CN107367749B - A kind of navigation multipath effect suppressing method based on space-time big data - Google Patents
A kind of navigation multipath effect suppressing method based on space-time big data Download PDFInfo
- Publication number
- CN107367749B CN107367749B CN201710576852.9A CN201710576852A CN107367749B CN 107367749 B CN107367749 B CN 107367749B CN 201710576852 A CN201710576852 A CN 201710576852A CN 107367749 B CN107367749 B CN 107367749B
- Authority
- CN
- China
- Prior art keywords
- signal
- navigation
- space
- big data
- module
- 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.)
- Active
Links
Classifications
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- 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)
- Navigation (AREA)
Abstract
The present invention relates to a kind of navigation multipath effect suppressing method based on space-time big data, comprises the following steps that (1) establishes space-time big data multi-path information table；Using time, the coordinate calculated by original input signal as 2-d index, using corresponding navigational location coordinates offset as content；(2) space-time big data multi-path information table is shared in step (1) to the other navigation neceiver users built in table section；(3) space-time big data multi-path information table is loaded into local data base；(4) when other navigation neceiver users receive navigation coordinate in the region, if navigation coordinate jumps, the space-time big data multi-path information table in local data base is then retrieved, retrieval obtains corresponding navigational location coordinates offset and is modified, and obtains positioning result.The present invention is based on shared thoughts, while inhibiting multipath effect, reduce the complexity of multipath mitigation algorithms in navigation digital medium-frequency signal.
Description
Technical field
The present invention relates to a kind of navigation multipath effect suppressing method based on space-time big data belongs to Satellite Navigation Technique neck
Domain.
Background technique
Satellite navigation has the characteristics that round-the-clock, continuity and real-time, may provide the user with positioning, tests the speed and time service
Deng service, every field has been widely used in it, and application range is still constantly expanding.
Satellite navigation receiver positioning accuracy will receive the influence of various factors, and positioning result and actual bit is caused to be equipped with one
Determine deviation.In the environment that urban high-rise building is stood in great numbers, multi-path jamming is one of main source of error, and this error can be with the time
Change with the change in location of receiver, is difficult to accurately eliminate from location algorithm.Due to the presence of multipath signal, so that receiving
Signal and the auto-correlation function curve of local pseudo noise code generate distortion, introduce code phase driscrimination error and code phase measuring misses
Difference.Meanwhile multipath signal also can bring error to the measurement of carrier phase, eventually lead to positioning result inaccuracy, or even occur
Position hopping.
Two classes are broadly divided into using the multipaths restraint and removing method of digital medium-frequency signal processing technique, one kind is to improve phase
Device or code ring discriminator design are closed, to achieve the purpose that reduce multipath error, such as narrow space correlator technology, double difference discriminator technology
Deng.Such methods are realized simply, but the rejection of multipath is usually unable to satisfy high-precision positioning requirements；Another kind of method
It is to estimate the parameter of each multi-path signal components, and these multi-path signal components are subtracted from total reception signal and are restored
Direct wave signal out, such as multipath estimate delay locked loop (MEDLL), Vision correlator technology, these technologies can have
Reduce the multipath effect of code phase and carrier-phase measurement in effect ground.But the optimum estimation for solving multipath signal parameter
Method realization is complex, significantly increases the calculation amount of decoding algorithm, is restricted in low-power consumption application.
Summary of the invention
In view of the deficiencies of the prior art, the invention proposes a kind of navigation multipath effect inhibition side based on space-time big data
Method.
Core of the invention thought be acquisition city etc. high buildings stand in great numbers, the multipath parameter in Yi Fasheng multipath effect region, build
The multi-path information table of the space-time that is based on big data, and other navigation neceivers that the multi-path information table shares to the region are used
Family, user correct positioning result by retrieval multi-path information table.
The technical solution of the present invention is as follows:
A kind of navigation multipath effect suppressing method based on space-time big data, comprises the following steps that
(1) space-time big data multi-path information table is established；The space-time big data multi-path information table includes the time, by original
Coordinate that input signal calculates, navigational location coordinates offset, the space-time big data multi-path information table with the time, pass through original
The coordinate that beginning input signal calculates is 2-d index, to correspond under time, the coordinate that corresponding original input signal calculates
Navigational location coordinates offset is content；The time refers to original input signal receiving time；It is described by being originally inputted letter
Number coordinate calculated refers to that navigation neceiver receives original figure intermediate-freuqncy signal (comprising one or more multipath signals
Signal), the navigation coordinate with multipath error calculated by standard capture, tracking and demodulating algorithm；The navigation position
Coordinate shift amount refers to the difference of navigational location coordinates and the coordinate calculated above by original signal without multipath error；
(2) the space-time big data multi-path information table that step (1) obtains shares in step (1) to establish space-time big data more
Other navigation neceiver users in the region of diameter information table；
(3) other navigation neceiver users add the space-time big data multi-path information table that step (1) obtains in the region
It is downloaded in local data base；
(4) other navigation neceiver users receive navigation coordinate (X in the region*′,Y*′,Z*′) when, if navigation is sat
Mark (X*′,Y*′,Z*′) jump, in the presence of having multipath signal, instantaneous variation can occur for navigation coordinate, external
Performance is exactly that coordinate jumps, and such case is also frequently encountered when usually being navigated with cell phone map.Then with jump after
Position and the time be indexed search local data base in space-time big data multi-path information table, retrieval obtain corresponding navigation bits
It sets coordinate shift amount (△ X, △ Y, △ Z), amendment obtains positioning result (X, Y, Z), shown in makeover process such as formula (I), such as Tab phenolphthaleinum
Navigate coordinate (X*′,Y*′,Z*′) do not jump, then without coordinate modification；
Preferred according to the present invention, the step (1) establishes space-time big data multi-path information table by step A-B, including
Steps are as follows:
A, original input signal s (t) is divided into 3 branches: shown in the expression formula of original input signal s (t) such as formula (II):
In formula (II), sdIt (t) is direct wave signal, siIt (t) is reflection wave signal i, M is back wave number, and 0 < i≤M, A are
Signal amplitude, p (t) be value be ± 1 numeric data code and pseudo noise code exclusive or and, f be consider Doppler effect after carrier frequency
Rate, αiIt is attenuation coefficient of the reflection wave signal i relative to direct wave signal, τiIt is reflection wave signal i relative to direct wave signal
Propagation delay,It is the variation of back wave i carrier phase；
In first branch, original input signal s (t) is successively captured, tracks, demodulate, acquisition includes multipath
Navigational location coordinates (the X of error*,Y*,Z*)；
In Article 3 branch, original input signal s (t) is subjected to pre-capture, judge in original input signal s (t) whether
There are multipath signals, if it is present entering signal separator estimates corresponding multipath parameter, and enter local back wave letter
Number generator generates local reflection wave signal s'(t according to corresponding multipath parameter), if it does not exist, then local back wave is believed
Number generator does not work；The multipath parameter includes back wave number M, decaying of the reflection wave signal i relative to direct wave signal
Factor alphai, delay, τ of the reflection wave signal i relative to direct wave signali；The multipath signal, that is, the reflection wave signal refers to anti-
Ejected wave is the signal that the signal of navigation satellite transmitting generates after reflection；
In Article 2 branch, the local reflection wave signal s'(t of original input signal s (t) and the generation of Article 3 branch) make
Difference obtains direct wave signal sd(t), direct wave signal sd(t) it successively captured, tracked, demodulated, obtain revised lead
Navigate position coordinates (X0,Y0,Z0)；
B, navigational location coordinates (X after correcting0,Y0,Z0) with include multipath error navigational location coordinates (X*,Y*,
Z*) make it is poor, obtain navigational location coordinates offset (△ X, △ Y, △ Z), it may be assumed that
Recording Article 2 branch original input signal s (t) receiving time is the time in space-time big data multi-path information table,
Record the navigational location coordinates (X of the multipath error of first branch generation*,Y*,Z*) calculated by original input signal
Coordinate, the navigational location coordinates offset recorded (△ X, △ Y, △ Z) are on corresponding in space-time big data multi-path information table
The navigational location coordinates offset under time, the coordinate that corresponding above-mentioned original input signal calculates is stated, with the time, is originally inputted
The coordinate that signal calculates is 2-d index, establishes space-time big data multi-path information table, it is inclined to store corresponding navigational location coordinates
Shifting amount.
