurate signal transmission time as a phase search center, and acquiring a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision; the satellite signals are acquired according to the code phase search range. The method and the device can narrow the phase range which needs to be searched when the RDSS receiver carries out satellite signal acquisition, and reduce the power consumption when the RDSS receiver carries out satellite signal acquisition.)

1. A method for acquiring satellite signals, applied to an RDSS receiver, comprising:

acquiring time assistance information from a located RNSS receiver, the time assistance information including pulse per second and assistance time accuracy;

synchronizing the local time and the local time precision of the local clock according to the time auxiliary information;

acquiring accurate signal transmitting time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver;

marking the accurate signal transmission time as a phase search center, and acquiring a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision;

and determining the code phase of the satellite signal according to the code phase search range so as to acquire the satellite signal according to the code phase and the search frequency of the satellite signal.

2. The satellite signal acquisition method of claim 1, wherein the local time precision comprises an auxiliary time precision and a synchronization precision of a local clock.

3. The method of claim 1, wherein the satellite position is an average position of historical satellite positions obtained from pre-stored satellite ephemeris.

4. The method of claim 1, wherein the satellite position is determined according to a coarse signal transmission time of the satellite, which is a difference between a local time and a satellite transmission time, and the satellite orbit information obtained from the RNSS receiver, and wherein the satellite transmission time is determined according to a satellite orbit altitude in the satellite orbit information.

5. The method of any of claims 1-4, wherein before obtaining the precise signal transmission time of the satellite based on the local time, the satellite position of the satellite, and the current position of the RNSS receiver, further comprising:

and acquiring satellite subsatellite points of the satellites according to the satellite positions to use the satellite subsatellite points as the current position of the RNSS receiver.

6. The method of any of claims 1-4, wherein before obtaining the precise signal transmission time of the satellite based on the local time, the satellite position of the satellite, and the current position of the RNSS receiver, further comprising:

the current location of the RNSS receiver is obtained from the RNSS receiver.

7. The method of claim 6, wherein obtaining the current position of the RNSS receiver from the RNSS receiver comprises:

receiving position information and velocity information with a first time stamp from an RNSS receiver;

determining a time interval between the first timestamp and the current time;

and determining the current position of the RNSS receiver according to the time interval, the position information and the speed information.

8. The method of claim 1, wherein the satellite position accuracy is a variance of historical satellite positions from pre-stored satellite ephemeris.

9. The satellite signal acquisition method of claim 1, wherein the RNSS receiver position accuracy is determined based on the range of illumination of the satellites.

10. The method according to claim 1, wherein the search frequency is a frequency determined after a frequency search is performed within a predetermined frequency search range, and the frequency search range is determined according to a predetermined search frequency center and a predetermined search accuracy.

11. The satellite signal acquisition method according to claim 10, wherein the search frequency center is determined based on a current speed of the RNSS receiver acquired from the RNSS receiver and a satellite speed received from the RNSS acquirer;

or the like, or, alternatively,

based on the predetermined speed of the RNSS receiver and the satellite speed received from the RNSS acquisition machine.

12. The satellite signal acquisition method of claim 10, wherein the current velocity is determined based on a time interval between the second time stamp and the current time, the position information, and the velocity information after receiving the position information and the velocity information with the second time stamp from the RNSS receiver.

13. The method of any one of claims 10-12, wherein the search accuracy is determined based on a predetermined satellite velocity accuracy and a predetermined RNSS receiver velocity accuracy.

14. A satellite signal acquisition apparatus, comprising:

an auxiliary information acquisition module, configured to acquire time auxiliary information from a located RNSS receiver, where the time auxiliary information includes pulse per second and auxiliary time precision;

the time synchronization module is used for synchronizing the local time and the local time precision of the local clock according to the time auxiliary information;

the signal emission time acquisition module is used for acquiring the accurate signal emission time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver;

the search range determining module is used for marking the accurate signal transmission time as a phase search center, and acquiring a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision;

and the satellite signal searching module is used for determining the code phase of the satellite signal according to the code phase searching range so as to acquire the satellite signal according to the code phase and the searching frequency of the satellite signal.

15. An RDSS receiver comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the satellite signal acquisition method according to any of claims 1 to 13 when executing the program.

