WO2021223107A1

WO2021223107A1 - Signal processing method, electronic device and computer-readable storage medium

Info

Publication number: WO2021223107A1
Application number: PCT/CN2020/088798
Authority: WO
Inventors: 解德鹏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-06
Filing date: 2020-05-06
Publication date: 2021-11-11

Abstract

Disclosed in the present disclosure are a signal processing method, an electronic device, and a computer-readable storage medium. The signal processing method is applied to an electronic device, and comprises: by means of a receiving module of the electronic device, acquiring a plurality of satellite signals transmitted by a plurality of satellites; determining whether there is at least one target satellite signal from among the plurality of acquired satellite signals by means of a processing module of the electronic device, wherein the at least one target satellite signal is a satellite signal transmitted by one of the plurality of satellites and propagated to the receiving module through a single path; and determining a positioning mode with regard to the electronic device according to the number of the at least one target satellite signal. The signal processing method, electronic device, and computer-readable storage medium disclosed in the present application may improve positioning accuracy when a mobile device uses satellite signals for positioning.

Description

Signal processing method, electronic device and computer readable storage medium

Technical field

This application relates to the field of signal processing technology, and in particular to a signal processing method, an electronic device, and a computer-readable storage medium.

Background technique

The satellite positioning system is a technology that accurately locates something through satellites. This technology is widely used in mobile devices that require positioning, such as drones and mobile phones. However, when the mobile device moves to an environment with obstructions, due to the multipath effect, part of the satellite signal received by the mobile device will be distorted. If the distorted satellite signal is used for positioning, the result will be inaccurate. s position.

Summary of the invention

In view of this, this application provides a signal processing method, electronic device, and computer-readable storage medium to solve the technology that when mobile devices use satellite signals for positioning, some satellite signals are distorted due to multipath effects and the positioning results are inaccurate. problem.

The first aspect of the present application provides a signal processing method applied to an electronic device, including:

Acquiring multiple satellite signals transmitted by multiple satellites through the receiving module of the electronic device;

The processing module of the electronic device determines whether there is at least one target satellite signal from the acquired multiple satellite signals, wherein the at least one target satellite signal is transmitted by one of the multiple satellites and passes through a single path The satellite signal propagated to the receiving module;

According to the number of the at least one target satellite signal, a positioning method for the electronic device is determined.

A second aspect of the present application provides an electronic device, including:

The receiving module is used to obtain multiple satellite signals transmitted by multiple satellites;

The processing module is configured to determine whether there is at least one target satellite signal from the plurality of satellite signals acquired by the receiving module, wherein the at least one target satellite signal is transmitted by one of the plurality of satellites and passed through a single Satellite signals propagated to the receiving module through the path; and determining the positioning mode of the electronic device according to the number of the at least one target satellite signal.

A third aspect of the present application provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, any one of the signal processing methods provided in the above-mentioned first aspect is implemented .

The signal processing method provided by the embodiments of the application can determine the target satellite signal among the acquired multiple satellite signals. The target satellite signal is the satellite signal that travels from the satellite to the electronic device through a single path, that is, it is not subject to multipath. Interfering satellite signals, therefore, the specific positioning method can be determined according to the number of target satellite signals, instead of directly using all received satellite signals (including satellite signals distorted due to multipath interference) for positioning without distinction. Can improve the accuracy of positioning.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic diagram of a drone flying scene provided by an embodiment of the present application.

Fig. 2 is a flowchart of a signal processing method provided by an embodiment of the present application.

Fig. 3 is a schematic diagram of a principle of determining a target satellite provided by an embodiment of the present application.

Fig. 4 is a schematic diagram of a principle of determining a field of view provided by an embodiment of the present application.

FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Satellite positioning technology has applications in a variety of devices and devices. For example, various vehicles, mobile phones, drones, tablets, and even smart TVs and cameras can be equipped with corresponding satellite positioning modules to achieve satellite positioning functions. However, satellite positioning technology has its limitations. The following is an example of an unmanned aerial vehicle.

In a relatively open and unobstructed environment, the UAV can directly receive satellite signals transmitted by at least four satellites. These satellite signals are not reflected by obstructions when they are transmitted from the satellite to the UAV. , Scattering or refraction, so there is no delay in reaching the UAV. Using these satellite signals for positioning can accurately locate the absolute position of the UAV.

But when the drone flies into some obstructed environments, such as between tall buildings, the bottom of a bridge, or between hillsides, the received satellite signals are likely to be interfered by multipath. Refer to FIG. 1, which is a schematic diagram of a drone flying scene provided by an embodiment of the present application. In the example in Figure 1, the drone 105 flies between two buildings from an open environment. In an open environment, the drone 105 can receive the first satellite 101 and the second satellite directly and unobstructed. 102. The satellite signals transmitted by the third satellite 103 and the fourth satellite 104, but between the two buildings, the satellite signals transmitted by the first satellite 101 and the fourth satellite 104 are blocked by the building, and the satellite signal is actually After being reflected by the building, the UAV 105 reaches the UAV 105, that is, the satellite signals transmitted by the first satellite 101 and the fourth satellite 104 are subjected to multipath interference, and the satellite signals will be fading and delayed. Therefore, if the satellite signals emitted by the first satellite 101 and the fourth satellite 104 are used for GPS positioning, the location of the drone will be inaccurate, and there will be a jump in the position of the drone at the front and rear moments. In order to return to its original position, the man-machine will adjust the posture incorrectly and fly the wrong way. The risk of bombing the aircraft is extremely high.

To solve the above-mentioned problem, an embodiment of the present application provides a signal processing method, which is applied to an electronic device. Refer to FIG. 2, which is a flowchart of a signal processing method provided by an embodiment of the present application. The method includes:

S201. Acquire multiple satellite signals transmitted by multiple satellites.

S202: Determine whether there is at least one target satellite signal from the acquired multiple satellite signals.

S203: Determine the positioning mode of the electronic device according to the number of target satellite signals.

It should be noted that the electronic device can be a variety of electronic items with satellite positioning functions, such as drones, mobile phones, smart watches and other electronic equipment, or cars, airplanes and other vehicles used for satellite positioning. Device, module or system, etc. The electronic device may include a receiving module and a processing module. Among them, the receiving module can be used to perform S201, that is, multiple satellite signals transmitted by multiple satellites can be acquired through the receiving module. The processing module can be used to execute S202 and S203.

Among them, the target satellite signal is a satellite signal transmitted by one of a plurality of satellites and propagated to the receiving module of the electronic device through a single path. In other words, the target satellite signal is a satellite signal that is not subject to multipath interference. The so-called multipath interference satellite signal is the satellite signal that is transmitted from the satellite and does not directly reach the receiving end. Instead, it is received by the receiving end after reflection, scattering, and refraction by objects such as walls and water surfaces. It can be seen that these After the satellite signal is transmitted from the satellite, it travels through multiple paths before reaching the receiving end. The target satellite signal is a satellite signal that can be directly received by the receiving end through a single path after being transmitted from the satellite.

When determining the target satellite signal, there can be multiple alternative implementations. In one implementation, the actual arrival time of the received satellite signal can be analyzed to determine whether it is subject to multipath interference. Since the actual position of the satellite can be determined by querying the ephemeris of the satellite, and the position of the receiving end can also be determined by prediction or directly using the historical position closest to the current moment, the predicted arrival time of the satellite signal corresponding to the satellite can be calculated. If the difference between the actual arrival time and the predicted arrival time exceeds the preset time range, it can be considered that the satellite signal is subjected to multipath interference.

In another implementation, since multipath interference will cause satellite signal fading, the fading degree of the satellite signal can also be detected. If the fading degree is greater than the preset fading degree, it can be determined that the satellite signal is subject to multipath interference.

The embodiment of the present application also provides another optional implementation manner. When determining the target satellite signal, the satellite signal itself may not be analyzed, but the target satellite signal may be determined from the satellite corresponding to the satellite signal. Specifically, it can include the following steps:

Determine the field of view corresponding to the observable sky through the camera of the electronic device;

Determine the target satellite according to the position information of the electronic device and the determined field of view;

The satellite signal corresponding to the determined target satellite is determined as the target satellite signal.

In the foregoing embodiment of determining the target satellite signal, the target satellite is a satellite that has no obstructions in a straight line distance from the electronic device. When the target satellite is specifically determined, the satellite cannot be directly observed on the surface of the earth through vision. Therefore, it is possible to indirectly determine whether the satellite is the target satellite by observing the sky. For example, you can refer to Figure 3, which is a schematic diagram of the principle of determining the target satellite provided by the embodiment of the present application. When observing from the upper perspective, if a part of the sky can be observed, then the corresponding space behind the part of the sky There are no obstructions between the satellites in and the electronic device, so these satellites can be identified as target satellites.

When specifically determining the field of view corresponding to the sky, there may be multiple implementation manners. In an optional implementation, the electronic device can be equipped with a radar, and the electronic device transmits radio to the surroundings through the radar and receives the returned echoes, so that the information of the surrounding environment can be obtained and the field of view corresponding to the sky can be detected.

In another optional implementation, the electronic device may be equipped with a camera, through which the sky can be photographed. The captured image may be referred to as a first image, in which the image area corresponding to the sky is determined. According to the image area corresponding to the sky, the actual field of view corresponding to the sky area can be determined.

It should be noted that, in an implementation, there may be multiple first images. Specifically, the electronic device may use a camera to photograph the sky in various directions to obtain multiple first images. After that, the sky area may be determined separately for each first image, or the sky area of the spliced image may be determined after a plurality of first images are spliced. In another implementation, the first image may be an image corresponding to the upper viewing angle. Correspondingly, the lens direction of the camera of the electronic device may also correspond to the upper viewing angle, for example, it may face the sky vertically and horizontally.

If the electronic device is an electronic device that may tilt the body like a drone, when a camera for shooting the sky is configured on it, a corresponding pan/tilt can be matched. Under the control of the PTZ, the camera can maintain its lens direction to the sky in various postures of the electronic device.

In the choice of camera, in order to be able to capture more of the sky, the camera can be a fisheye camera, and in order to be able to capture the sky at night, the camera can also be an infrared camera. Of course, there can also be multiple cameras for shooting the sky, such as a combination of a fisheye camera and an infrared camera.

When determining the sky area from the first image, there may also be multiple implementation manners. For example, in an implementation, based on the fact that the brightness of the pixels in the sky area is usually higher than that of other pixels, and the sky area is usually smoother, perform an image gradient scan on the first image. By continuously adjusting the gradient threshold, the sky can be determined. Multiple possible boundaries of the area, and then the optimal boundary is determined by calculating the energy function of the boundary, thereby determining the sky area.

In another implementation, the first image can be recognized by an algorithm, so as to determine the sky area. There are many optional recognition algorithms, such as neural network algorithms. When using neural network algorithms for image recognition, a neural network model for marking the sky area in the image can be pre-trained. The training process can include the following steps:

Acquire multiple sample images; mark the sky area for each sample image to obtain the labeled sample image corresponding to each sample image; create the sample image and the labeled sample image according to each sample image and the labeled sample image corresponding to each sample image The training set of sample images; according to the training set, the original neural network model is trained to obtain the target neural network model.

The target neural network model can be a convolutional neural network model CNN. In specific applications, the first image can be input to the target neural network model, and the target neural network model can output a marked first image with a marked sky area through calculations .

After the sky area is determined from the first image, the field of view actually corresponding to the sky area can be further determined. When determining the field of view corresponding to the sky area, there are also many alternative implementations. In an optional implementation manner, the boundary of the sky area in the first image may be determined, and the line of sight direction corresponding to the boundary of the sky area may be calculated based on the determined boundary and the image distance of the camera when the first image was taken. In this way, the field of view corresponding to the sky area is determined.

Refer to FIG. 4, which is a schematic diagram of a principle of determining a field of view range provided by an embodiment of the present application. In the example in Figure 4, the first image is surrounded by buildings on both sides, and the middle part is the sky area. According to the camera imaging principle, the width W of the sky area can be calculated using the boundary of the sky area, and the width W and the camera’s The image distance v (the length of the dashed line in Figure 4), based on the trigonometric function, can calculate the direction of the line of sight corresponding to the boundary of the sky area. Specifically, in Fig. 4, since the first image is symmetrical on both sides, tan θ can be calculated by W/2÷v, so as to determine the line of sight direction corresponding to the boundary of the sky area. The direction of the line of sight can be expressed by the height angle, which is the angle between the line of sight and the horizontal plane. If the calculated θ=30°, then the line of sight direction corresponding to the left boundary of the sky area can be 60 degrees, and the line of sight direction of the right boundary can be 120 degrees, and the field of view corresponding to the sky area is the altitude range, which is 60 degrees. ~120 degrees.

In another optional implementation manner, the line of sight direction corresponding to each pixel position in the image can be calibrated in advance to obtain the mapping relationship between the pixel position and the line of sight direction, and then the mapping relationship can be used to determine the line of sight corresponding to each boundary of the sky area. The direction of the line of sight, so as to determine the field of view corresponding to the sky area. Specifically, when calibrating the direction of the line of sight, you can first take a second image from the upper viewing angle through the camera, and for each pixel of the second image, find out the actual position corresponding to the pixel in reality, and calculate the actual position Relative to the line of sight direction of the camera, the calculated line of sight direction can form a mapping relationship with the position of the pixel in the image.

For ease of understanding, let’s take an example. For example, if the captured second image contains a building, if a pixel in the second image needs to be calibrated, and the pixel corresponds to a window on the building, you can first determine The position (x, y) of the pixel in the image, and then find the window from the real building, and determine the direction of the window relative to the current camera's line of sight in reality, for example, 75 degrees, then you can position the pixel (x, y) is associated with the line of sight direction of 75 degrees, forming a mapping relationship.

After determining the sky area of the first image, the position of each boundary of the sky area in the image can be known, and then according to the above-mentioned mapping relationship between the pixel position and the line of sight direction, the line of sight direction corresponding to each boundary of the sky area can be determined. Then determine the actual field of view corresponding to the sky area.

After the actual field of view corresponding to the sky area is determined, the space corresponding to the field of view can be determined according to the field of view and the position information of the electronic device, and the satellites falling into the space can be determined as target satellites. For the location information of the electronic device, in one implementation, the historical location information within a preset period of time from the current time can be used. Of course, the time corresponding to the historical location information can be as close as possible to the current time to make the used location The deviation from the actual position is smaller.

The reason why historical position information can be used is that when determining the space corresponding to the field of view, the position corresponding to the space is mainly affected by the field of view (that is, the angular range corresponding to the direction of the line of sight), and even if there is some deviation in the position of the electronic device, It also has little effect on the determination of the space, and the same target satellite can still be determined, so the position of the electronic device does not need to be too accurate.

After the target satellite signal is determined, the specific positioning method can be determined according to the number of target satellite signals. Since GPS positioning requires the receiving module of the electronic device to receive at least four satellite signals transmitted by different satellites, if the number of determined target satellite signals is less than four, GPS positioning cannot be used directly.

In one implementation, the satellite signal to be corrected other than the target satellite signal can be corrected, and the corrected satellite signal and target satellite signal after the correction can be used for GPS positioning. There are many feasible implementations for correcting the satellite signal to be corrected. For example, for the satellite corresponding to the satellite signal to be corrected, the satellite signal of the satellite received at the historical moment can be obtained. The satellite signal of the satellite at the historical moment obtained may be free of multipath interference, so it can be used as a reference signal for Guide the correction of the satellite signal to be corrected.

For another example, for each satellite signal to be corrected, the amplitude and phase of the satellite signal to be corrected can be corrected according to the difference between the actual arrival time and the predicted arrival time of the satellite signal to be corrected. Since the satellite signal will be delayed in the arrival time after being interfered by multipath, the amount of correction for the satellite signal can be determined according to the amount of delay. The delay time can be calculated by the difference between the actual arrival time and the predicted arrival time.

Wherein, the predicted arrival time of the satellite signal to be corrected can be calculated from the linear distance between the satellite corresponding to the satellite signal to be corrected and the electronic device. Specifically, the actual position of the satellite corresponding to the satellite signal to be corrected can be queried according to the ephemeris of the satellite corresponding to the satellite signal to be corrected. Then, the actual location of the electronic device can be determined. The actual position of the electronic device can be calculated by means other than GPS, such as visual positioning technology, or positioning by other sensors (this part of the content will be further explained later). According to the actual position of the satellite corresponding to the satellite signal to be corrected and the position information of the electronic device, the linear distance between the two is calculated, and the calculated linear distance is divided by the speed of light to obtain the predicted arrival time of the satellite signal to be corrected.

In another implementation, the satellite signals to be corrected other than the target satellite signals can be discarded. At this time, since there are less than 4 satellite signals available for GPS positioning, other methods can be used for positioning, such as through sensors. position.

A variety of sensors can be provided on the electronic device, for example, it can include one or more of the following: a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF. Through the data collected by these sensors, the relative position of the electronic device can be calculated, that is, the position of the electronic device relative to the initial position, and the absolute position of the electronic device can be calculated or estimated from the relative position and the initial position of the electronic device. The initial position is the absolute position of the electronic device at a historical moment. For example, the initial position may be the absolute position obtained through GPS positioning before the occurrence of occlusion or multipath interference of the satellite signal.

In an implementation, the electronic device may include a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF. Among them, the compass sensor can be used to determine the heading. During specific positioning, the first relative position of the electronic device can be calculated according to the image information collected by the vision sensor, the posture information determined by the IMU, and the flight time determined by the TOF. The second relative position of the electronic device can also be calculated according to the acceleration determined by the accelerometer and the initial speed of the electronic device. According to the different environments in which the electronic device is located, weighting coefficients suitable for the environment can be determined for the first relative position and the second relative position, and the determined weighting coefficients can be used to weight the first relative position and the second relative position, thereby An accurate third relative position of the electronic device can be obtained. Wherein, the third relative position can keep the drone in a stable attitude. Further, the absolute position of the electronic device at the current moment can be calculated based on the third relative position and the initial position. In an implementation, the absolute position of the drone at the current moment can be calculated by combining the third relative position and the accurate absolute position located before the occlusion or multipath interference occurs.

After determining the target satellite signal, if the number of target satellite signals is greater than or equal to 4, GPS positioning can be directly performed based on the target satellite signal, and other satellite signals other than the target satellite signal can be discarded. For the discarding process, specifically, the other satellite signals can be filtered through a band-pass finite impulse response filter and an adaptive filter.

Further, in order to determine whether the GPS positioning is accurate, after the GPS positioning is performed according to the target satellite signal, the position of the electronic device determined by the visual positioning algorithm can be used as the reference position, and the position obtained by the GPS positioning can be verified by using the reference position. .

It should be noted that the GPS positioning described in this application includes various technologies for positioning using satellite signals, such as RTK positioning (real-time dynamic carrier phase difference technology), AGPS positioning (assisted global satellite positioning system), etc., because these technologies are all Based on the use of satellite signals, they all belong to the GPS positioning described in this application.

The foregoing is a detailed description of the signal processing method provided by the embodiment of the present application. The signal processing method provided by the embodiments of the application can determine the target satellite signal among the acquired multiple satellite signals. The target satellite signal is the satellite signal that travels from the satellite to the electronic device through a single path, that is, it is not subject to multipath. Interfering satellite signals, therefore, the specific positioning method can be determined according to the number of target satellite signals, instead of directly using all received satellite signals (including satellite signals distorted due to multipath interference) for positioning without distinction. Can improve the accuracy of positioning. Among them, when determining the target satellite signal, the embodiment of the application uses the sky recognition technology to determine the target satellite that is unobstructed in a straight line with the electronic device, so that the target satellite signal can be accurately determined, and the use of GPS positioning is avoided. The satellite signal of multipath interference ensures the accuracy of GPS positioning.

Please refer to FIG. 5 below. FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The device includes a receiving module 501 and a processing module 502.

The receiving module 501 is used to obtain multiple satellite signals transmitted by multiple satellites;

The processing module 502 is configured to determine whether there is at least one target satellite signal from the plurality of satellite signals acquired by the receiving module 501, wherein the at least one target satellite signal is transmitted and combined by one of the plurality of satellites. The satellite signal propagated to the receiving module through a single path; and the positioning mode of the electronic device is determined according to the number of the at least one target satellite signal.

Optionally, it also includes:

Camera, used to capture images;

The processing module is also used to determine the field of view corresponding to the sky observable by the camera; determine a target satellite according to the position information of the electronic device and the field of view; Determined as the target satellite signal.

Optionally, the processing module is further configured to obtain a first image taken by the camera; determine a sky area in the first image; and determine a field of view actually corresponding to the sky area.

Optionally, the lens direction of the camera corresponds to an upper viewing angle, and the first image is an image corresponding to the upper viewing angle.

Optionally, the sky area is identified and determined on the first image.

Optionally, the processing module is further configured to input the first image into a pre-trained target neural network model to obtain a marked first image with a sky region output by the target neural network model;

Wherein, the target neural network model is obtained in the following way:

Obtain multiple sample images; mark the sky area for each sample image to obtain the labeled sample image corresponding to each of the sample images; according to each of the sample images and the labeled sample images corresponding to each of the sample images, A training set of sample images and labeled sample images is established; the original neural network model is trained according to the training set to obtain the target neural network model.

Optionally, the processing module is further configured to determine the boundary of the sky area in the first image; according to the image distance of the camera when the first image is taken and the width of the sky area, Determine the line of sight direction corresponding to the boundary of the sky area; and determine the field of view range corresponding to the sky area according to the line of sight direction.

Optionally, the processing module is further configured to determine the boundary of the sky area in the first image; according to the position of the pixel corresponding to the boundary of the sky area in the first image and the pixel position The mapping relationship with the line of sight direction determines the line of sight direction corresponding to the boundary of the sky area; and according to the line of sight direction, the field of view corresponding to the sky area is determined.

Optionally, the mapping relationship is determined in the following manner:

Acquire a second image captured by the camera; determine the line of sight direction corresponding to the position of each pixel of the second image according to the field angle of the camera, and obtain the mapping relationship between the pixel position and the line of sight direction.

Optionally, the location information of the electronic device is historical location information within a preset time period from the current moment.

Optionally, the field of view is an altitude range.

Optionally, the camera includes one or more of the following: a fisheye camera and an infrared camera.

Optionally, the processing module is further configured to: if the number of the target satellite signals is less than a preset value, correct the satellite signals to be corrected other than the target satellite signals to obtain the corrected satellite signals; Correct the satellite signal and the target satellite signal for GPS positioning.

Optionally, the processing module is further configured to, for each satellite signal to be corrected, determine the amplitude of the satellite signal to be corrected according to the difference between the actual arrival time of the satellite signal to be corrected and the predicted arrival time. Value and phase are corrected.

Optionally, the predicted arrival time is determined in the following manner:

Determine the actual position of the satellite corresponding to the satellite signal to be corrected according to the ephemeris of the satellite corresponding to the satellite signal to be corrected; calculate the actual position of the satellite corresponding to the satellite signal to be corrected and the position information of the electronic device The predicted arrival time of the satellite signal to be modified.

Optionally, the processing module is further configured to, if the number of the target satellite signals is less than a preset value, discard satellite signals other than the target satellite signals, and perform positioning through sensors.

Optionally, the sensor includes one or more of the following: a vision sensor, an inertial measurement unit IMU, an accelerometer, a compass sensor, and a time-of-flight sensor TOF.

Optionally, the processing module is further configured to calculate the first relative position of the electronic device according to the image information collected by the vision sensor, the posture information determined by the IMU, and the flight time determined by the TOF; The acceleration determined by the accelerometer and the initial speed of the electronic device are calculated to calculate the second relative position of the electronic device; the first relative position and the second relative position are weighted to obtain the A third relative position; the absolute position of the electronic device at the current moment is calculated according to the third relative position and the initial position of the electronic device; wherein the initial position includes the absolute position determined by GPS positioning at historical moments.

Optionally, the processing module is further configured to, if the number of the target satellite signals is greater than or equal to a preset value, discard satellite signals other than the target satellite signals, and perform GPS positioning based on the target satellite signals.

Optionally, the processing module is further configured to determine the reference position of the electronic device according to a visual positioning algorithm; and verify the position obtained through GPS positioning according to the reference position.

Optionally, the electronic device is a mobile device.

Optionally, the electronic device is a drone.

The embodiments of the present application provide electronic devices in various implementation manners. For the corresponding descriptions of the electronic devices in various implementation manners, reference may be made to the corresponding descriptions of the signal processing methods provided in the embodiments of the present application, which are not repeated here.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the various implementations provided in the embodiments of the present application. Signal processing method in mode.

The embodiments of the present application may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

As long as there is no conflict or contradiction between the technical features provided in the above embodiments, those skilled in the art can combine the various technical features according to actual conditions to form various embodiments. However, the document of this application is limited in length and does not describe various embodiments. However, it is understandable that various embodiments also belong to the scope of the disclosure of the embodiments of this application.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "including", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided in the embodiments of the application are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the application. The descriptions of the above embodiments are only used to help understand the methods and methods of the application. Core idea; At the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A signal processing method, characterized in that it is applied to an electronic device, and includes:

Acquiring multiple satellite signals transmitted by multiple satellites through the receiving module of the electronic device;

The processing module of the electronic device determines whether there is at least one target satellite signal from the acquired multiple satellite signals, wherein the at least one target satellite signal is transmitted by one of the multiple satellites and passes through a single path The satellite signal propagated to the receiving module;

According to the number of the at least one target satellite signal, a positioning method for the electronic device is determined.
The signal processing method according to claim 1, wherein the determining whether there is at least one target satellite signal comprises:

Determining the field of view corresponding to the sky observable by the camera of the electronic device;

Determine a target satellite according to the position information of the electronic device and the field of view;

The satellite signal corresponding to the target satellite is determined as the target satellite signal.
The signal processing method according to claim 2, wherein determining the field of view corresponding to the sky observable by the camera comprises:

Acquiring a first image taken by the camera;

Determining the sky area in the first image;

Determine the actual field of view corresponding to the sky area.
The signal processing method according to claim 3, wherein the lens direction of the camera corresponds to an upper viewing angle, and the first image is an image corresponding to the upper viewing angle.
The signal processing method according to claim 3, wherein the sky area is identified and determined on the first image.
The signal processing method according to claim 5, wherein the recognizing the first image comprises:

Inputting the first image into a pre-trained target neural network model to obtain a marked first image with a sky region output by the target neural network model;

Wherein, the target neural network model is obtained in the following way:

Acquire multiple sample images;

Marking the sky area on each sample image to obtain a labeled sample image corresponding to each of the sample images;

Establishing a training set of sample images and labeled sample images according to each of the sample images and the labeled sample images corresponding to each of the sample images;

Training the original neural network model according to the training set to obtain the target neural network model.
The signal processing method according to claim 3, wherein the determining the actual field of view corresponding to the sky area comprises:

Determining the boundary of the sky area in the first image;

Determining the line of sight direction corresponding to the boundary of the sky area according to the image distance when the camera takes the first image and the boundary of the sky area;

According to the direction of the line of sight, the field of view corresponding to the sky area is determined.
The signal processing method according to claim 3, wherein the determining the actual field of view corresponding to the sky area comprises:

Determining the boundary of the sky area in the first image;

Determine the line of sight direction corresponding to the boundary of the sky area according to the position in the first image of the pixel corresponding to the boundary of the sky area and the mapping relationship between the pixel position and the line of sight direction;

According to the direction of the line of sight, the field of view corresponding to the sky area is determined.
The signal processing method according to claim 8, wherein the mapping relationship is determined in the following manner:

Acquiring a second image taken by the camera;

According to the field angle of the camera, the line of sight direction corresponding to the position of each pixel of the second image is determined, and the mapping relationship between the pixel position and the line of sight direction is obtained.
The signal processing method according to claim 2, wherein the location information of the electronic device is historical location information within a preset time period from the current moment.
The signal processing method according to claim 2, wherein the field of view is an altitude range.
The signal processing method according to claim 2, wherein the camera includes one or more of the following: a fisheye camera and an infrared camera.
The signal processing method according to claim 1, wherein the determining the positioning mode of the electronic device according to the number of the at least one target satellite signal comprises:

If the number of the target satellite signals is less than the preset value, correct the satellite signals to be corrected other than the target satellite signal to obtain the corrected satellite signal; perform GPS positioning based on the corrected satellite signal and the target satellite signal .
The signal processing method according to claim 13, wherein correcting the satellite signal to be corrected comprises:

For each satellite signal to be corrected, the amplitude and phase of the satellite signal to be corrected are corrected according to the difference between the actual arrival time and the predicted arrival time of the satellite signal to be corrected.
The signal processing method according to claim 14, wherein the predicted arrival time is determined in the following manner:

Determine the actual position of the satellite corresponding to the satellite signal to be corrected according to the ephemeris of the satellite corresponding to the satellite signal to be corrected;

The predicted arrival time of the satellite signal to be corrected is calculated according to the actual position of the satellite corresponding to the satellite signal to be corrected and the position information of the electronic device.
The signal processing method according to claim 1, wherein the determining the positioning mode of the electronic device according to the number of the at least one target satellite signal comprises:

If the number of the target satellite signals is less than the preset value, satellite signals other than the target satellite signals are discarded, and positioning is performed by the sensor.
The signal processing method according to claim 16, wherein the sensor comprises one or more of the following: a vision sensor, an inertial measurement unit (IMU), an accelerometer, a compass sensor, and a time-of-flight sensor TOF.
The signal processing method according to claim 17, wherein the positioning by a sensor comprises:

Calculating the first relative position of the electronic device according to the image information collected by the vision sensor, the attitude information determined by the IMU, and the flight time determined by the TOF;

Calculating a second relative position of the electronic device according to the acceleration determined by the accelerometer and the initial speed of the electronic device;

Weighting the first relative position and the second relative position to obtain the third relative position of the electronic device;

Calculate the absolute position of the electronic device at the current moment according to the third relative position and the initial position of the electronic device; wherein the initial position includes the absolute position determined by GPS positioning at historical moments.
The signal processing method according to claim 1, wherein the determining the positioning mode of the electronic device according to the number of the at least one target satellite signal comprises:

If the number of the target satellite signals is greater than or equal to the preset value, satellite signals other than the target satellite signals are discarded, and GPS positioning is performed according to the target satellite signals.
The signal processing method according to claim 19, characterized in that, after the GPS positioning is performed according to the target satellite signal, the method further comprises:

Determining the reference position of the electronic device according to a visual positioning algorithm;

The position obtained by GPS positioning is verified according to the reference position.
An electronic device, characterized in that it comprises:

The receiving module is used to obtain multiple satellite signals transmitted by multiple satellites;

The processing module is configured to determine whether there is at least one target satellite signal from the plurality of satellite signals acquired by the receiving module, wherein the at least one target satellite signal is transmitted by one of the plurality of satellites and passed through a single Satellite signals propagated to the receiving module through the path; and determining the positioning mode of the electronic device according to the number of the at least one target satellite signal.
The electronic device according to claim 21, further comprising:

Camera, used to capture images;

The processing module is also used to determine the field of view corresponding to the sky observable by the camera; determine a target satellite according to the position information of the electronic device and the field of view; Determined as the target satellite signal.
The electronic device according to claim 22, wherein the processing module is further configured to obtain a first image taken by the camera; determine a sky area in the first image; determine that the sky area is actually The corresponding field of view.
23. The electronic device according to claim 23, wherein the lens direction of the camera corresponds to an upper viewing angle, and the first image is an image corresponding to the upper viewing angle.
The electronic device according to claim 23, wherein the sky area is identified and determined on the first image.
The electronic device according to claim 25, wherein the processing module is further configured to input the first image into a pre-trained target neural network model to obtain the output of the target neural network model labeled sky The marked first image of the area;

Wherein, the target neural network model is obtained in the following way:

Obtain multiple sample images; mark the sky area for each sample image to obtain the labeled sample image corresponding to each of the sample images; according to each of the sample images and the labeled sample images corresponding to each of the sample images, A training set of sample images and labeled sample images is established; the original neural network model is trained according to the training set to obtain the target neural network model.
The electronic device according to claim 23, wherein the processing module is further configured to determine the boundary of the sky area in the first image; The image distance and the boundary of the sky area determine the line of sight direction corresponding to the boundary of the sky area; and the field of view corresponding to the sky area is determined according to the line of sight direction.
The electronic device according to claim 23, wherein the processing module is further configured to determine the boundary of the sky area in the first image; the pixel corresponding to the boundary of the sky area is in the The position in the first image and the mapping relationship between the pixel position and the line of sight direction determine the line of sight direction corresponding to the boundary of the sky area; and determine the field of view range corresponding to the sky area according to the line of sight direction.
The electronic device according to claim 28, wherein the mapping relationship is determined in the following manner:

Acquire a second image captured by the camera; determine the line of sight direction corresponding to the position of each pixel of the second image according to the field angle of the camera, and obtain the mapping relationship between the pixel position and the line of sight direction.
The electronic device according to claim 22, wherein the location information of the electronic device is historical location information within a preset time period from the current moment.
The electronic device according to claim 22, wherein the field of view is an altitude range.
The electronic device according to claim 22, wherein the camera comprises one or more of the following: a fisheye camera and an infrared camera.
22. The electronic device according to claim 21, wherein the processing module is further configured to: if the number of the target satellite signals is less than a preset value, correct the satellite signals to be corrected other than the target satellite signals, Obtain the corrected satellite signal; perform GPS positioning according to the corrected satellite signal and the target satellite signal.
The electronic device according to claim 23, wherein the processing module is further configured to, for each satellite signal to be corrected, according to the difference between the actual arrival time of the satellite signal to be corrected and the predicted arrival time , To correct the amplitude and phase of the satellite signal to be corrected.
The electronic device according to claim 34, wherein the predicted arrival time is determined in the following manner:

Determine the actual position of the satellite corresponding to the satellite signal to be corrected according to the ephemeris of the satellite corresponding to the satellite signal to be corrected; calculate the actual position of the satellite corresponding to the satellite signal to be corrected and the position information of the electronic device The predicted arrival time of the satellite signal to be modified.
The electronic device according to claim 21, wherein the processing module is further configured to, if the number of the target satellite signal is less than a preset value, discard satellite signals other than the target satellite signal, and pass the sensor Positioning.
The electronic device according to claim 36, wherein the sensor comprises one or more of the following: a vision sensor, an inertial measurement unit (IMU), an accelerometer, a compass sensor, and a time-of-flight sensor TOF.
The electronic device according to claim 37, wherein the processing module is further configured to calculate the total time of flight based on the image information collected by the vision sensor, the posture information determined by the IMU, and the flight time determined by the TOF. The first relative position of the electronic device; the second relative position of the electronic device is calculated according to the acceleration determined by the accelerometer and the initial speed of the electronic device; the first relative position and the second relative position are calculated The position is weighted to obtain the third relative position of the electronic device; the absolute position of the electronic device at the current moment is calculated according to the third relative position and the initial position of the electronic device; wherein, the initial position includes history The absolute position determined by GPS positioning at all times.
The electronic device according to claim 21, wherein the processing module is further configured to: if the number of the target satellite signals is greater than or equal to a preset value, discard satellite signals other than the target satellite signals, according to The target satellite signal performs GPS positioning.
The electronic device according to claim 39, wherein the processing module is further configured to determine a reference position of the electronic device according to a visual positioning algorithm; and verify the position obtained by GPS positioning according to the reference position .
The electronic device according to claim 21, wherein the electronic device is a mobile device.
The electronic device according to claim 21, wherein the electronic device is a drone.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the signal processing method according to any one of claims 1 to 20 is implemented .