Preferred according to the present invention, local reflection wave signal s'(t is generated according to corresponding multipath parameter), s'(t) ask
It takes shown in formula such as formula (IV):
Preferred according to the present invention, in the step (4), other navigation neceiver users receive navigation coordinate in the region
(X*′,Y*′,Z*′), comprise the following steps that input signal successively by capturing, tracking, calculating navigation coordinate (X*′,Y*′,
Z*′)。
It is preferred according to the present invention, establish the realization circuit of space-time big data multi-path information table, including trapping module one, with
Track module one, demodulation module one, adder one, trapping module two, tracking module two, demodulation module two, adder two, pre-capture
Module, demultiplexer, local reflection wave signal generator, space-time big data multi-path information table module, by original input signal
Be divided into 3 branches: the first branch includes the trapping module one being sequentially connected in series, tracking module one, demodulation module one, adds
Musical instruments used in a Buddhist or Taoist mass two, the second branch include the adder one being sequentially connected in series, trapping module two, tracking module two, demodulation module
Two, adder two, the third branch include the pre-capture module being sequentially connected in series, demultiplexer, local back wave letter
Number generator, adder one, trapping module two, tracking module two, demodulation module two, adder two, the adder two connect
The space-time big data multi-path information table module.
Preferred according to the present invention, the trapping module one, trapping module two are used to obtain code phase, the carrier frequency of signal
The coarse value of rate；The tracking module one, tracking module two are used to obtain the exact value of the code phase of signal, carrier frequency；Institute
State demodulation module one, demodulation module two is finally calculated and led for obtaining the satellite position and pseudo-range information for including in signal
Navigate location information；The pre-capture module is used to obtain the correlation function of input signal and local pseudo noise codeAnd judge in input signal with the presence or absence of multipath signal；The demultiplexer
Isolate corresponding multipath parameter in multipath signal；The local reflection wave signal generator is for generating local back wave letter
Number；One input terminal of adder is respectively input signal and the local back wave letter that local reflection wave signal generator generates
Number, output end is that the signal after difference is made in two inputs, that is, removes the direct wave signal of back wave；Two input terminal of the adder difference
For the navigation position information (X containing multipath error*,Y*,Z*) and the navigation position information (X that obtains by multipaths restraint0,Y0,Z0),
Output end is the difference of two inputs, i.e. navigational location coordinates offset (△ X, △ Y, △ Z)；The space-time big data multi-path information
Table for storing navigational location coordinates offset (△ X, △ Y, △ Z), and with local other navigation user sharings.
Preferred according to the present invention, in the step (4), other navigation neceiver users resolve navigation coordinate simultaneously in region
The realization circuit being modified, including trapping module three, tracking module three, demodulation module three, adder three, local data base；
The trapping module three, tracking module three, demodulation module three, adder three are sequentially connected in series, the space-time big data multi-path information
Table module, local data base, adder three are sequentially connected in series；
The trapping module three is used to obtain the coarse value of the code phase of signal, carrier frequency；The tracking module three is used
In the exact value for obtaining the code phase of signal, carrier frequency；The demodulation module three is for obtaining the satellite position for including in signal
It sets and pseudo-range information, and finally calculates navigation position information (X*′,Y*′,Z*′)；Two input terminals of the adder three are distinguished
For the navigation position information (X containing multipath error*′,Y*′,Z*′) and local data base in the navigational location coordinates offset that stores
(△ X, △ Y, △ Z) passes through the sum of two input of output end output of adder three, i.e., revised navigation information (X, Y, Z).
The invention has the benefit that
1, multipath effect suppressing method proposed by the present invention is the thought shared based on big data, passes through multipath in region
The foundation of information table and shared, allows area navigation receiver user to obtain the navigation position of current time current location
Coordinate shift amount corrects original positioning result, keeps positioning result more accurate, while also inhibiting field to provide for current multi-path
A kind of new approaches.
2, the present invention in space-time big data multi-path information table data, be multipath parameter estimation on the basis of carry out multipath
It is obtained after inhibition, this process ensure that positioning accuracy of the invention；Space-time big data multi-path information table is shared, so that
The user that navigates in region can also directly obtain current navigational location coordinates offset even if in the case where offline by retrieval
Amount, the operation time for saving multipath parameter estimation in conventional multi-path restrainable algorithms effectively subtract while guaranteeing positioning accuracy
Multipath mitigation algorithms complexity is lacked.