16. A satellite signal acquisition system comprising an RDSS receiver, and an RNSS receiver as claimed in claim 15;

the RDSS receiver is used for sending time auxiliary information to the RNSS receiver after positioning, wherein the time auxiliary information comprises pulse per second and auxiliary time precision.

Technical Field

The present application relates to the field of satellite navigation technologies, and in particular, to a satellite signal capturing method and apparatus, an RDSS receiver, and a satellite signal capturing system.

Background

In the technical field of satellite navigation, because the RDSS integrates positioning, time service and communication, and can construct corresponding application systems according to the requirements of different occasions, the RDSS receiver is usually used for capturing satellite signals.

However, the RDSS spreading code has a higher code rate, which means that more phases need to be searched in unit time, and accordingly more logic resources are needed and more power consumption is consumed, so that the cost for directly capturing the RDSS signal is higher.

Disclosure of Invention

The technical problem to be solved by the embodiments of the present application is to reduce a phase range to be searched when the RDSS receiver performs satellite signal acquisition, and to reduce power consumption when the RDSS receiver performs satellite signal acquisition.

In order to solve the above problem, an embodiment of the present application provides a satellite signal acquisition method applied to an RDSS receiver, including:

acquiring time assistance information from a located RNSS receiver, the time assistance information including pulse per second and assistance time accuracy;

synchronizing the local time and the local time precision of the local clock according to the time auxiliary information;

acquiring accurate signal transmitting time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver;

marking the accurate signal transmission time as a phase search center, and acquiring a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision;

and determining the code phase of the satellite signal according to the code phase search range so as to acquire the satellite signal according to the code phase and the search frequency of the satellite signal.

In a second aspect, there is also provided a satellite signal acquisition apparatus, including:

an auxiliary information acquisition module, configured to acquire time auxiliary information from a located RNSS receiver, where the time auxiliary information includes pulse per second and auxiliary time precision;

the time synchronization module is used for synchronizing the local time and the local time precision of the local clock according to the time auxiliary information;

the signal emission time acquisition module is used for acquiring the accurate signal emission time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver;

the search range determining module is used for marking the accurate signal transmission time as a phase search center, and acquiring a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision;

and the satellite signal searching module is used for determining the code phase of the satellite signal according to the code phase searching range so as to acquire the satellite signal according to the code phase and the searching frequency of the satellite signal.

In a third aspect, there is provided an RDSS receiver, including: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the satellite signal acquisition method as described in the above embodiments.

In a fourth aspect, there is also provided a satellite signal acquisition system comprising an RDSS receiver and an RDSS receiver as described in the above embodiments; the RDSS receiver is used for sending time auxiliary information to the RNSS receiver after positioning, wherein the time auxiliary information comprises pulse per second and auxiliary time precision.

Compared with the prior art, the time auxiliary information is acquired from the RNSS receiver after the RNSS receiver is normally positioned, so that the code phase range needing to be searched by the RDSS is determined according to the time auxiliary information of the RNSS receiver, the phase needing to be searched per unit time when the RDSS carries out satellite signal acquisition is reduced, and power consumption is reduced.

Drawings

FIG. 1 is a diagram of a system architecture of a method for satellite signal acquisition according to one embodiment;

FIG. 2 is a flow diagram illustrating a method for satellite signal acquisition according to one embodiment;

FIG. 3 is a diagram illustrating interaction of an RNSS receiver with an RDSS receiver in one embodiment;

FIG. 4 is a schematic diagram of the interaction of an RNSS receiver and an RDSS receiver in another embodiment;

FIG. 5 is a diagram illustrating interaction between an RNSS receiver and an RDSS receiver in one embodiment;

FIG. 6 is a diagram illustrating interaction of an RNSS receiver with an RDSS receiver in one embodiment;

FIG. 7 is a block diagram of a satellite signal acquisition device according to an embodiment;

fig. 8 is a block diagram of an RDSS receiver in one embodiment.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiments of the present application will be explained in detail below with reference to the drawings, and the satellite signal acquisition method applied in the embodiments of the present application is applied to a system architecture including an RNSS (satellite radio navigation system) receiver 101 and an RDSS (satellite radio positioning system) receiver 102 as shown in fig. 1. The RNSS receiver is communicatively coupled to the RDSS receiver. The RNSS receiver is configured to send time assistance information including pulse-per-second and assistance time accuracy to the RNSS receiver after performing the positioning. The RNSS receiver is used for acquiring time auxiliary information from the RNSS receiver and synchronizing the local time and the local time precision of the local clock according to the time auxiliary information; the accurate signal transmitting time and the satellite signal transmitting time precision of the satellite are obtained according to the local time, the satellite characteristic data of the satellite and the characteristic data of the RNSS receiver, after the code phase searching range of the satellite signal is determined according to the accurate signal transmitting time and the satellite signal transmitting time precision of the satellite, the code phase of the satellite signal is determined according to the code phase searching range, and the satellite signal is captured according to the code phase and the searching frequency of the satellite signal. Among them, the satellite is a GEO (high orbit) satellite.

Because time systems used by the existing navigation system can be mutually converted within a certain time precision, such as tens of nanoseconds, and the possibility that a general navigation receiver assists the RDSS receiver to capture satellite signals exists, the embodiment of the application acquires time auxiliary information from the RNSS receiver after the RNSS receiver is normally positioned, so as to determine the code phase range which needs to be searched by the RDSS according to the time auxiliary information of the RNSS receiver, thereby reducing the phase which needs to be searched per unit time when the RDSS captures the satellite signals, and further reducing power consumption.

Hereinafter, the tag obtaining method of the application provided by the embodiment of the present application will be described and explained in detail through several specific embodiments.

In one embodiment, as shown in fig. 2, a method of satellite signal acquisition is provided. This embodiment is mainly illustrated by applying the method to an RDSS receiver.

Referring to fig. 2, the satellite signal acquisition method specifically includes the following steps:

and S11, acquiring time auxiliary information from the positioned RNSS receiver, wherein the time auxiliary information comprises pulse per second and auxiliary time precision.

In one embodiment, the RNSS receiver may be a navigation receiver or a timing receiver. After the RNSS receiver is positioned normally, the RDSS receiver may be provided with the time assistance information with higher accuracy, as shown in fig. 3. Wherein the temporal side information comprises PPS pulses and side temporal precision. Wherein PPS pulse and ancillary temporal precision are ancillary information that occurs in pairs. The temporal side information includes, in addition to the PPS pulse and the side temporal precision, a timestamp corresponding to the PPS pulse.

And S12, synchronizing the local time and the local time precision of the local clock according to the time auxiliary information.

In one embodiment, the RDSS receiver synchronizes the local time according to the PPS pulse after receiving the time auxiliary information, and forms the local time precision according to the synchronization precision of the auxiliary time precision and the local clock of the RDSS receiver. I.e., the local time precision may be the sum of the secondary time precision and the synchronization precision of the RDSS receiver local clock.

And S13, acquiring the accurate signal emission time of the satellite according to the local time, the satellite position of the satellite and the current position of the RNSS receiver.

In one embodiment, after synchronization of the local time is completed, the local time, the satellite position of the satellite, and the current position of the RNSS receiver are based on a formulaAnd (5) performing operation to obtain the accurate signal transmitting time of the satellite. Wherein the satellite is GEO (high orbit) satellite, T_tPrecise signal transmission time, T, for a satellite_rIs local time, P_sIs the satellite position, P_rFor the current position of the RNSS receiver, c is the speed of light.

In one embodiment, the satellite position is an average position of historical satellite positions obtained from pre-stored satellite ephemeris. Since the GEO satellite is stationary relative to the earth, the RDSS receiver may continuously calculate an average value of a plurality of historical satellite positions, i.e., an average position, after continuously calculating the plurality of historical satellite positions for a period of time, such as a year, by downloading the ephemeris of the GEO satellite offline, and use the average position as the satellite position.

In order to make the satellite positions more accurate, in an embodiment, after a certain historical satellite position is obtained from the ephemeris, the time is used as an argument, and polynomial fitting is performed on the historical satellite position to obtain the satellite positions.

However, the above approach requires a lot of calculations and the satellite positions are still not accurate enough. To this end, in one embodiment, the satellite position may be determined based on a coarse signal transmission time of the satellite, which is a difference between a local time and a satellite transmission time determined based on a satellite orbit altitude in the satellite orbit information, and the satellite orbit information acquired from the RNSS receiver.

