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Real environment navigation multipath real-time simulation method and device, medium and electronic equipment

A real environment, real-time simulation technology, applied in the field of satellite navigation simulators, can solve problems affecting high update rate and real-time performance, and achieve the effect of improving update rate and real-time performance and reducing the amount of calculation.

Active Publication Date: 2020-12-11
HUNAN SATELLITE NAVIGATION INFORMATION TECH CO LTD
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Problems solved by technology

[0009] On the one hand, the present invention provides a real-time simulation method for navigation multipath in a real environment, to solve the problem that the existing navigation multipath simulation method in a complex 3D scene with multiple receivers and multiple navigation satellites affects the high update due to the huge amount of calculation. Technical issues of rate and real-time

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  • Real environment navigation multipath real-time simulation method and device, medium and electronic equipment
  • Real environment navigation multipath real-time simulation method and device, medium and electronic equipment

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Embodiment Construction

[0080] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0081] refer to figure 1 , the preferred embodiment of the present invention provides a kind of real-environment navigation multipath real-time simulation method, comprising steps:

[0082] S1. According to the real-time dynamic parameters of the simulated receiver carrier, receiver antenna, and all visible satellites at the current simulation moment, update the 3D simulation scene in the real environment in real time;

[0083] S2. Calculate the direct path and each diffraction path of the satellite signal to the receiver antenna, and obtain the diffraction multipath path set DiffractPaths;

[0084] S3. Use the preset test ray set RAY to perform ray tracing, and obtain the reflection / transmiss...

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Abstract

The invention discloses a real environment navigation multipath real-time simulation method, a real environment navigation multipath real-time simulation device, a medium and electronic equipment. Themethod comprises the following steps: updating a real-time scene according to real-time dynamic parameters of a receiver carrier, a receiver antenna and a visible satellite; calculating a direct pathand a diffraction multipath path set DiffractPaths of the satellite signal to the receiver antenna; utilizing a test ray set RAY to obtain all reflection / transmission multipath path sets MultiPattersat one time; calculating power attenuation, time delay and Doppler data according to the set MultiPaths, the set DiffractPaths, the direct path coordinates and the like; generating an analog navigation signal according to the power attenuation, time delay and Doppler data to perform multipath real-time simulation; and repeatedly executing the steps according to a set updating period until the simulation is finished. According to the invention, the updating rate and the real-time performance during navigation multipath simulation in a complex 3D scene are improved.

Description

technical field [0001] The invention relates to the technical field of satellite navigation simulators, in particular to a real-environment navigation multipath real-time simulation method, device, medium and electronic equipment. Background technique [0002] Satellite navigation and positioning technology has been widely used in many fields, but the error caused by the multipath effect affects its positioning accuracy, which is one of the important error sources of the satellite navigation system. The error can reach the order of several meters or even tens of meters. Multipath modeling and multipath elimination technology has always been a research hotspot in the field of satellite navigation. [0003] Existing multipath modeling methods are mainly divided into modeling methods based on statistical models and modeling methods based on deterministic models. Among them, modeling methods based on statistical models have poor applicability and low prediction accuracy, while m...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06F30/23
CPCG06T17/05G06F30/23
Inventor 张勇虎张静徐菲潘小海伍俊刘思慧
Owner HUNAN SATELLITE NAVIGATION INFORMATION TECH CO LTD
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