Detailed description of the invention:
Fig. 1 is the flow diagram that the present invention establishes space-time big data multi-path information table；
Fig. 2 is the flow diagram of the navigation multipath effect suppressing method the present invention is based on space-time big data.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawings of the specification, but not limited to this:
Embodiment 1
A kind of navigation multipath effect suppressing method based on space-time big data, with the digital medium-frequency signal in Beidou receiver
For the application for handling part, comprise the following steps that
(1) space-time big data multi-path information table is established；Space-time big data multi-path information table includes the time, by being originally inputted
Beidou coordinate that signal calculates, navigational location coordinates offset, space-time big data multi-path information table with the time, by original defeated
Entering coordinate that signal calculates is 2-d index, under the Beidou coordinate that corresponds to the time, calculated by original input signal
Navigational location coordinates offset is content；The time refers to original input signal receiving time；It is described by being originally inputted letter
Number coordinate calculated refers to that navigation neceiver receives original figure intermediate-freuqncy signal (comprising one or more multipath signals
Signal), the navigation coordinate with multipath error calculated by standard capture, tracking and demodulating algorithm；The navigation position
Coordinate shift amount refers to the difference of navigational location coordinates and the coordinate calculated above by original signal without multipath error；
Space-time big data multi-path information table is established by step A-B, as shown in Figure 1, comprising:
A, Beidou B1I digital medium-frequency signal s (t) is divided into 3 branches: the expression of Beidou B1I digital medium-frequency signal s (t)
Shown in formula such as formula (II):
In formula (II), sdIt (t) is direct wave signal, siIt (t) is reflection wave signal i, M is back wave number, and 0 < i≤M, A are
Signal amplitude, p (t) be value be ± 1 numeric data code and pseudo noise code exclusive or and, f be consider Doppler effect after carrier frequency
Rate, αiIt is attenuation coefficient of the reflection wave signal i relative to direct wave signal, τiIt is reflection wave signal i relative to direct wave signal
Propagation delay,It is the variation of back wave i carrier phase；
In first branch, Beidou B1I digital medium-frequency signal s (t) is successively captured, tracks, demodulate, acquisition includes
There is the Beidou navigation position coordinates (X of multipath error*,Y*,Z*)；
In Article 3 branch, Beidou B1I digital medium-frequency signal s (t) is subjected to pre-capture, judges Beidou B1I digital intermediate frequency
It goes forward side by side with the presence or absence of multipath signal if it is present entering signal separator estimates corresponding multipath parameter in signal s (t)
Enter local reflection wave signal generator, local reflection wave signal s'(t generated according to corresponding multipath parameter), if it does not,
Then local reflection wave signal generator does not work；Multipath parameter includes back wave number M, and reflection wave signal i is relative to direct wave
The attenuation coefficient α of signali, delay, τ of the reflection wave signal i relative to direct wave signali；The multipath signal, that is, the back wave
Signal refers to that back wave is the signal that the signal of navigation satellite transmitting generates after reflection；S'(t) seek formula such as formula
(IV) shown in:
In Article 2 branch, the local reflection wave signal of Beidou B1I digital medium-frequency signal s (t) and the generation of Article 3 branch
S'(t it is poor) to make, and obtains direct wave signal sd(t), direct wave signal sd(t) it successively captured, tracked, demodulated, corrected
Navigational location coordinates (X afterwards0,Y0,Z0)；
B, navigational location coordinates (X after correcting0,Y0,Z0) with include multipath error navigational location coordinates (X*,Y*,
Z*) make it is poor, obtain navigational location coordinates offset (△ X, △ Y, △ Z), it may be assumed that
Recording Article 2 branch original input signal s (t) receiving time is the time in space-time big data multi-path information table,
Record the navigational location coordinates (X of the multipath error of first branch generation*,Y*,Z*) calculated by original input signal
Coordinate, the navigational location coordinates offset recorded (△ X, △ Y, △ Z) are on corresponding in space-time big data multi-path information table
The navigational location coordinates offset under time, the coordinate that corresponding above-mentioned original input signal calculates is stated, with the time, is originally inputted
The coordinate that signal calculates is 2-d index, establishes space-time big data multi-path information table, it is inclined to store corresponding navigational location coordinates
Shifting amount.