To make the position accuracy of the satellites more accurate, since the RNSS receiver has been positioned normally, the RDSS receiver may receive satellite orbit information from the RNSS receiver in addition to the RNSS receiver, as shown in fig. 4. According to the satellite orbit height in the satellite orbit information, the satellite transmission time can be obtained according to the satellite orbit height and the known satellite signal transmission speed. Meanwhile, since the satellite signal needs to travel for a certain time to reach the RDSS receiver, the coarse signal transmission time is the local time minus the satellite transmission time. After the coarse signal transmission time and the satellite orbit information are obtained, the satellite position can be obtained by using the satellite orbit information and the coarse signal transmission time of the satellite.

In one embodiment, after the precise signal emission time is obtained, iteration can be performed by using the precise signal emission time as a rough signal emission time, the satellite transmission time is recalculated, and a new satellite position is obtained. And iterating in the way until the satellite position converges to a certain range or the iteration times reach the preset times, and stopping iterating.

Meanwhile, when calculating the coarse signal transmission time, the time precision of the coarse signal transmission time may also be determined as follows: local time variance + transmission time variance. The transmission time variance may be a preset value estimated according to the state of the receiver, for example, the transmission time variance takes 8 × 8 — 64ms when the receiver is on the earth surface.

By receiving satellite orbit information from the positioned RNSS receiver to determine the satellite position from the satellite orbit information and the local time, the resulting satellite position can be made more accurate while reducing the amount of satellite position calculations.

In one embodiment, the method for determining the current position of the RNSS receiver may include: and acquiring satellite subsatellite points of the satellites according to the satellite positions to use the satellite subsatellite points as the current position of the RNSS receiver.

After the satellite positions of the satellites are obtained, satellite subsatellite points of at least one satellite can be obtained, and the satellite subsatellite points are averaged, so that the average satellite subsatellite point is used as the current position of the RDSS receiver.

In order to make the current position of the RNSS receiver determined by the RDSS receiver more accurate, in an embodiment, the method for determining the current position of the RNSS receiver may further include: the current location of the RNSS receiver is obtained from the RNSS receiver. The resulting satellite positions are made more accurate by receiving their position information as the current position directly from the located RNSS receiver.

However, when the position information of the RNSS receiver is acquired from the RNSS receiver, the satellite orbit information acquired from the RNSS receiver may not be acquired, as shown in fig. 5. Of course, in order to maximize accuracy and calculation efficiency, the position information of the RNSS receiver may be acquired from the RNSS receiver and the satellite orbit information may be acquired from the RNSS receiver. As shown in fig. 6.

To further ensure the accuracy of the obtained current location of the RDSS receiver, considering that the location information received from the RDSS receiver is not necessarily real-time, and may be a period of time ago, in an embodiment, obtaining the current location of the RNSS receiver from the RNSS receiver includes: receiving position information and velocity information with a first time stamp from an RNSS receiver; determining a time interval between the first timestamp and the current time; and determining the current position of the RNSS receiver according to the time interval, the position information and the speed information.

When the RNSS receiver generates the position information and the velocity information, it forms a time stamp indicating a set of the position information and the velocity information based on the generation time of the position information and the velocity information. When the RDSS receiver receives the position information and the speed information with the time stamp from the RNSS receiver, the RDSS receiver can predict the operation distance of the RNSS receiver in the time interval according to the time interval and the speed information of the time stamp and the current time, and then the current position of the RNSS receiver can be predicted by combining the operation distance with the position information.

And S14, marking the accurate signal transmission time as a phase search center, and acquiring the code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision and the preset RNSS receiver position precision.

In one embodiment, the satellite position accuracy is a variance of historical satellite positions recorded in pre-stored satellite ephemeris.

Since GEO satellites are stationary relative to the earth, the RDSS can continuously calculate satellite positions for a period of time, such as a year, and calculate the variance thereof based on satellite ephemeris downloaded offline, so that satellite position accuracy can be obtained.

In one embodiment, the RNSS receiver position accuracy is determined based on the range of illumination of the satellites. Since each satellite signal has an illumination range on the earth's surface at any time, an illumination range with an elevation angle greater than a threshold (e.g., 5 degrees) may be taken as the position accuracy of the RNSS receiver. If there are multiple satellites, the intersection of the irradiation ranges is taken. These intersections form a surface on the earth's surface whose extent is the RNSS receiver position accuracy.

After the preset satellite position precision and the preset RNSS receiver position precision are obtained, the local time precision, the preset satellite position precision and the preset RNSS receiver position precision can be calculated based on an error propagation theorem, and after the satellite signal transmission time precision is determined, the satellite signal transmission time precision can be amplified according to a preset amplification factor, for example, after the satellite signal transmission time precision is three times of the square, the code phase searching range of the satellite signal can be determined according to a phase searching center and the amplified satellite signal transmission time precision.

And S15, determining the code phase of the satellite signal according to the code phase searching range so as to acquire the satellite signal according to the code phase and the searching frequency of the satellite signal.

In one embodiment, after the code phase search range is obtained, the code phase search may be performed within the code phase search range, and the satellite signal may be acquired according to the searched code phase and the search frequency of the satellite signal.

The time auxiliary information is acquired from the RNSS receiver after the RNSS receiver is normally positioned, so that the code phase range needing to be searched by the RDSS is determined according to the time auxiliary information of the RNSS receiver, the phase needing to be searched per unit time when the RDSS receiver carries out satellite signal acquisition is reduced, and the power consumption is reduced.

To enable the RDSS receiver to acquire the satellite signal more quickly, in one embodiment, determining a code phase of the satellite signal according to a code phase search range to acquire the satellite signal according to the code phase and a search frequency of the satellite signal includes: and capturing the satellite signals according to the code phase search range and the estimated frequency search range, wherein the frequency search range is determined according to a preset search frequency center and preset search precision.

In one embodiment, the search frequency center may be obtained by continuously calculating satellite velocity for a period of time according to a pre-stored satellite ephemeris and then obtaining an average value of the satellite velocity and a preset current velocity of the RNSS receiver. The preset current speed of the RNSS receiver may be preset according to a terminal mounted on the RNSS receiver, for example, if the RNSS receiver is mounted on a vehicle-mounted terminal, the speed is unlikely to exceed 150 KM/Hour. After the RNSS receiver acquires the satellite velocity and the current velocity of the RNSS receiver, based on the formulaCalculating to obtain the search frequency center f_srch. Wherein, V_rFor the current speed, V, of the RNSS receiver_sIs the satellite velocity, λ_cIs a wavelength f₀Is the center frequency of the local clock.

To make the acquired satellite velocity and the current velocity of the RNSS receiver more accurate, in one embodiment, the search frequency center may also be determined based on a predetermined velocity of the RNSS receiver and the velocity of the satellite received from the RNSS acquisition machine.

To further improve the accuracy of the acquired satellite velocity and the current velocity of the RNSS receiver, in one embodiment, the search frequency center may also be determined based on the current velocity of the RNSS receiver acquired from the RNSS receiver and the satellite velocity received from the RNSS acquirer.

By receiving the speed information of the RNSS receiver from the positioned RNSS receiver as the current speed of the RNSS receiver and the satellite speed from the positioned RNSS receiver, the accuracy and efficiency of the acquired satellite speed and the current speed of the RNSS receiver are improved, and the RDSS receiver can acquire satellite signals more quickly.

To further ensure the accuracy of the obtained current speed of the RDSS receiver, considering that the speed information received from the RDSS receiver is not necessarily real-time, and may be a period of time ago, in an embodiment, obtaining the current speed of the RNSS receiver from the RNSS receiver includes: receiving position information and velocity information with a second time stamp from the RNSS receiver; determining a time interval between the second timestamp and the current time; and determining the current speed of the RNSS receiver according to the time interval, the position information and the speed information. The second timestamp may be the same timestamp as the first timestamp.

When the RNSS receiver generates the position information and the velocity information, it forms a time stamp indicating a set of the position information and the velocity information based on the generation time of the position information and the velocity information. When the RDSS receiver receives the position information and the speed information with the time stamp from the RNSS receiver, the RDSS receiver can predict the operation distance of the RNSS receiver in the time interval according to the time interval and the speed information between the time stamp and the current time, and then predict the current speed of the RNSS receiver by combining the operation distance with the speed information.

In one embodiment, the search accuracy may be determined based on a predetermined satellite velocity accuracy and a predetermined RNSS receiver velocity accuracy. The satellite velocity accuracy may be calculated continuously according to ephemeris of the satellite for a period of time, for example, after a plurality of historical satellite velocities within one year, the contrast is calculated, and the preset satellite velocity accuracy may be obtained. The RNSS receiver speed accuracy can be preset according to the error propagation theorem or according to actual conditions.

In one embodiment, as shown in fig. 7, there is provided a satellite signal acquisition apparatus including:

an assistance information obtaining module 101, configured to obtain time assistance information from the located RNSS receiver, where the time assistance information includes pulse per second and assistance time precision.

And the time synchronization module 102 is configured to synchronize the local time and the local time precision of the local clock according to the time auxiliary information.

And a signal emission time acquisition module 103, configured to acquire accurate signal emission time of the satellite according to the local time, the satellite position of the satellite, and the current position of the RNSS receiver.

And a search range determining module 104, configured to mark the accurate signal transmission time as a phase search center, and obtain a code phase search range of the satellite signal according to the phase search center and the satellite signal transmission time precision determined by the local time precision, the preset satellite position precision, and the preset RNSS receiver position precision.

And the satellite signal searching module 105 is configured to determine a code phase of the satellite signal according to the code phase searching range, so as to acquire the satellite signal according to the code phase and the searching frequency of the satellite signal.

In an embodiment, the local time precision consists of a secondary time precision and a synchronization precision of the local clock.

In one embodiment, the satellite position is an average position of historical satellite positions obtained from pre-stored satellite ephemeris.

In one embodiment, the satellite position is determined according to a coarse signal transmission time of a satellite, which is a difference between a local time and a satellite transmission time, and satellite orbit information acquired from the RNSS receiver, and the satellite transmission time is determined according to a satellite orbit altitude in the satellite orbit information.

In an embodiment, the signal emission time obtaining module 103 is further configured to: and acquiring satellite subsatellite points of the satellites according to the satellite positions to use the satellite subsatellite points as the current position of the RNSS receiver.

In an embodiment, the signal emission time obtaining module 103 is further configured to: the current location of the RNSS receiver is obtained from the RNSS receiver.

In an embodiment, the signal emission time obtaining module 103 is further configured to: receiving position information and velocity information with a first time stamp from an RNSS receiver; determining a time interval between the first timestamp and the current time; and determining the current position of the RNSS receiver according to the time interval, the position information and the speed information.

In one embodiment, the satellite position accuracy is a variance of historical satellite positions obtained from a pre-stored satellite ephemeris.

In one embodiment, the RNSS receiver position accuracy is determined based on the range of illumination of the satellites.

In one embodiment, the satellite signal search module 105 is further configured to: and capturing the satellite signals according to the code phase search range and the estimated frequency search range, wherein the frequency search range is determined according to a preset search frequency center and preset search precision.

In one embodiment, the search frequency center is determined according to the current speed of the RNSS receiver acquired from the RNSS receiver and the satellite speed received from the RNSS acquirer; or, from a preset speed of the RNSS receiver and the satellite speed received from the RNSS acquisition machine.

In one embodiment, the current velocity is determined based on the time interval between the second timestamp and the current time, the location information, and the velocity information after receiving the location information and the velocity information with the second timestamp from the RNSS receiver.

In one embodiment, the search accuracy is determined based on a predetermined satellite velocity accuracy and a predetermined RNSS receiver velocity accuracy.

In one embodiment, an RDSS receiver is provided, as shown in fig. 8, that includes a processor, memory, and a transceiver connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the RDSS receiver stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement the satellite signal acquisition method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a method of satellite signal acquisition. Those skilled in the art will appreciate that the architecture shown in fig. 8 is a block diagram of only a portion of the architecture associated with the subject application and does not constitute a limitation on the RDSS receiver to which the subject application applies, and that a particular RDSS receiver may include more or fewer components than shown, or combine certain components, or have a different arrangement of components.

The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.

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 related to information through a computer program, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.