CN105093242B - Fast Acquisition and localization method after a kind of DVB losing lock - Google Patents
Fast Acquisition and localization method after a kind of DVB losing lock Download PDFInfo
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- CN105093242B CN105093242B CN201510441116.3A CN201510441116A CN105093242B CN 105093242 B CN105093242 B CN 105093242B CN 201510441116 A CN201510441116 A CN 201510441116A CN 105093242 B CN105093242 B CN 105093242B
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- satellite
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- pseudorange
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Fast Acquisition and localization method after a kind of DVB losing lock of the present invention, step are as follows：Judge satellite normally during tracking whether losing lock, if losing lock carries out recapture to the satellite of losing lock, if non-losing lock, continue to keep the normal tracking mode of satellite；Satellite is set to the state of recapturing, and whether judges to recapture number more than number thresholding is recaptured, if being not above thresholding, starts to carry out recapture to satellite, otherwise it is assumed that satellite is now invisible, release capture passage；Judge satellite whether acquisition success；Satellite carries out bit synchronization；Calculate the pseudorange of current time satellite；According to the pseudorange being calculated, positioning calculation is carried out, obtains the position of satellite, realization is quickly recaptured and positioned.The present invention can realize in 1s and quickly recapture and position, and improve the operating efficiency of DVB and reduce design cost.
Description
Technical field
The present invention relates to fast Acquisition and localization method after a kind of DVB losing lock, the present invention relates to satellite navigation skill
Art field.
Background technology
Satellite navigation system extensive use on high speed carrier, but carrier, in the environment of high dynamic, satellite is led
The easy losing lock of track loop of boat receiver.And in actual applications, it is desirable to receiver can after losing lock rapid relocation.It is logical
Normal solution has：
(1) by the way of fast quick-recovery, it is not take up capturing passage, Doppler's frequency is extrapolated from the state before losing lock
Rate, code phase and navigation bit border.
(2) by the way of frame count is estimated.Satellite is normally carried out capturing, and after satellite completes bit synchronization, sets pseudorange
Estimated value 70ms, the satellite launch time is calculated, then calculates satellite position.After calculating satellite position, with receiver location meter
Pseudorange is calculated, then calculates the time more than data code length.According to the time estimation frame count.
First method is under actual dynamic environment, and estimation accuracy rate is low, and reliability is poor, on the one hand causes satellite to lose
Lock, it is impossible to complete positioning, positioning result on the other hand may be made to produce bigger saltus step.On the one hand second method requires
Capture time is short, in multi-system receiver, can increase capture time.On the other hand under high dynamic environment, frame count estimation
Can be inaccurate.
The content of the invention
The technology of the present invention solves problem：Overcome the deficiencies in the prior art, there is provided fast after a kind of DVB losing lock
Speed capture and localization method, the present invention preferentially capture losing lock satellite, shorten the capture time of satellite, reach the purpose of fast Acquisition
And pseudorange can be more accurately calculated under high dynamic environment, so as to be rapidly completed positioning calculation, realize in 1s again
Recapture and position.
The present invention technical solution be：
Fast Acquisition and localization method after a kind of DVB losing lock, it is characterised in that step is as follows：
(1) judge satellite normally during tracking whether losing lock, recapture is carried out to the satellite of losing lock if losing lock, and
Into step (2), if non-losing lock, continue to keep the normal tracking mode of satellite；
(2) satellite is set to the state of recapturing, and whether judges to recapture number more than number thresholding is recaptured, if being not above door
Limit, then satellite proceeds by recapture, and enters step (3), otherwise it is assumed that satellite is now invisible, release capture passage；
(3) judge satellite whether acquisition success, if acquisition success, into step (4), otherwise return to step (2)；
(4) satellite carries out bit synchronization, enters step (5) if bit synchronization success, otherwise judges whether bit synchronization number surpasses
Thresholding is crossed, if the return to step (2) more than if, otherwise continues bit synchronization, until being successfully entered step (5)；
(5) pseudorange of current time satellite is calculated；
(6) pseudorange being calculated according to step (5), positioning calculation is carried out, obtains the position of satellite, realization is quickly recaptured
And positioning.
The concrete mode that current time satellite pseudorange is calculated in step (5) is as follows：
(5a) calculates the pseudorange difference and time of losing lock of recapturing unlocked satellite adjacent moment before losing lock, estimates current time
Pseudorange；
ρ1=Δ ρ * t0+ρ0
Wherein, the pseudorange at adjacent ranging moment is poor before Δ ρ expressions losing lock, ρ0Represent the pseudorange before losing lock, t0When representing losing lock
Between；
Time T of (5b) estimation more than data code length1：
T1=T-0.01- ρ1/C-tms
Wherein, when T represents the local at current time, tmsRepresent less than the time of data code length；
(5c) calculates current time satellite pseudorange ρ2：
t1=[T1/0.02]
T2=(t1+1)*0.02+tms
ρ2=T-T2
Wherein, t1Represent that the time counting more than data code length rounds；T2When representing transmitting.
Carry out judging whether that the specific implementation of acquisition success is as follows in satellite recapture and step (3)：
(2a) when being recaptured, Doppler frequency is arranged to the value before losing lock, if acquisition success, jumps out and recaptures shape
State, otherwise into step (2b)；
(2b) offset Doppler frequency, offset is 20KHz ± 10KHz, if acquisition success, jumps out the state of recapturing, no
Then enter step (2c)；
(2c) offset Doppler frequency, offset are -20KHz ± 10KHz, if acquisition success, jump out the state of recapturing, no
Then recapture number and add 1, into step (2) recapture.
Compared with the prior art, the invention has the advantages that：
(1) present invention is by preferentially capturing the satellite of losing lock and how general before losing lock by the way that Doppler frequency is set as
Frequency is strangled, can be realized in 1s and quickly be recaptured and position, the operating efficiency of satellite is improved and reduces design cost.
(2) present invention is by setting the left and right offset of Doppler frequency, can in speed≤6000m/s, acceleration≤
100g, realize under acceleration≤100g/s high dynamic environment and quickly recapture and position, improve the applicability of the present invention with
Versatility, the fast Acquisition under complex environment can be dealt with.
(3) for prior art, the pseudorange estimating algorithm that the present invention uses will not cause positioning result to produce ratio
Larger saltus step, enable to positioning result immediate stability to get off, ensure that the accuracy and reliability of calculating.
Brief description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is that satellite of the present invention recaptures flow chart.
Embodiment
The embodiment of the present invention is further described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, quickly being recaptured after a kind of DVB losing lock and localization method, it is characterised in that step is as follows：
(1) judge satellite normally during tracking whether losing lock, recapture is carried out to the satellite of losing lock if losing lock, and
Into step (2), if non-losing lock, continue to keep the normal tracking mode of satellite；
(2) satellite is set to the state of recapturing, and whether judges to recapture number more than number thresholding is recaptured, if being not above door
Limit, then satellite proceeds by recapture, and enters step (3), otherwise it is assumed that satellite is now invisible, release capture passage；
(3) judge satellite whether acquisition success, if acquisition success, into step (4), otherwise return to step (2)；
As shown in Fig. 2 carry out satellite recapture and judge whether that the specific implementation of acquisition success is as follows：
(2a) when being recaptured, Doppler frequency is arranged to the value before losing lock, if acquisition success, jumps out and recaptures shape
State, otherwise into step (2b)；
(2b) offset Doppler frequency, offset is 20KHz ± 10KHz, if acquisition success, jumps out the state of recapturing, no
Then enter step (2c)；
(2c) offset Doppler frequency, offset are -20KHz ± 10KHz, if acquisition success, jump out the state of recapturing, no
Then recapture number and add 1, into step (2) recapture.
(4) satellite carries out bit synchronization, enters step (5) if bit synchronization success, otherwise judges whether bit synchronization number surpasses
Thresholding is crossed, if the return to step (2) more than if, otherwise continues bit synchronization, until being successfully entered step (5)；
(5) pseudorange of current time satellite is calculated；
The concrete mode for calculating current time satellite pseudorange is as follows：
(5a) calculates the pseudorange difference and time of losing lock of recapturing unlocked satellite adjacent moment before losing lock, estimates current time
Pseudorange；
ρ1=Δ ρ * t0+ρ0
Wherein, the pseudorange at adjacent ranging moment is poor before Δ ρ expressions losing lock, ρ0Represent the pseudorange before losing lock, t0When representing losing lock
Between；
Time T of (5b) estimation more than data code length1：
T1=T-0.01- ρ1/C-tms
Wherein, when T represents the local at current time, tmsThe time of data code length is represented less than, C represents the light velocity；
(5c) calculates current time satellite pseudorange ρ2：
t1=[T1/0.02]
T2=(t1+1)*0.02+tms
ρ2=T-T2
Wherein, t1Represent that the time counting more than data code length rounds；T2When representing transmitting.
(6) pseudorange being calculated according to step (5), positioning calculation is carried out, obtains the position of satellite, realization is quickly recaptured
And positioning.
A specific embodiment is further explained and illustrated to the course of work and operation principle of the present invention below：
By taking gps satellite receiver as an example, some day is chosen as reference, and at 17,27 divide the input for disconnecting receiver in 42 seconds 48
Signal, receiver losing lock, the satellite that receiver receives before losing lock have 2,3,6,9,10,12,17,23,28.At 17,27 divide 47 seconds
88 recover signal, and receiver starts to carry out recapture to the satellite of losing lock.At 17,27 divide 47 seconds 98, No. 3 star acquisition success
And bit synchronization is completed, at 17,27 divide 48 seconds 58, No. 17 star acquisition success and complete bit synchronization, and 27 divide 48 seconds 78,9,10 when 17
With No. 23 star acquisition success and complete bit synchronization.Now, five stars carry out its computation of pseudoranges, also can completes positioning solution
Calculate.Recapturing unlocked and positioning was completed in 0.9 second.
Formula is substituted into 3,9,10,17 and No. 23 stars to calculate, it is specific as follows：
(1) time of losing lock is calculated：t003=47.98-42.48=5.5s, t009=48.78-42.48=6.3s, t010=
48.78-42.48=6.3s t017=48.58-42.48=6.1s, t023In=48.78-42.68=6.1s formulas two after lower target
Position represents satellite number, same as below.After being disconnected due to satellite-signal, some satellites judge that losing lock has delay, such as No. 23 stars,
At 17,27 divide 42 seconds 68 and judge losing lock.
(2) pseudorange at preresearch estimates current time：
By formula ρ1=Δ ρ * t0+ρ0The pseudorange at preresearch estimates current time.Due to Δ ρ and ρ0In tracking mode record
Value, is directly substituted into and is calculated, Δ ρ and ρ0It is respectively in this instance：Δρ03=49.51 and ρ003=22678177.46；Δρ09
=-53.01 and ρ009=24438724.95；Δρ10=-64.35 and ρ010=21894656.59；Δρ17=1.35 and ρ017=
20552709.54；Δρ23=-29.81 and ρ023=24354583.10.Pseudorange before above-mentioned pseudorange difference and losing lock is all the time
It is multiplied by the value after the light velocity.Pseudorange difference difference between the moment of ranging twice, because receiver is that 0.1s is once surveyed in this example
Away from and positioning calculation, therefore time of losing lock is converted into number, is t respectively003=55, t009=63, t010=63, t017=61,
t023=61.All parameters are substituted into formula, obtaining the pseudorange of preresearch estimates is respectively：ρ103=22680900.51, ρ109=
24435385.32 ρ110=21890602.54, ρ117=20552791.89, ρ123=24352764.69.
(3) time of the estimation more than data code length：
By formula T1=T-0.01- ρ1/C-tmsTime of the estimation more than data code length.By taking GPS as an example, GPS numeric data code
Length is 20ms, that is, the time more than 20ms.For the GEO satellite of the Big Dipper, data code length is 2ms.tmsObtained by track loop
Arrive, be respectively in this instance：tms03=0.007, tms09=0.001, tms10=0.010, tms17=0.014, tms23=0.002.T
For it is local when, during local when corresponding each satellite calculates the time, be respectively in this example：T03=120481.88, T09=
120482.78 T10=120482.78, T17=120482.58, T23=120482.78, each parameter is substituted into formula, obtained big
It is respectively in the time of data code length：T103=120481.79, T109=120482.69, T110=120482.69, T117=
120482.49 T123=120482.69.
(4) pseudorange at current time is calculated：
By formula t1=[T1/0.02]、T2=(t1+1)*0.02+tmsAnd ρ2=T-T2Calculate current time pseudorange.In formula
0.02 is the time of data code length.For Big Dipper GEO stars, 0.02 in formula is changed to 0.002.The pseudorange being finally calculated
It is respectively：ρ203=0.076, ρ209=0.082, ρ210=0.073, ρ217=0.069, ρ223=0.081.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (2)
1. fast Acquisition and localization method after a kind of DVB losing lock, it is characterised in that step is as follows：
(1) judge satellite normally during tracking whether losing lock, recapture is carried out to the satellite of losing lock if losing lock, and enter
Step (2), if non-losing lock, continue to keep the normal tracking mode of satellite；
(2) satellite is set to the state of recapturing, and whether judges to recapture number more than number thresholding is recaptured, if being not above thresholding,
Then satellite proceeds by recapture, and enters step (3), otherwise it is assumed that satellite is now invisible, release capture passage；
(3) judge satellite whether acquisition success, if acquisition success, into step (4), otherwise return to step (2)；
(4) satellite carries out bit synchronization, enters step (5) if bit synchronization success, otherwise judges whether bit synchronization number exceedes door
Limit, if the return to step (2) more than if, otherwise continue to recapture step (4) progress bit synchronization；
(5) pseudorange of current time satellite is calculated；Specially：
(5a) calculates the pseudorange difference and time of losing lock of recapturing unlocked satellite adjacent moment before losing lock, estimates the puppet at current time
Away from；
ρ1=Δ ρ * t0+ρ0
Wherein, the pseudorange at adjacent ranging moment is poor before Δ ρ expressions losing lock, ρ0Represent the pseudorange before losing lock, t0Represent time of losing lock；
Time T of (5b) estimation more than data code length1：
T1=T-0.01- ρ1/C-tms
Wherein, when T represents the local at current time, tmsThe time of data code length is represented less than, C represents the light velocity；
(5c) calculates current time satellite pseudorange ρ2：
t1=[T1/0.02]
T2=(t1+1)*0.02+tms
ρ2=T-T2
Wherein, t1Represent that the time counting more than data code length rounds；T2When representing transmitting；
(6) pseudorange being calculated according to step (5), positioning calculation is carried out, obtains the position of satellite, realization is quickly recaptured and determined
Position.
2. fast Acquisition and localization method after a kind of DVB losing lock according to claim 1, it is characterised in that：Institute
State and carry out judging whether that the specific implementation of acquisition success is as follows in satellite recapture and step (3) in step (2)：
(2a) when being recaptured, Doppler frequency is arranged to the value before losing lock, if acquisition success, jumps out the state of recapturing, no
Then enter step (2b)；
(2b) offset Doppler frequency, offset is 20KHz ± 10KHz, if acquisition success, jumps out the state of recapturing, otherwise enters
Enter step (2c)；
(2c) offset Doppler frequency, offset are -20KHz ± 10KHz, if acquisition success, jump out the state of recapturing, otherwise weigh
Catch number and add 1, into step (2) recapture.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646542A (en) * | 2016-12-28 | 2017-05-10 | 中国科学院微电子研究所 | Method of recapturing losing lock satellite signals, microprocessor, and capturing engine |
| WO2019019044A1 (en) * | 2017-07-26 | 2019-01-31 | 深圳市大疆创新科技有限公司 | Pseudorange calculation method and terminal |
| CN109541649B (en) * | 2018-12-07 | 2022-11-25 | 上海航天测控通信研究所 | Method and device for quickly recapturing and positioning satellite navigation receiver after losing lock |
| CN111352132B (en) * | 2020-03-24 | 2022-04-12 | 广东星舆科技有限公司 | GNSS receiver lock losing recapture rapid positioning recovery method |
| CN111366955B (en) * | 2020-03-24 | 2022-05-24 | 广东星舆科技有限公司 | Method for quickly recovering positioning of GNSS receiver after long-time lock losing and recapture |
| CN114690216B (en) * | 2022-06-06 | 2022-09-30 | 长沙金维信息技术有限公司 | Rapid re-capturing positioning method for satellite out-of-lock |
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| CN101424731A (en) * | 2007-10-31 | 2009-05-06 | 中国科学院微电子研究所 | Rapidly recapturing and positioning method under receiver signal deletion condition of global positioning system |
| CN101685150A (en) * | 2009-08-06 | 2010-03-31 | 北京华力创通科技股份有限公司 | Method and device for recapturing unlocked signals of satellite receiver |
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