(2) the space-time big data multi-path information table that step (1) obtains shares in step (1) to establish space-time big data more
Other navigation neceiver users in the region of diameter information table；
(3) the space-time big data multi-path information table that other navigation neceiver users obtain step (1) in the region loads
Into local data base；
(4) as shown in Fig. 2, input signal is successively by capturing, tracking, calculating navigation coordinate (X*′,Y*′,Z*′)
If navigation coordinate (X*′,Y*′,Z*′) jump, in the presence of having multipath signal, navigation coordinate can occur instantaneous
Variation, external manifestation is exactly that coordinate jumps, and such case is also frequently encountered when usually being navigated with cell phone map.Then
Corresponding navigational location coordinates offset (△ X, △ Y, △ Z) is obtained for retrieval with the time with after the jump position, amendment obtains
Positioning result (X, Y, Z), shown in makeover process such as formula (I), if navigation coordinate (X*′,Y*′,Z*′) do not jump, then not into
Row coordinate modification
Establish the realization circuit of space-time big data multi-path information table, including trapping module one, tracking module one, demodulation module
One, adder one, trapping module two, tracking module two, demodulation module two, adder two, pre-capture module, demultiplexer,
Original input signal is divided into 3 branches: first by local reflection wave signal generator, space-time big data multi-path information table module
Branch includes the trapping module one being sequentially connected in series, tracking module one, demodulation module one, adder two, and second branch includes
The adder one, trapping module two, tracking module two, demodulation module two, the adder two being sequentially connected in series, third branch include
The pre-capture module that is sequentially connected in series, demultiplexer, local reflection wave signal generator, adder one, trapping module two,
Tracking module two, demodulation module two, adder two, the adder two connect space-time big data multi-path information table module.
Trapping module one, trapping module two are used to obtain the coarse value of the code phase of signal, carrier frequency；Tracking module
One, tracking module two is used to obtain the exact value of the code phase of signal, carrier frequency；The demodulation module one, demodulation module two
Satellite position and pseudo-range information for obtaining including in signal, and finally calculate navigation position information；The pre-capture mould
Block is used to obtain the correlation function of input signal and local pseudo noise codeAnd sentence
It whether there is multipath signal in disconnected input signal；The demultiplexer isolates corresponding multipath parameter in multipath signal；Institute
Local reflection wave signal generator is stated for generating local reflection wave signal；One input terminal of adder is respectively input signal
The local reflection wave signal generated with local reflection wave signal generator, output end are that the signal after difference is made in two inputs, that is, are removed
The direct wave signal of back wave；Two input terminal of adder is respectively the navigation position information (X containing multipath error*,Y*,Z*)
With the navigation position information (X obtained by multipaths restraint0,Y0,Z0), output end is the difference of two inputs, i.e. navigational location coordinates
Offset (△ X, △ Y, △ Z)；The space-time big data multi-path information table is for storing navigational location coordinates offset (△ X, △
Y, △ Z), and with local other navigation user sharings.
In step (4), other navigation neceiver users resolve navigation coordinate and carry out modified realization circuit in region, wrap
Include trapping module three, tracking module three, demodulation module three, adder three, local data base；The trapping module three, tracking mould
Block three, demodulation module three, adder three are sequentially connected in series, the space-time big data multi-path information table module, local data base, addition
Device three is sequentially connected in series；
Trapping module three is used to obtain the coarse value of the code phase of signal, carrier frequency；The tracking module three is for obtaining
Obtain the code phase of signal, the exact value of carrier frequency；Satellite position that the demodulation module three is used to obtain including in signal and
Pseudo-range information, and finally calculate navigation position information (X*′,Y*′,Z*′)；Two input terminals of the adder three are respectively to contain
Navigation position information (the X of multipath error*′,Y*′,Z*′) and local data base in store navigational location coordinates offset (△ X,
△ Y, △ Z), pass through the sum of two input of output end output of adder three, i.e., revised navigation information (X, Y, Z).
Embodiment 2
According to a kind of navigation multipath effect suppressing method based on space-time big data described in embodiment 1, difference is,
Digital medium-frequency signal processing part is applied in the gps receiver.
