CN102116866A - Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier - Google Patents
Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier Download PDFInfo
- Publication number
- CN102116866A CN102116866A CN 200910243193 CN200910243193A CN102116866A CN 102116866 A CN102116866 A CN 102116866A CN 200910243193 CN200910243193 CN 200910243193 CN 200910243193 A CN200910243193 A CN 200910243193A CN 102116866 A CN102116866 A CN 102116866A
- Authority
- CN
- China
- Prior art keywords
- road
- signal
- sign indicating
- indicating number
- satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method and a device for tracking a global positioning system precision (GPS P) and/or Y code signal of a full-cycle carrier. The method comprises the following steps of: generating a local P code through coarse/acquisition (C/A) code guide of an L1 satellite signal; correlating the L1 satellite signal and an L2 satellite signal to the local P code respectively; performing primary accumulation with W bit length on the correlation result, multiplying in a crossed way, and then performing secondary accumulation to obtain secondary accumulation results of the L1 satellite signal and the L2 satellite signal respectively; and tracking a code ring and a carrier ring of the L1 satellite signal and the L2 satellite signal according to the secondary accumulation results of the L1 satellite signal and the L2 satellite signal. By the method and the device, full-wavelength restoration of the carrier can be realized on the L2; and higher signal-to-noise ratio is achieved.
Description
Technical field
The present invention relates to navigation field, relate in particular to a kind of GPSP of complete cycle carrier wave and/or the tracking and the device of Y coded signal.
Background technology
Gps satellite is launched L1, L2 two-way spread-spectrum signal simultaneously, and carrier wave is respectively 1575.42MHz, 1227.6MHz, and the L1 signal carries out spread spectrum with C/A sign indicating number and P sign indicating number respectively with navigation message, and the L2 carrier wave only uses the P sign indicating number that navigation message is carried out spread spectrum.US military has been formulated AS (Anti-Spoofing) policy for security consideration, i.e. W sign indicating number that utilization holds in close confidence and P sign indicating number mould two add formation Y sign indicating number and again navigation message carried out band spectrum modulation, so just do not allow domestic consumer directly to use the two-frequency operation mode.And the dual-frequency carrier measurement is very important for the mapping application; Fine compensation for ionosphere delay in the navigation application also needs the double frequency pseudorange.
People such as Ashjaee propose involution or square method (seeing patent U.S.Pat.No.4928106), L2 signal and self square, removed the modulation of Y sign indicating number, the output continuous wave is used for carrier phase measurement.The shortcoming of this method is: 2 times of output frequencies are to the primary carrier frequency after square, and wavelength reduces by half, and increase the half cycle blur level, bring difficulty for quick ambiguity solution degree; Square also cause more noise to enter receiver, the decline of loop signal to noise ratio.Carrier-to-noise ratio 40dB/Hz be transformed into signal to noise ratio (S/N ratio) (40-70) after the 10M bandwidth=-30dB, after square be-60dB signal to noise ratio (S/N ratio) decline 30dB (add up relevant with pseudo-code compared).
Another kind is the method for multiplication cross.Ionospheric influence causes L1 different with the time-delay of L2 signal, and the time-delay on L2 is greater than L1.The last modulation of L1, L2 Y sign indicating number is synchronous, and the L1 signal is taken the L2 signal after time-delay, goes up the modulation of Y sign indicating number to remove L2.Compare with method one and can obtain the recovery that L2 goes up the long signal of all-wave,,, the gain of 3dB is arranged equally so two-way multiplies each other afterwards with respect to L2 self square because L1 road signal has been compared the 3dB gain with L2.The shortcoming of this method is: in order to make P (Y) the sign indicating number alignment on L1 and the L2, L2 postpones variable; Because this method is still handled under apread spectrum bandwidth, signal to noise ratio (S/N ratio) is lower.
Keegan proposes the method (seeing patent U.S.Pat.No.4972431) of auxiliary L2 square of P sign indicating number, and the method is to direct square of input signal, but behind the C/A sign indicating number guiding P code tracking, peels off the P sign indicating number, reduces bandwidth then to the W signal bandwidth.Promptly produce local P sign indicating number, remove the P sign indicating number in the L2 signal Y sign indicating number, keep unknown W sign indicating number.Bandwidth is reduced to positive and negative 500kHz from positive and negative 10MHz.The carrier-to-noise ratio of same 40dB/Hz, be transformed into signal to noise ratio (S/N ratio) (40-57) after the 500kHz bandwidth=-17dB.Like this when L2 signal square, there is not the P sign indicating number auxiliary before comparing, the gain of 13dB is arranged.Shortcoming is to have half-wavelength blur level problem equally; With known W sign indicating number bit edge, integration is compared between bit period, and bandpass filter is not optimum.
People such as Lorenz propose the method (seeing patent U.S.Pat.No.5134407) of the auxiliary multiplication cross of P sign indicating number, combine the advantage of the auxiliary L2 quadratic sum multiplication cross method of P sign indicating number, reduce bandwidth, reduce the loss of signal to noise ratio (S/N ratio).This kind method has been improved signal to noise ratio (S/N ratio), realizes the long carrier track of all-wave.Yet the W bit must rely on high-gain aerial with respect to the timing relationship of P code phase and obtain, and is unrealistic in actual applications.
Litton, people such as Russell and Woo propose a kind of Z-tracking (seeing patent U.S.Pat.No.5576715).Consider the relation between W sign indicating number and the P sign indicating number.Unknown W sign indicating number polarity is estimated it.Produce P sign indicating number demodulation L1 respectively with this locality, the L2 two paths of signals, signal bandwidth is reduced to 1MHz from 20MHz.By the period-luminosity relation between W sign indicating number and the P sign indicating number, in W sign indicating number chip interval, do accumulation process.The output valve of one road signal is done symbol decision as the estimated value to the W sign indicating number.Estimated value is taken on another road signal to remove the W sign indicating number.With respect to auxiliary square of P sign indicating number, the high 3dB of the method signal to noise ratio (S/N ratio).
Summary of the invention
The technical problem to be solved in the present invention provides a kind of gps signal P of complete cycle carrier wave and/or the tracking and the device of Y coded signal, can obtain the long recovery of carrier wave all-wave on L2, carries out the P and/or the Y code tracking of gps signal, has more high s/n ratio.
In order to address the above problem, the invention provides a kind of GPSP of complete cycle carrier wave and/or the tracking of Y coded signal, comprising:
A, the guiding of the C/A sign indicating number by the L1 satellite-signal produce local P sign indicating number;
B, L1, L2 satellite-signal are relevant with described local P sign indicating number respectively, correlated results is done the one-accumulate of 1 Wbit length after, intersect take advantage of mutually after, carry out secondary respectively and add up, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
Further, described step C specifically comprises:
The result that secondary is added up carries out FFT, noncoherent accumulation, output L1, the sign indicating number of L2 satellite-signal, carrier phase driscrimination error;
With carrying out loop filtering as sign indicating number, the carrier phase driscrimination error of L1, L2 satellite-signal integral body behind the sign indicating number on the I of L1, L2 satellite-signal, Q road, the carrier phase driscrimination error weighting summation, finish sign indicating number ring, the carrier wave ring of L1 and L2 satellite-signal and follow the tracks of respectively.
Further, among the described step B:
It is relevant to carry out multichannel, and different pseudo-code delaies is adopted on each road, obtains different correlated results; With relevant peaks maximum in the correlated results a road as the L2 satellite-signal correlated results after relevant with local P sign indicating number.
Further, among the described step B:
The result that one-accumulate is obtained carries out normalized and obtains W position estimated value, intersects with the W position estimated value that obtains and takes advantage of mutually.
Further, among the described step B, the step that produces W sign indicating number clock signal comprises:
The present rate value is made as A or B;
P sign indicating number chip is counted, produced W sign indicating number clock signal when reaching the present rate value at the edge constantly;
W sign indicating number clock signal is counted, when the present rate value is A, when W sign indicating number clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W sign indicating number clock signal reaches N, the present rate value is made as B;
A, B, M, N are positive integer.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtain I, Q two-way correlated results, obtain an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length, I road, Q road secondary accumulation result that displacement and secondary add up and obtain the L1 satellite-signal;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L2 satellite-signal.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtain I, Q two-way correlated results, obtain the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length, I road, Q road secondary accumulation result that displacement and secondary add up and obtain the L2 satellite-signal;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L1 satellite-signal.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
Further, described steps A specifically comprises:
A1, at first the pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture C/A sign indicating number ring and the carrier loop of closed L1 behind the satellite-signal, realize pseudo-code and carrier phase synchronously, C/A sign indicating number ring and the carrier wave ring of locking L1;
A2, demodulation L1 satellite-signal are resolved navigation message, obtain the Zcount and the dependent phase information of current time;
A3, produce local P sign indicating number according to described dependent phase information;
A4, sign indicating number ring, the sign indicating number ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status by the L1 satellite-signal.
The present invention also provides a kind of GPSP of complete cycle carrier wave and/or the tracking means of Y coded signal, comprising:
P sign indicating number generation module is used for the C/A sign indicating number guiding by the L1 satellite-signal, produces local P sign indicating number;
First, second correlator is respectively applied for L1, L2 satellite-signal relevantly with described local P sign indicating number, obtains first, second correlated results;
W sign indicating number supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 Wbit length taking advantage of mutually, carries out secondary more respectively and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
Further, described loop tracks module specifically comprises:
Be respectively applied for first, second FFT unit that the secondary accumulation result of L1, L2 satellite-signal is carried out Fourier transform;
Be respectively applied for first, second unit that adds up that the result of first, second FFT unit output is carried out noncoherent accumulation;
Be respectively applied for output L1, the sign indicating number of L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied for I, the sign indicating number on Q road, carrier phase driscrimination error weighting summation, obtain the sign indicating number of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error L1, L2 satellite-signal;
Be respectively applied for the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the sign indicating number ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
Further, described second correlator comprises:
A plurality of interlock circuits are respectively applied for and carry out relevant to the L2 satellite-signal with described local P sign indicating number according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; The correlated results of interlock circuit that this is current output as the L2 satellite-signal correlated results after relevant with local P sign indicating number export.
Further, described tracking means also comprises first, second C/A sign indicating number generation module, is used to produce the C/A sign indicating number;
Described the first/the second correlator respectively comprises:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator is used to produce sin, cos signal, inputs to first, second multiplier respectively;
The yardage controlled oscillator is used to export control signal and gives described P sign indicating number generation module;
First, second multiplier be respectively applied for will input satellite-signal and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied for described I road, Q road signal and local P sign indicating number is multiplied each other, and obtains I, Q road correlated results, exports to W sign indicating number supplementary module;
Five, the 6th multiplier is respectively applied for described I road, Q road signal and C/A sign indicating number is multiplied each other, and the result exports to totalizer.
Further, P sign indicating number generation module specifically comprises:
C/A code tracking and capturing unit are used for the pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture locking C/A sign indicating number ring and carrier loop behind the L1 satellite-signal;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains the Zcount and the dependent phase information of current time;
First, second P sign indicating number generation unit is respectively applied for the local P sign indicating number that produces L1, L2 road;
Initialization unit is used for according to first, second P sign indicating number generation unit of described dependent phase information initializing; Sign indicating number ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
Further, described W sign indicating number supplementary module specifically comprises: first, second secondary unit that adds up;
The one W position estimation unit is used for the I of described first correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described second correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W sign indicating number clock generator is used to export W sign indicating number clock signal and gives described first, second W position estimation unit;
Described first secondary adds up and carries out secondary after the unit is used for W position, described the 2nd I road estimated value taken advantage of mutually with an I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
Described second secondary adds up and carries out secondary after the unit is used for W position, described I road estimated value taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
Further, a described W position estimation unit result that a described I road, Q road one-accumulate are obtained carries out normalized and obtains an I road, W position, Q road estimated value; The result that described the 2nd W position estimation unit obtains described the 2nd I road, Q road one-accumulate carries out normalized and obtains the 2nd I road, W position, Q road estimated value;
Further, described W sign indicating number clock generator specifically comprises:
The rate selection device, it is the present rate value that A or B are set; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B; When being A, change rate value into B after receiving enable signal such as the present rate value;
First counter is used for P sign indicating number clock signal is counted, and just P sign indicating number chip is counted; Output W sign indicating number clock signal when count value reaches the rate value of described rate selection device setting, and restart counting;
Second counter is used for the W sign indicating number clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving X1A reset signal epoch, first, second counter restarts counting; It is A or B that the rate selection device is provided with the present rate value.
Further, described first, second secondary add up the unit each specifically comprise:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
Described first secondary adds up in the unit:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L1 satellite-signal;
Described second secondary adds up in the unit:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L2 satellite-signal.
Various embodiments of the present invention have the following advantages:
(1) owing to do not adopt L2 satellite-signal square or involution, therefore can on the L2 satellite-signal, obtain the long recovery of carrier wave all-wave, not have the half-wavelength blur level;
(2) can adopt general circuit structure,, set, to support P sign indicating number, Y code tracking such as register by the change instrumental value;
(3) scheme of employing secondary coherent accumulation makes loop have more high s/n ratio;
(4) soft-decision of employing Wbit estimated value can realize that the real number of integer characteristic codes is estimated;
(5) tracking results of C sign indicating number on C/A sign indicating number on the L1/L2 satellite-signal or the L2 satellite-signal and the tracking results of P (Y) sign indicating number are merged,, can improve measuring accuracy to realize the associating tracking;
(6) adopt the relevant scheme of multichannel, can the rapider search of finishing correlation energy on the L2 satellite-signal, eliminate L1, the L2 satellite-signal is because the influence of the different delayed time that ionosphere produces.
(7) adopt the design of unidirectional auxiliary or bi-directional symmetrical, L1, the L2 satellite-signal can intersect auxiliary, but the also auxiliary L2 satellite-signal of L1 satellite-signal list, perhaps the auxiliary L1 satellite-signal of L2 satellite-signal list realizes that the Y sign indicating number is auxiliary.
Description of drawings
Fig. 1 is the process flow diagram of the tracking object lesson of the GPSP of complete cycle carrier wave among the embodiment one and/or Y coded signal;
Fig. 2 is the structured flowchart of the tracking means of the GPSP of complete cycle carrier wave among the embodiment two and/or Y coded signal;
Fig. 3 is the structured flowchart of correlator among the embodiment two;
Fig. 4 is the structured flowchart of the tracking means object lesson of the GPSP of complete cycle carrier wave among the embodiment two and/or Y coded signal;
Fig. 5 is the structured flowchart of W sign indicating number clock generator among the embodiment two;
Fig. 6 is the add up structured flowchart of unit of the secondary of W sign indicating number supplementary module among the embodiment two.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described in detail.
The design philosophy of each embodiment is as follows among the present invention:
The L1 of same satellite, the L2 signal runs on different passages respectively, the this locality of doing the P sign indicating number through the baseband signal after the Digital Down Convert in two passages respectively is relevant, does the auxiliary back difference coherent accumulation of estimating the W position mutually, and the result enters a sign indicating number ring carrier wave ring and carries out loop tracks.
Treatment channel is carried out modular design, reach each funtion part and be designed to standalone module, IO interface is arranged.
Both can realize unidirectionally auxiliary also can realizing two-way auxiliaryly, realize the Y code tracking, that is: L1, L2 can intersect auxiliary, but also single auxiliary L2 of L1 or the single auxiliary L1 of L2.
Receiver can be supported P sign indicating number, Y code tracking under the situation of not making any structure modification.
Embodiment one, and the tracking of a kind of GPSP of complete cycle carrier wave and/or Y coded signal comprises:
A, the guiding of the C/A sign indicating number by the L1 satellite-signal produce local P sign indicating number;
B, L1, L2 satellite-signal are relevant with described local P sign indicating number respectively, correlated results is done the one-accumulate of 1 Wbit length after, intersect take advantage of mutually after, carry out secondary more respectively and add up, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring, just carry out the tracking of code phase, carrier phase according to the secondary accumulation result of described L1, L2 satellite-signal.
The tracking that realizes the L2 satellite-signal has just realized the tracking of P sign indicating number in other words of Y sign indicating number.
In the present embodiment, among the described step B, be that the I after L1, the L2 satellite-signal down coversion, Q two paths of signals are carried out related operation with the C/A sign indicating number and the P sign indicating number of this locality respectively; Adopt different integrating ranges when adding up respectively, wherein the integrating range of P sign indicating number is 1 a Wbit length,, does 1 Wbit length one-accumulate that is.
In the present embodiment, step C can specifically comprise:
The result that secondary is added up carries out FFT, noncoherent accumulation, the sign indicating number of output L1, L2, carrier phase driscrimination error, carries out loop filtering, finishes the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring.
The tracking results of C sign indicating number on C/A sign indicating number or the L2 satellite-signal on L1, the L2 satellite-signal and the tracking results of P (Y) sign indicating number are merged, unite tracking.Merge and specifically to be meant: respectively with behind the sign indicating number of the C/A sign indicating number (I road) of L1, L2 satellite-signal and P or Y sign indicating number (Q road) signal, the carrier phase driscrimination error weighting summation as L1, L2 satellite-signal integral body yard, the carrier phase driscrimination error carries out loop filtering; Described weighting coefficient can be determined according to experiment or simulation result.According to these two tributary signal noise levels, determine weighting coefficient,
In the present embodiment, can further include behind the step C: carry out pseudorange and carrier phase measurement.
In the present embodiment, utilize the L1/L2 satellite-signal that the Y code phase of L1 and L2 satellite-signal is followed the tracks of among the step C, simultaneously the carrier phase of L1 and L2 satellite-signal is followed the tracks of, finally realize the measurement of the observed reading of L1 and L2, finish the high-acruracy survey function.
In the present embodiment, described steps A specifically comprises:
A1, finish the tenacious tracking that L1 goes up the C/A sign indicating number.At first L1 is gone up the C/A pseudo-code phase and Doppler frequency is carried out two-dimensional search, captures C/A sign indicating number ring and the carrier wave ring of closed L1 behind the satellite-signal, realize L1 go up C/A pseudo-code and carrier phase synchronously, C/A sign indicating number ring and the carrier wave ring of locking L1; Realize tenacious tracking.
A2, demodulation L1 satellite-signal.Behind the satellite-signal, just navigation message be can resolve in the tracking, Zcount and dependent phase information comprised in the navigation message; Obtain the Zcount and the dependent phase information of current time after the parsing;
A3, produce local P sign indicating number according to described dependent phase information;
A4, sign indicating number ring, the sign indicating number ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status by the L1 satellite-signal; Because what L1 and L2 followed the tracks of is same satellite-signal, Doppler frequency on the L1 frequency can be converted the Doppler frequency on (extrapolating) L2, pseudo-code on the L1 and the pseudo-code on the L2 are alignd in time, so just can set carrier wave ring and the sign indicating number ring of L2.
In the present embodiment, among the described step B, the concrete steps that the L2 satellite-signal is relevant with described local P sign indicating number comprise:
It is relevant to carry out multichannel, and different pseudo-code delaies is adopted on each road, obtains different correlated results; With relevant peaks maximum in the correlated results a road as the L2 satellite-signal the current correlated results after relevant with local P sign indicating number.Such design can make the Y sign indicating number branch road on the L2 more promptly find the correlator of instantaneous code correspondence in the hunting zone.
This moment can closed L2 track loop, sign indicating number and the carrier tracking loop of locking L2.The Wbit of track loop locking back L2 is estimated as optimum, and the Wbit of L2 estimates that auxiliary L1 can finish the tracking that L1 goes up the Q branch road, and to reach I, Q unites tracking.
Adopt Wbit real number estimated value in the present embodiment.Present embodiment carries out the W position estimated value that normalized obtains to the one-accumulate result, just the one-accumulate result being done real number estimates, so-called real number estimates to be meant 0 or 1 judgement of result calculated not being done single thresholding, but the result is carried out exporting after the normalized, participate in subsequent treatment directly, just intersect and take advantage of mutually with the W position estimated value that obtains.
In the present embodiment, the W sign indicating number has 2 kinds of optional speed A, B (A, B are P sign indicating number number of chips, or P sign indicating number clock signal number); 2 kinds of bit rates continue M, N Wbit length respectively at every turn.
The concrete mode that produces W sign indicating number clock signal among the step B of present embodiment is:
The present rate value is made as A or B;
P sign indicating number chip is counted, produced W sign indicating number clock signal when reaching the present rate value at the edge constantly;
W sign indicating number clock signal is counted, when the present rate value is A, when W sign indicating number clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W sign indicating number clock signal reaches N, the present rate value is made as B;
A, B, M, N are positive integer.
As seen, the cycle of the W sign indicating number of Chan Shenging is the integral multiple in P sign indicating number cycle like this, and the edge of W sign indicating number necessarily aligns with P sign indicating number edge.
In the present embodiment, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
Such way is L1, and L2 intersects auxiliary, during practical application, also but the L1 list is assisted L2: only W position, I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively, multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L2 satellite-signal; I road, Q road secondary accumulation result that the displacement of the one I road, W position, Q road estimated value and secondary are added up and obtain the L1 satellite-signal.
Can also L2 single auxiliary L1: only W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively, multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L1 satellite-signal; I road, Q road secondary accumulation result that the displacement of the 2nd I road, W position, Q road estimated value and secondary are added up and obtain the L2 satellite-signal.
The flow process of a concrete example of present embodiment comprises as shown in Figure 1:
101, C/A sign indicating number ring and the carrier wave ring of L1 are followed the tracks of, and the demodulation navigation signal;
102, carry out initialization, the local P sign indicating number of generation is aimed at L1 C/A sign indicating number; Produce local P sign indicating number;
103, according to L1 sign indicating number ring, carrier wave ring initialization L2 sign indicating number ring, carrier wave ring;
104, L1, L2 carry out relevant with local P sign indicating number; In the multichannel correlated results of L2, find a road of relevant peaks maximum;
105, the track loop of closed L2 sign indicating number and carrier wave;
106, judge whether the L2 carrier tracking loop locks, if then carry out step 107; Otherwise continue this step;
107, L1 unites tracking C/A sign indicating number and P sign indicating number;
108, carry out pseudorange and carrier phase measurement.
Embodiment two, and the tracking means of a kind of GPSP of complete cycle carrier wave and/or Y coded signal as shown in Figure 2, comprising:
P sign indicating number generation module is used for the C/A sign indicating number guiding by the L1 satellite-signal, produces local P sign indicating number;
First, second correlator is respectively applied for L1, L2 satellite-signal relevantly with described local P sign indicating number, obtains first, second correlated results;
W sign indicating number supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 Wbit length taking advantage of mutually, carries out secondary more respectively and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the sign indicating number ring of L1 and L2 satellite-signal and the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
The tracking that realizes the L2 satellite-signal is exactly to have realized the tracking of P sign indicating number in other words of Y sign indicating number.
In the present embodiment, described loop tracks module can specifically comprise:
Be respectively applied for first, second FFT unit that the secondary accumulation result of L1, L2 satellite-signal is carried out Fourier transform;
Be respectively applied for first, second unit that adds up that the result of first, second FFT unit output is carried out noncoherent accumulation;
Be respectively applied for output L1, the sign indicating number of L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied for I, the sign indicating number on Q road, carrier phase driscrimination error weighting summation, obtain the sign indicating number of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error L1, L2 satellite-signal;
Be respectively applied for the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the sign indicating number ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
In the present embodiment, described tracking means also comprises first, second C/A sign indicating number generation module, is used to produce the C/A sign indicating number;
In the present embodiment, described the first/the second correlator can respectively comprise as shown in Figure 3:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator is used to produce sin, cos signal, inputs to first, second multiplier respectively;
The yardage controlled oscillator is used to export control signal and gives described first, second C/A sign indicating number generation module and P sign indicating number generation module;
First, second multiplier be respectively applied for will input satellite-signal (for first correlator, being the L1 satellite-signal, for second correlator, is the L2 satellite-signal) and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied for described I road, Q road signal and local P sign indicating number is multiplied each other, and obtains I, Q road correlated results, exports to W sign indicating number supplementary module and carries out one-accumulate, promptly exports to the one-accumulate device among Fig. 3;
Five, the 6th multiplier is respectively applied for described I road, Q road signal and C/A sign indicating number is multiplied each other, and the result exports to totalizer.
In the present embodiment, described W sign indicating number supplementary module specifically can comprise:
First, second secondary unit that adds up;
The one W position estimation unit is used for the I of described first correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described second correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W sign indicating number clock generator is used to export W sign indicating number clock signal and gives described first, second W position estimation unit;
Described first secondary adds up and carries out secondary after the unit is used for W position, described the 2nd I road estimated value taken advantage of mutually with an I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
Described second secondary adds up and carries out secondary after the unit is used for W position, described I road estimated value taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
In the present embodiment, described first/the 2nd W position estimation unit adopts the soft-decision of Wbit estimated value, the result that described first/the 2nd I, Q road one-accumulate are obtained carries out normalized (doing real number estimates) and obtains first/the 2nd I, W position, Q road estimated value, and be not only single thresholding, 0,1 judgement.
The structure of a concrete example of present embodiment as shown in Figure 4, comprise two passages respectively L1, L2 satellite-signal being handled, each channel architecture is similar, below the passage that the L1 satellite-signal is handled will be described, can analogize the passage that the L2 satellite-signal is handled, repeat no more.
With above-mentioned description to correlator, sin, cos signal and satellite-signal that the carrier number controlled oscillator produces multiply each other and obtain I, Q road signal; I, Q road signal multiply each other respectively and by local P sign indicating number, the C/A sign indicating number of yardage controlled oscillator control; Among this figure, PN (I) is local P sign indicating number, and PN (Q) is the C/A sign indicating number.
Advance totalizer with C/A sign indicating number multiplied result; Advance W position estimation unit with P sign indicating number multiplied result, i.e. W sign indicating number integration zero clearing among the figure; This passage is into estimated and to the secondary of L2 treatment channel add up unit, i.e. secondary totalizer among the figure in the L1W position that obtains;
The result that the secondary totalizer comes out advances the loop tracks module, i.e. L1 track loop among the figure;
Wherein, the zero clearing of W sign indicating number integration is controlled by L1W sign indicating number clock signal; L1W sign indicating number clock signal produces according to L1P sign indicating number clock signal and L1X1A reset signal epoch; The yardage controlled oscillator is controlled by L1P sign indicating number clock signal.
In the present embodiment, described P sign indicating number generation module specifically can comprise:
The C/A sign indicating number is caught and tracking cell, is used for the pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, captures locking C/A sign indicating number and carrier wave behind the L1 satellite-signal, realize pseudo-code and carrier phase synchronously;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains the Zcount and the dependent phase information of current time;
First, second P sign indicating number generation unit is respectively applied for the local P sign indicating number that produces L1, L2 road;
Initialization unit is used for according to first, second P sign indicating number generation unit of described dependent phase information initializing; Sign indicating number ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
In the present embodiment, described second correlator can comprise:
A plurality of interlock circuits are respectively applied for and carry out relevant to the L2 satellite-signal with described local P sign indicating number according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; The correlated results of interlock circuit that this is current output as the L2 satellite-signal correlated results after relevant with local P sign indicating number export.
In the present embodiment, as input, the I of each correlator, Q value multiply each other with the Wbit auxiliary signal of other passage respectively described W sign indicating number supplementary module the output accumulation result of Y sign indicating number branch road correlator, do secondary respectively after the multiplied result displacement and add up.Accumulation intervals is subjected to the zero clearing indication control of I branch road.After peeling off P sign indicating number, W sign indicating number and navigation message, only comprise the signal of carrier phase difference, therefore can do long-time coherent accumulation, significantly improve loop signal to noise ratio.
In the present embodiment, described W sign indicating number clock generator is used to control the integrating range of P sign indicating number when adding up, and as shown in Figure 5, specifically can comprise:
The rate selection device, it is the present rate value that A or B are set earlier after powering on; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B; When being A, change rate value into B after receiving enable signal such as the present rate value;
First counter is used for P sign indicating number clock signal is counted, and just P sign indicating number chip is counted; Output W sign indicating number clock signal when count value reaches the rate value of described rate selection device setting, and restart counting;
Second counter is used for the W sign indicating number clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving X1A reset signal epoch, first, second counter restarts counting; It is A or B that the rate selection device is provided with the present rate value.
In the present embodiment, described first, second secondary adds up the unit as shown in Figure 6, can respectively comprise:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
Described first secondary adds up in the unit:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other; In the practical application, also can with 1 multiply each other the auxiliary L1 of L2 this moment; Can but be not limited to deposit the 2nd I road W position estimated value or 1 with a register;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L1 satellite-signal;
Described second secondary adds up in the unit:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other; In the practical application, also can with 1 multiply each other the auxiliary L2 of L1 this moment; Can but be not limited to deposit an I road W position estimated value or 1 with a register;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L2 satellite-signal.Add up through secondary, can generate I/Q two-way identification result synchronously, be weighted combination, generate associating tracking Control amount, last C/A of L1/L2 or L2C and Y sign indicating number can be realized the associating tracking, improve measuring accuracy.
Among above-mentioned two embodiment; for example understand the tracking of satellite-signal with the P/Y sign indicating number; in the practical application; if satellite navigation system adopts the signal structure with the known high-frequency ranging code of low frequency security code modulation; take above-mentioned method and apparatus that it is caught and follows the tracks of; to reach the demodulation of satellite signal, pseudorange and carrier phase etc. are measured purpose, all within the application's protection domain.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.
Claims (18)
1. the tracking of the GPS P of a complete cycle carrier wave and/or Y coded signal comprises:
A, the guiding of the C/A sign indicating number by the L1 satellite-signal produce local P sign indicating number;
B, L1, L2 satellite-signal are relevant with described local P sign indicating number respectively, correlated results is done the one-accumulate of 1 W bit length after, intersect take advantage of mutually after, carry out secondary respectively and add up, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
2. the method for claim 1 is characterized in that, described step C specifically comprises:
The result that secondary is added up carries out FFT, noncoherent accumulation, output L1, the sign indicating number of L2 satellite-signal, carrier phase driscrimination error;
With carrying out loop filtering as sign indicating number, the carrier phase driscrimination error of L1, L2 satellite-signal integral body behind the sign indicating number on the I of L1, L2 satellite-signal, Q road, the carrier phase driscrimination error weighting summation, finish sign indicating number ring, the carrier wave ring of L1 and L2 satellite-signal and follow the tracks of respectively.
3. the method for claim 1 is characterized in that, among the described step B:
It is relevant to carry out multichannel, and different pseudo-code delaies is adopted on each road, obtains different correlated results; With relevant peaks maximum in the correlated results a road as the L2 satellite-signal correlated results after relevant with local P sign indicating number.
4. the method for claim 1 is characterized in that, among the described step B:
The result that one-accumulate is obtained carries out normalized and obtains W position estimated value, intersects with the W position estimated value that obtains and takes advantage of mutually.
5. the method for claim 1 is characterized in that, among the described step B, the step that produces W sign indicating number clock signal comprises:
The present rate value is made as A or B;
P sign indicating number chip is counted, produced W sign indicating number clock signal when reaching the present rate value at the edge constantly;
W sign indicating number clock signal is counted, when the present rate value is A, when W sign indicating number clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W sign indicating number clock signal reaches N, the present rate value is made as B;
A, B, M, N are positive integer.
6. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtain I, Q two-way correlated results, obtain an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length, I road, Q road secondary accumulation result that displacement and secondary add up and obtain the L1 satellite-signal;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L2 satellite-signal.
7. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtain I, Q two-way correlated results, obtain the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length, I road, Q road secondary accumulation result that displacement and secondary add up and obtain the L2 satellite-signal;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of L1 satellite-signal.
8. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P sign indicating number, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary adds up, obtain I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
9. as each described method in the claim 1 to 8, it is characterized in that described steps A specifically comprises:
A1, at first the pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture C/A sign indicating number ring and the carrier loop of closed L1 behind the satellite-signal, realize pseudo-code and carrier phase synchronously, C/A sign indicating number ring and the carrier wave ring of locking L1;
A2, demodulation L1 satellite-signal are resolved navigation message, obtain the Zcount and the dependent phase information of current time;
A3, produce local P sign indicating number according to described dependent phase information;
A4, sign indicating number ring, the sign indicating number ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status by the L1 satellite-signal.
10. the tracking means of the GPS P of a complete cycle carrier wave and/or Y coded signal is characterized in that, comprising:
P sign indicating number generation module is used for the C/A sign indicating number guiding by the L1 satellite-signal, produces local P sign indicating number;
First, second correlator is respectively applied for L1, L2 satellite-signal relevantly with described local P sign indicating number, obtains first, second correlated results;
W sign indicating number supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 W bit length taking advantage of mutually, carries out secondary more respectively and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the sign indicating number ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
11. device as claimed in claim 10 is characterized in that, described loop tracks module specifically comprises:
Be respectively applied for first, second FFT unit that the secondary accumulation result of L1, L2 satellite-signal is carried out Fourier transform;
Be respectively applied for first, second unit that adds up that the result of first, second FFT unit output is carried out noncoherent accumulation;
Be respectively applied for output L1, the sign indicating number of L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied for I, the sign indicating number on Q road, carrier phase driscrimination error weighting summation, obtain the sign indicating number of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error L1, L2 satellite-signal;
Be respectively applied for the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the sign indicating number ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
12. device as claimed in claim 10 is characterized in that, described second correlator comprises:
A plurality of interlock circuits are respectively applied for and carry out relevant to the L2 satellite-signal with described local P sign indicating number according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; The correlated results of interlock circuit that this is current output as the L2 satellite-signal correlated results after relevant with local P sign indicating number export.
13. as each described device in the claim 10 to 12, it is characterized in that, also comprise:
First, second C/A sign indicating number generation module is used to produce the C/A sign indicating number;
Described the first/the second correlator respectively comprises:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator is used to produce sin, cos signal, inputs to first, second multiplier respectively;
The yardage controlled oscillator is used to export control signal and gives described P sign indicating number generation module;
First, second multiplier be respectively applied for will input satellite-signal and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied for described I road, Q road signal and local P sign indicating number is multiplied each other, and obtains I, Q road correlated results, exports to W sign indicating number supplementary module;
Five, the 6th multiplier is respectively applied for described I road, Q road signal and C/A sign indicating number is multiplied each other, and the result exports to totalizer.
14. device as claimed in claim 13 is characterized in that, P sign indicating number generation module specifically comprises:
C/A code tracking and capturing unit are used for the pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture locking C/A sign indicating number ring and carrier loop behind the L1 satellite-signal;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains the Zcount and the dependent phase information of current time;
First, second P sign indicating number generation unit is respectively applied for the local P sign indicating number that produces L1, L2 road;
Initialization unit is used for according to first, second P sign indicating number generation unit of described dependent phase information initializing; Sign indicating number ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
15. device as claimed in claim 13 is characterized in that, described W sign indicating number supplementary module specifically comprises: first, second secondary unit that adds up;
The one W position estimation unit is used for the I of described first correlator output, the one-accumulate that Q road correlated results is done 1 W bit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described second correlator output, the one-accumulate that Q road correlated results is done 1 W bit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W sign indicating number clock generator is used to export W sign indicating number clock signal and gives described first, second W position estimation unit;
Described first secondary adds up and carries out secondary after the unit is used for W position, described the 2nd I road estimated value taken advantage of mutually with an I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
Described second secondary adds up and carries out secondary after the unit is used for W position, described I road estimated value taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively and add up, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
16. device as claimed in claim 15 is characterized in that:
The result that a described W position estimation unit obtains a described I road, Q road one-accumulate carries out normalized and obtains an I road, W position, Q road estimated value; The result that described the 2nd W position estimation unit obtains described the 2nd I road, Q road one-accumulate carries out normalized and obtains the 2nd I road, W position, Q road estimated value.
17. device as claimed in claim 15 is characterized in that, described W sign indicating number clock generator specifically comprises:
The rate selection device, it is the present rate value that A or B are set; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B; When being A, change rate value into B after receiving enable signal such as the present rate value;
First counter is used for P sign indicating number clock signal is counted, and just P sign indicating number chip is counted; Output W sign indicating number clock signal when count value reaches the rate value of described rate selection device setting, and restart counting;
Second counter is used for the W sign indicating number clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving X1A reset signal epoch, first, second counter restarts counting; It is A or B that the rate selection device is provided with the present rate value.
18. device as claimed in claim 15 is characterized in that, described first, second secondary add up the unit each specifically comprise:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
Described first secondary adds up in the unit:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L1 satellite-signal;
Described second secondary adds up in the unit:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement is obtained the I road/Q road secondary accumulation result of L2 satellite-signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910243193 CN102116866B (en) | 2009-12-31 | 2009-12-31 | Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910243193 CN102116866B (en) | 2009-12-31 | 2009-12-31 | Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102116866A true CN102116866A (en) | 2011-07-06 |
| CN102116866B CN102116866B (en) | 2013-01-23 |
Family
ID=44215720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910243193 Active CN102116866B (en) | 2009-12-31 | 2009-12-31 | Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102116866B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103152072A (en) * | 2013-01-31 | 2013-06-12 | 南京航空航天大学 | P code generating method at random time |
| CN103675855A (en) * | 2013-11-29 | 2014-03-26 | 航天恒星科技有限公司 | GPS-P code generating method based on code cycle end moment L1CA guidance |
| CN104459733A (en) * | 2014-11-18 | 2015-03-25 | 中国电子科技集团公司第十研究所 | Method for improving GPS signal L1-P(Y) code tracking performance |
| CN104765049A (en) * | 2015-04-20 | 2015-07-08 | 和芯星通科技(北京)有限公司 | Navigational satellite signal tracking method and device |
| CN106802424A (en) * | 2016-12-23 | 2017-06-06 | 湖南北云科技有限公司 | A kind of quick guiding and tracking method of multifrequency satellite navigation neceiver and device |
| CN106814374A (en) * | 2016-12-23 | 2017-06-09 | 湖南北云科技有限公司 | A kind of reception device and method of GPS L5 signals |
| CN107688188A (en) * | 2017-07-28 | 2018-02-13 | 桂林电子科技大学 | A kind of GPS L1C/A and L1C combined signals catching method and satellite navigation receiver |
| CN109581432A (en) * | 2018-12-20 | 2019-04-05 | 西安空间无线电技术研究所 | A kind of satellite-based navigation receiver tracking loop circuit and its processing method |
| CN109633714A (en) * | 2018-12-26 | 2019-04-16 | 西安空间无线电技术研究所 | A kind of L2P(Y of high W code adaptability) signal trace method |
| CN109633715A (en) * | 2018-12-29 | 2019-04-16 | 西安开阳微电子有限公司 | A method of based on parallel phase acquisition GPS and Beidou three generations's signal |
| CN112527238A (en) * | 2020-11-25 | 2021-03-19 | 中国电子科技集团公司第五十四研究所 | Satellite navigation signal correlation peak low resource construction device |
| CN115001558A (en) * | 2022-08-03 | 2022-09-02 | 湖南跨线桥航天科技有限公司 | P code signal regeneration forwarding method of GPS based on W code real-time estimation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5736961A (en) * | 1995-10-06 | 1998-04-07 | Novatel, Inc. | Dual Frequency global positioning system |
| CN101539619B (en) * | 2009-03-19 | 2011-09-07 | 北京理工大学 | Carrier wave aided tracking method used in high-dynamic double frequency GPS |
-
2009
- 2009-12-31 CN CN 200910243193 patent/CN102116866B/en active Active
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103152072A (en) * | 2013-01-31 | 2013-06-12 | 南京航空航天大学 | P code generating method at random time |
| CN103675855A (en) * | 2013-11-29 | 2014-03-26 | 航天恒星科技有限公司 | GPS-P code generating method based on code cycle end moment L1CA guidance |
| CN103675855B (en) * | 2013-11-29 | 2015-11-04 | 航天恒星科技有限公司 | A kind of GPS-P code generating method guided based on code week end moment L1CA |
| CN104459733A (en) * | 2014-11-18 | 2015-03-25 | 中国电子科技集团公司第十研究所 | Method for improving GPS signal L1-P(Y) code tracking performance |
| CN104459733B (en) * | 2014-11-18 | 2017-01-18 | 中国电子科技集团公司第十研究所 | Method for improving GPS signal L1-P(Y) code tracking performance |
| CN104765049A (en) * | 2015-04-20 | 2015-07-08 | 和芯星通科技(北京)有限公司 | Navigational satellite signal tracking method and device |
| CN106802424A (en) * | 2016-12-23 | 2017-06-06 | 湖南北云科技有限公司 | A kind of quick guiding and tracking method of multifrequency satellite navigation neceiver and device |
| CN106814374A (en) * | 2016-12-23 | 2017-06-09 | 湖南北云科技有限公司 | A kind of reception device and method of GPS L5 signals |
| CN107688188A (en) * | 2017-07-28 | 2018-02-13 | 桂林电子科技大学 | A kind of GPS L1C/A and L1C combined signals catching method and satellite navigation receiver |
| CN107688188B (en) * | 2017-07-28 | 2020-09-15 | 桂林电子科技大学 | GPS L1C/A and L1C signal joint acquisition method and satellite navigation receiver |
| CN109581432A (en) * | 2018-12-20 | 2019-04-05 | 西安空间无线电技术研究所 | A kind of satellite-based navigation receiver tracking loop circuit and its processing method |
| CN109633714A (en) * | 2018-12-26 | 2019-04-16 | 西安空间无线电技术研究所 | A kind of L2P(Y of high W code adaptability) signal trace method |
| CN109633715A (en) * | 2018-12-29 | 2019-04-16 | 西安开阳微电子有限公司 | A method of based on parallel phase acquisition GPS and Beidou three generations's signal |
| CN109633715B (en) * | 2018-12-29 | 2021-04-30 | 西安开阳微电子有限公司 | Method for capturing GPS and Beidou third-generation signals based on parallel code phases |
| CN112527238A (en) * | 2020-11-25 | 2021-03-19 | 中国电子科技集团公司第五十四研究所 | Satellite navigation signal correlation peak low resource construction device |
| CN112527238B (en) * | 2020-11-25 | 2022-03-04 | 中国电子科技集团公司第五十四研究所 | Satellite navigation signal correlation peak low resource construction device |
| CN115001558A (en) * | 2022-08-03 | 2022-09-02 | 湖南跨线桥航天科技有限公司 | P code signal regeneration forwarding method of GPS based on W code real-time estimation |
| CN115001558B (en) * | 2022-08-03 | 2022-11-15 | 湖南跨线桥航天科技有限公司 | P code signal regeneration forwarding method of GPS based on W code real-time estimation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102116866B (en) | 2013-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102116866B (en) | Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier | |
| CN101826889B (en) | Binary offset carrier signal tracking loop | |
| CN101132191B (en) | Baseband signal processing method for GNSS receiver | |
| CN104407323B (en) | A kind of high dynamic low signal-to-noise ratio spread-spectrum signal pseudo-code time-delay measuring method | |
| CN102338878B (en) | Novel multi-path inhibition BOC (Binary Offset Carrier) code tracking method and code tracking ring | |
| CN102590835B (en) | GPS/INS tightly integrated tracking loop Gauss code phase discriminator and design method thereof | |
| CN102608626A (en) | High-sensitivity satellite navigation signal capturing method and system | |
| CN101242195B (en) | A constitution and its operation method for frequency spreading tracking loop | |
| CN204101732U (en) | A kind of GNSS New System signal capture device | |
| CN102183770A (en) | GPS (Global Positioning System) pseudo-random code tracking loop for preventing multi-path interference and method for preventing multi-path interference thereof | |
| CN104849732B (en) | A kind of binary offset carrier radio frequency navigation signal trace method | |
| CN106291614A (en) | For the device of tracking satellite radio navigation signal in multi-path environment | |
| CN103176189A (en) | Near-far effect suppressor for high-flexibility satellite navigation receiver and near-far effect suppressing method thereof | |
| Yang et al. | Post-correlation semi-coherent integration for high-dynamic and weak GPS signal acquisition | |
| CN117214926A (en) | Broadband composite navigation signal tracking method | |
| CN103439718A (en) | Unambiguous tracking unit of high-order BOC modulation signals | |
| Khan et al. | Acquisition strategies of GNSS receiver | |
| JP2015513085A (en) | Low-power asynchronous GPS baseband processor | |
| KR101475036B1 (en) | Satellite signal multipass tracking system using mainpeak quality of gps and galileo satellite signal | |
| CN108051827A (en) | BOC modulated signals are without fuzzy code tracking method | |
| CN103439720A (en) | GPS L2C signal capture method | |
| US7248624B2 (en) | Bit synchronization in a communications device | |
| CN104459733B (en) | Method for improving GPS signal L1-P(Y) code tracking performance | |
| Yao | Unambiguous processing techniques of binary offset carrier modulated signals | |
| Sagiraju et al. | Block correlator for tracking GPS/GNSS Signals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |