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Real-environment navigation multipath real-time simulation method, 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, achieve the effect of improving update rate and real-time performance, and reducing the amount of calculation

Active Publication Date: 2021-01-22
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, device, medium and electronic equipment
  • Real-environment navigation multipath real-time simulation method, device, medium and electronic equipment
  • Real-environment navigation multipath real-time simulation method, device, medium and electronic equipment

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[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 multi-path real-time simulation method, device, medium and electronic equipment. The method includes: updating the real-time scene according to the real-time dynamic parameters of the receiver carrier, the receiver antenna and visible satellites; calculating the satellite signal The direct path and diffraction multipath path set DiffractPaths reaching the receiver antenna; use the test ray set RAY to obtain all reflection / transmission multipath path sets MultiPaths at one time; calculate the power attenuation, time delay, Doppler data; generate analog navigation signals according to the power attenuation, time delay, and Doppler data to perform multipath real-time simulation; repeat the aforementioned steps according to the set update cycle until the simulation ends. The invention improves the update rate and real-time performance when performing navigation multipath simulation in complex 3D scenes.

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 Patents(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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