Claims (6)
1. a kind of navigation multipath effect suppressing method based on space-time big data, which is characterized in that comprise the following steps that
(1) space-time big data multi-path information table is established；The space-time big data multi-path information table includes the time, by being originally inputted
Coordinate that signal calculates, navigational location coordinates offset, the space-time big data multi-path information table with the time, by original defeated
Entering the coordinate that signal calculates is 2-d index, to correspond to the navigation under time, the coordinate that corresponding original input signal calculates
Position coordinates offset is content；The time refers to original input signal receiving time；It is described to pass through original input signal solution
The coordinate of calculating refers to that navigation neceiver receives original figure intermediate-freuqncy signal, passes through standard capture, tracking and demodulating algorithm solution
The navigation coordinate with multipath error calculated；The navigational location coordinates offset refers to the navigation position without multipath error
The difference of coordinate and the coordinate calculated above by original signal；Space-time big data multi-path information table is established by step A-B,
It comprises the following steps that
A, original input signal s (t) is divided into 3 branches: shown in the expression formula of original input signal s (t) such as formula (II):
In formula (II), sdIt (t) is direct wave signal, siIt (t) is reflection wave signal i, M is back wave number, and 0 < i≤M, A are signal
Amplitude, p (t) be value be ± 1 numeric data code and pseudo noise code exclusive or and, f be consider Doppler effect after carrier frequency, αi
It is attenuation coefficient of the reflection wave signal i relative to direct wave signal, τiIt is propagation of the reflection wave signal i relative to direct wave signal
Delay,It is the variation of back wave i carrier phase；
In first branch, original input signal s (t) is successively captured, tracks, demodulate, acquisition includes multipath error
Navigational location coordinates (X*,Y*,Z*)；
In Article 3 branch, original input signal s (t) is subjected to pre-capture, judges to whether there is in original input signal s (t)
Multipath signal if it is present entering signal separator estimates corresponding multipath parameter, and enters local reflection wave signal hair
Raw device generates local reflection wave signal s'(t according to corresponding multipath parameter), if it does not exist, then local reflection wave signal hair
Raw device does not work；The multipath parameter includes back wave number M, attenuation coefficient of the reflection wave signal i relative to direct wave signal
αi, delay, τ of the reflection wave signal i relative to direct wave signali；The multipath signal, that is, the reflection wave signal, refers to back wave
The signal generated after reflection for the signal of navigation satellite transmitting；
In Article 2 branch, local reflection wave signal s'(t that original input signal s (t) and Article 3 branch generate) make poor, it obtains
To direct wave signal sd(t), direct wave signal sd(t) it successively captured, tracked, demodulated, obtain revised navigation position
Coordinate (X0,Y0,Z0)；
B, navigational location coordinates (X after correcting0,Y0,Z0) with include multipath error navigational location coordinates (X*,Y*,Z*) make
Difference obtains navigational location coordinates offset (△ X, △ Y, △ Z), it may be assumed that
Recording Article 2 branch original input signal s (t) receiving time is the time in space-time big data multi-path information table, record
Navigational location coordinates (the X for the multipath error that first branch generates*,Y*,Z*) it is the seat calculated by original input signal
Mark, the navigational location coordinates offset (△ X, △ Y, △ Z) recorded are above-mentioned to correspond in space-time big data multi-path information table
Navigational location coordinates offset under the coordinate that time, corresponding above-mentioned original input signal calculate, with the time, is originally inputted letter
Number coordinate calculated is 2-d index, establishes space-time big data multi-path information table, stores corresponding navigational location coordinates offset
Amount；
(2) the space-time big data multi-path information table that step (1) obtains is shared in step (1) and establishes space-time big data multipath letter
Cease other navigation neceiver users in the region of table；
(3) the space-time big data multi-path information table that step (1) obtains is loaded by other navigation neceiver users in the region
In local data base；
(4) other navigation neceiver users receive navigation coordinate (X in the region*′,Y*′,Z*′) when, if navigation coordinate
(X*′,Y*′,Z*′) jump, then using after the jump position and time as the space-time big data in indexed search local data base
Multi-path information table, retrieval obtain corresponding navigational location coordinates offset (△ X, △ Y, △ Z), amendment obtain positioning result (X,
Y, Z), shown in makeover process such as formula (I), if navigation coordinate (X*′,Y*′,Z*′) do not jump, then without coordinate modification；
2. a kind of navigation multipath effect suppressing method based on space-time big data according to claim 1, which is characterized in that
Generate local reflection wave signal s'(t according to corresponding multipath parameter), s'(t) to seek formula such as formula (IV) shown:
3. a kind of navigation multipath effect suppressing method based on space-time big data according to claim 1, which is characterized in that
In the step (4), other navigation neceiver users receive navigation coordinate (X in the region*′,Y*′,Z*′), it comprises the following steps that
Input signal is successively by capturing, tracking, calculating navigation coordinate (X*′,Y*′,Z*′)。
4. a kind of navigation multipath effect suppressing method based on space-time big data according to claim 1, which is characterized in that
Establish the realization circuit of space-time big data multi-path information table, including trapping module one, tracking module one, demodulation module one, addition
Device one, trapping module two, tracking module two, demodulation module two, adder two, pre-capture module, demultiplexer, local reflection
Wave generator, space-time big data multi-path information table module, original input signal is divided into 3 branches: the first branch includes
The trapping module one, tracking module one, the demodulation module one, adder two being sequentially connected in series, second branch include being sequentially connected in series
The adder one, trapping module two, tracking module two, demodulation module two, adder two, third branch include be sequentially connected in series
The pre-capture module, demultiplexer, local reflection wave signal generator, adder one, trapping module two, tracking module
Two, demodulation module two, adder two, the adder two connect space-time big data multi-path information table module.
5. a kind of navigation multipath effect suppressing method based on space-time big data according to claim 4, the capture mould
Block one, trapping module two are used to obtain the coarse value of the code phase of signal, carrier frequency；The tracking module one, tracking module
Two for obtaining the code phase of signal, the exact value of carrier frequency；The demodulation module one, demodulation module two are for obtaining signal
In include satellite position and pseudo-range information, and finally calculate navigation position information；The pre-capture module is defeated for obtaining
Enter the correlation function of signal and local pseudo noise codeAnd judge in input signal
With the presence or absence of multipath signal；The demultiplexer isolates corresponding multipath parameter in multipath signal；The local back wave
Signal generator is for generating local reflection wave signal；One input terminal of adder is respectively input signal and local back wave
The local reflection wave signal that signal generator generates, output end are that the signal after difference is made in two inputs, that is, remove the direct projection of back wave
Wave signal；Two input terminal of adder is respectively the navigation position information (X containing multipath error*,Y*,Z*) and by multipath suppression
Navigation position information (the X being made0,Y0,Z0), the differences that output end inputs for two, i.e. navigational location coordinates offset (△ X,
△Y,△Z)；The space-time big data multi-path information table is used to store navigational location coordinates offset (△ X, △ Y, △ Z), and with
Local other navigation user sharings.
6. a kind of navigation multipath effect suppressing method based on space-time big data according to claim 4, which is characterized in that
In the step (4), other navigation neceiver users resolve navigation coordinate and carry out modified realization circuit in region, including catch
Obtain module three, tracking module three, demodulation module three, adder three, local data base；The trapping module three, tracking module three,
Demodulation module three, adder three are sequentially connected in series, the space-time big data multi-path information table module, local data base, adder three
It is sequentially connected in series；
The trapping module three is used to obtain the coarse value of the code phase of signal, carrier frequency；The tracking module three is for obtaining
Obtain the code phase of signal, the exact value of carrier frequency；Satellite position that the demodulation module three is used to obtain including in signal and
Pseudo-range information, and finally calculate navigation position information (X*′,Y*′,Z*′)；Two input terminals of the adder three are respectively to contain
Navigation position information (the X of multipath error*′,Y*′,Z*′) and local data base in store navigational location coordinates offset (△ X,
△ Y, △ Z), pass through the sum of two input of output end output of adder three, i.e., revised navigation information (X, Y, Z).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576852.9A CN107367749B (en) | 2017-07-14 | 2017-07-14 | A kind of navigation multipath effect suppressing method based on space-time big data |
| PCT/CN2017/104203 WO2019010832A1 (en) | 2017-07-14 | 2017-09-29 | Method for suppressing multi-path effect of navigation based on spatio-temporal big data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576852.9A CN107367749B (en) | 2017-07-14 | 2017-07-14 | A kind of navigation multipath effect suppressing method based on space-time big data |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107367749A CN107367749A (en) | 2017-11-21 |
| CN107367749B true CN107367749B (en) | 2019-03-08 |
Family
ID=60307387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710576852.9A Active CN107367749B (en) | 2017-07-14 | 2017-07-14 | A kind of navigation multipath effect suppressing method based on space-time big data |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107367749B (en) |
| WO (1) | WO2019010832A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567709B (en) * | 2009-05-27 | 2012-10-03 | 西华大学 | Method and device for weakening the influence of multipath on positioning accuracy of receiver antenna |
| US8427366B2 (en) * | 2010-07-27 | 2013-04-23 | Texas Instruments Incorporated | Dual frequency receiver with single I/Q IF pair and mixer |
| CN101950023A (en) * | 2010-08-30 | 2011-01-19 | 鲁郁 | Quick high-precision GPS positioning terminal for acquiring auxiliary information from cellular network by utilizing mobile phone |
| CN102508266B (en) * | 2011-11-07 | 2013-07-31 | 东南大学 | Filter method for restraining multipath interference and noise |
| CN104502923A (en) * | 2014-10-20 | 2015-04-08 | 哈尔滨工程大学 | Airport GNSS (global navigation satellite system) monitoring receiving system signal quality monitoring method |
-
2017
- 2017-07-14 CN CN201710576852.9A patent/CN107367749B/en active Active
- 2017-09-29 WO PCT/CN2017/104203 patent/WO2019010832A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019010832A1 (en) | 2019-01-17 |
| CN107367749A (en) | 2017-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8615032B2 (en) | Process for sub-microsecond time transfer using weak GPS/GNSS signals | |
| US7702003B2 (en) | Multi-path detection method for CDMA receivers | |
| US7280071B2 (en) | Method and apparatus for computing position and velocity of receiver using independently-derived sets of satellites | |
| CN101903794B (en) | Suppression of multipath effects for received SPS signal | |
| TWI391696B (en) | Method, article, and subscriber station for multipath detection of received sps signal | |
| JP2003518819A (en) | How to cancel a strong signal and strengthen a weak spread spectrum signal | |
| CN113009524B (en) | Navigation message bit flip estimation method and system for long-time coherent integration capture | |
| JP2008111684A (en) | Satellite signal tracker and satellite signal receiver with the same | |
| CN103869337A (en) | Signal tracking method of global navigation satellite system, signal tracking apparatus and satellite signal reciever having the same | |
| CN104765052B (en) | GEO navigation satellite high-sensitivity carrier tracking method | |
| CN104898136A (en) | Capturing method of Beidou second-generation B1 signals and system thereof | |
| CN103176189A (en) | Near-far effect suppressor for high-flexibility satellite navigation receiver and near-far effect suppressing method thereof | |
| JP2020512560A (en) | Global Navigation Satellite System (GNSS) signal tracking | |
| JP2007322233A (en) | Device for reproducing phase modulation series | |
| CN113009522A (en) | Long-time coherent integration capturing algorithm module for Doppler frequency residual error correction | |
| CN105572700B (en) | One kind is disturbed channel self-test GPS vector tracking loop methods | |
| CN109581434B (en) | B2a signal capturing method and device | |
| CN107367749B (en) | A kind of navigation multipath effect suppressing method based on space-time big data | |
| CN113009523A (en) | Doppler frequency estimation and compensation method and system for long-time coherent integration capture | |
| KR102155083B1 (en) | Method and apparatus for generating non-ambiguous correlation function for binary offset carrier signal | |
| CA2881495A1 (en) | Method for correlating a received satellite radio-navigation signal and correlation device implementing the method | |
| Jianfeng et al. | Low C/N0 carrier tracking loop based on optimal estimation algorithm in GPS software receivers | |
| JP5679170B2 (en) | Satellite signal receiver | |
| Lv et al. | Study of underwater acoustic positioning and communication integrated system signal | |
| KR100974933B1 (en) | Code tracking apparatus for multipath fading mitigation and method for code tracking using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |