CN116840859B - Satellite navigation receiver channel maintaining method based on dynamic estimation - Google Patents
Satellite navigation receiver channel maintaining method based on dynamic estimation Download PDFInfo
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Classifications
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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
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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
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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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)
- Radio Relay Systems (AREA)
Abstract
The invention provides a satellite navigation receiver channel maintaining method based on dynamic estimation, which comprises the following steps: the satellite navigation receiver receives a message sending starting signal of the Beidou short message equipment, sets a holding timer and initializes a channel holding operation; carrying out short-time dynamic signal estimation operation, and calculating Doppler frequency shift estimation parameters of a signal channel; generating signal channel carrier loop frequency control data, opening a carrier loop, and directly calculating loop frequency control parameters by using Doppler frequency shift estimation parameters; the satellite navigation receiver receives a message transmission completion signal of the Beidou short message equipment or keeps the timing of the timer to be finished, and the carrier loop is closed again; the signal channel resumes tracking the satellite navigation signal and the channel hold operation is stopped. The invention can assist the satellite navigation receiver to improve the performance, and predicts the channel loop adjustment parameters during the transmission of the Beidou short message by estimating the motion state between the receiver and the satellite, thereby realizing the channel maintenance of the receiver.
Description
Technical Field
The invention relates to the field of satellite navigation receiver application, in particular to a satellite navigation receiver channel maintaining method based on dynamic estimation.
Background
The global satellite navigation system (Global Navigation Satellite System, GNSS) is a radio navigation positioning system capable of providing continuous, high-precision position, velocity and time information to a carrier, and includes one or more satellite constellations, such as the chinese beidou satellite navigation system, the united states global positioning system (Global Positioning System, GPS), the russian glonass satellite navigation system, etc., and thus is widely used in various civil and military fields.
The Beidou short message service is regional satellite short message communication service provided by the China Beidou satellite navigation system, has the advantages of beyond-the-horizon, large capacity, convenience in use and the like, and is widely used for beyond-the-horizon information transmission of various military and civil carriers.
On a carrier with satellite navigation and Beidou short message service capability, because the Beidou short message transmitting frequency is close to the receiving frequency of a common satellite navigation signal (such as a GPS L1 signal, and only about 40MHz frequency interval exists between the center frequencies of the two signals), a satellite navigation receiver cannot normally receive signals due to blocking interference when the Beidou short message is transmitted, and a receiver channel is unlocked.
Under the condition that the transmission time of the Beidou short message is shorter (less than 100 ms), and the transmission time can be predicted in advance, in order to enable the satellite navigation receiver to stably work, a method is provided, and aims at the problem that a receiver channel is out of lock due to the fact that a satellite navigation receiver cannot receive signals caused by high-frequency short-time Beidou short message transmission, and the receiver channel loop adjustment parameters during the Beidou short message transmission period are predicted by utilizing one-dimensional motion state estimation between the receiver and a satellite, so that the receiver channel is kept.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a method for maintaining a channel of a satellite navigation receiver based on dynamic estimation.
The invention provides a satellite navigation receiver channel maintaining method based on dynamic estimation, which comprises the following steps:
step S1: the satellite navigation receiver receives a message sending starting signal of the Beidou short message equipment, sets a holding timer and initializes a channel holding operation;
step S2: carrying out short-time dynamic signal estimation operation, and calculating Doppler frequency shift estimation parameters of a signal channel;
step S3: generating signal channel carrier loop frequency control data, opening a carrier loop, and calculating loop frequency control parameters by using Doppler frequency shift estimation parameters;
step S4: the satellite navigation receiver receives a message transmission completion signal of the Beidou short message equipment or keeps the timing of the timer to be finished, and the carrier loop is closed again;
step S5: the signal channel resumes tracking the satellite navigation signal and the channel hold operation is stopped.
Preferably, in the step S1, after the message sending start signal is valid, the actual message sending needs to be performed within a delay time τ, and the satellite navigation receiver completes the initialization of setting the hold timer and the subsequent channel hold and the subsequent parameter calculation work within the time τ.
Preferably, in step S1, the holding timer sets a time duration asTWhereinTGreater than the maximum possible transmission duration of the messageT tMAX Delay time with actual message transmissionτAnd (3) summing.
Preferably, in step S1, setting is performedSatellite navigation receivers currently havenThe signal channels work normally, and the updating time interval of the tracking parameters of each channel isT s Wherein the firstiThe individual channels are pressed before the start of channel retentionkT s The Doppler shift of the three signals measured before the interval is reserved and respectively set asf id (0)，f id (1) Andf id (2) All as initialization parameters, whereinkIs a multiple of the sampling interval.
Preferably, in step S1, the process is performed,kT s >100ms。
preferably, in the step S2, the carrier and the third-order motion model are describediOne-dimensional movement between satellites tracked by a single channel, in onekT s During the time period, it is assumed that the distance between the carrier and the satellite changes to
（1）
Wherein,for the initial time distance>For the instantaneous speed of one-dimensional movement at the initial moment, +.>Acceleration of one-dimensional movement->Jerk for one-dimensional movement,/->Updating the interval number for the parameter;
the corresponding generated navigation signal Doppler frequency shift mathematical model is as follows:
（2）
wherein,is thatkT s Doppler frequency offset of each update time interval in time period, < >>For the signal carrier centre frequency to be known, +.>Is a constant of the speed of light;
using the reservation in step S1，/>And->Simultaneous equations set
（3）
Calculated to obtain、/>And->As a doppler estimation parameter when the subsequent channel is maintained.
Preferably, in step S3, after the doppler estimation parameter is obtained in step 2, the carrier loop is disconnected in the next channel parameter update period, and the frequency of the carrier loop is controlled by the doppler parameter estimated by equation (4).
（4）。
Preferably, in step S4, after receiving the message transmission completion signal of the beidou short message device, the control of the doppler parameter estimation on the loop is stopped, and at the same time, the carrier loop is closed in the next channel parameter updating period.
Preferably, if the signal of the Beidou short message equipment after message transmission fails and cannot be transmitted to the satellite navigation receiver, the satellite navigation receiver is forced to close a carrier loop in the next channel parameter updating period after the timer is kept to finish timing, and meanwhile, the control of Doppler parameter estimation on the loop is stopped.
Preferably, in the step S5, it is checked whether the carrier loop and the code loop can continue to enter the signal tracking state, and if the carrier loop and the code loop are still in the signal tracking state, the operation is ended; if the channel keeps invalid due to overlarge change of the motion state during the transmission of the Beidou short message, the channel is switched into an out-of-lock heavy-capture state, and the signal is rapidly captured near the estimated Doppler parameter.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can assist the performance improvement work of the satellite navigation receiver, and aims at the problem that the satellite navigation receiver cannot receive signals and the receiver channel is out of lock caused by the high-frequency short-time Beidou short message transmission, and the channel loop adjustment parameters during the Beidou short message transmission are predicted through the motion state estimation between the receiver and the satellite so as to realize the channel maintenance of the receiver.
2. The invention utilizes the characteristic that the satellite navigation receiver and the Beidou short message equipment are arranged on the same platform, the short message equipment can give out message transmitting starting and closing signals, and meanwhile, the maximum message transmitting duration time is predictable, and the invention realizes the maintenance of the receiver channel by carrying out high-order motion state estimation in the receiver. Compared with other algorithms for carrying out signal recapture after the signal is interrupted by the Beidou short message transmitting signal, the method has the advantages that when the flight state of the flight carrier is stable, the channel of the receiver is not unlocked during message transmission, and the receiver does not need to enter a signal recapture flow after the message transmission is completed, so that continuous positioning and time service can be realized.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for maintaining a channel of a satellite navigation receiver based on dynamic estimation.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Aiming at the problem that a satellite navigation receiver is unlocked due to blocking interference when Beidou short message equipment and the satellite navigation receiver work on the same carrier, the invention provides a satellite navigation receiver channel maintaining method based on dynamic estimation, which predicts channel loop adjustment parameters during the Beidou short message transmitting period by using the motion state estimation between the receiver and a satellite, and realizes the receiver channel maintaining.
Further, the satellite navigation receiver channel maintaining method based on dynamic estimation provided by the invention aims at the problem that the satellite navigation receiver cannot receive signals and the receiver channel is out of lock caused by high-frequency short-time Beidou short message transmission, and predicts channel loop adjustment parameters during the Beidou short message transmission by using the motion state estimation between the receiver and a satellite, so as to realize the receiver channel maintaining. The technical scheme of the invention is further specifically described below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a method for maintaining a channel of a satellite navigation receiver with dynamic estimation according to the present invention is shown.
Step 1, a satellite navigation receiver receives a message sending starting signal of Beidou short message equipment, sets a holding timer and initializes a channel holding operation;
the steps include the following settings:
1. after the message transmission start signal is valid, the actual message transmission needs delay timeτImplemented at the time ofτThe internal satellite navigation receiver completes the initialization of setting a holding timer and the subsequent channel holding and the subsequent parameter calculation work;
2. message maximum possible transmission duration is set toT tMAX ；
3. Keeping the set time length of the timer asT，TShould be slightly greater than the maximum possible transmission duration of the messageT tMAX And delay timeτAnd (3) summing;
4. setting the receiver currently hasnThe signal channels work normally, and the updating time interval of the tracking parameters of each channel isT s ；
5. First, theiThe individual channels are pressed before the start of channel retentionkT s The Doppler shift of the three signals measured before the interval is reserved and respectively set asf id (0)，f id (1) Andf id (2) All taken to the next step as initialization parameters.
Wherein,kis a multiple of the sampling interval, usually requiringkT s >100ms。
Step 2, carrying out signal short-time dynamic estimation operation, and calculating Doppler frequency shift estimation parameters of a signal channel;
describing the carrier by a third order motion modeliOne-dimensional movement between satellites tracked by a single channel, i.e. in onekT s During the time period, it is assumed that the distance between the carrier and the satellite changes to
（1）
Wherein,for the initial time distance>For instantaneous speed of one-dimensional movement at initial momentDegree (f)>Acceleration of one-dimensional movement->Jerk for one-dimensional movement,/->Updating interval number for parameter
The corresponding generated mathematical model of the doppler shift of the navigation signal is,
（2）
wherein,is thatkT s Doppler frequency offset of each update time interval in time period, < >>For the signal carrier centre frequency to be known, +.>Is a constant speed of light.
Based on the assumption that the motion of the carrier and the satellite will not be mutated in a short time, it can be considered that the one-dimensional motion between the carrier and the satellite will not be mutated. Thus, to obtain the formula (2)、/>And->Parameters, which can be used with +.>，/>And->The following equations are combined
（3）
And then calculated from (3)、/>And->The Doppler estimation parameter is the Doppler estimation parameter when the subsequent channel is kept.
Step 3, generating signal channel carrier loop frequency control data, wherein the carrier loop is opened, and loop control parameters are calculated directly by using Doppler frequency shift estimation parameters;
still in the form of channelsiFor example, after the doppler estimation parameter is obtained in step 2, the carrier loop is disconnected in the next channel parameter update period, and the frequency of the carrier loop is controlled by the doppler parameter estimated by equation (4).
（4）
Since the code loop is aided by the carrier loop, its control is also controlled by the estimated Doppler parameters after the code loop is disconnected.
Step 4, the satellite navigation receiver receives a message transmission completion signal of the Beidou short message equipment or keeps the timer to finish timing, and the carrier loop is closed again;
after receiving the message transmission completion signal of the Beidou short message equipment, stopping the control of the Doppler parameter estimation on the loop, and closing the carrier loop in the next channel parameter updating period.
If the Beidou short message equipment fails and cannot transmit the Beidou short message equipment message sent signal to the satellite navigation receiver, the satellite navigation receiver is forced to close a carrier loop in the next channel parameter updating period after the timer is kept to finish timing in order to ensure effective work of the receiver, and meanwhile control of Doppler parameter estimation on the loop is stopped.
And 5, the signal channel resumes tracking the satellite navigation signal, and the channel maintaining operation is stopped.
Checking whether the carrier loop and the code loop can enter a signal tracking state continuously, and ending the operation if the carrier loop and the code loop are still in the tracking state. If the channel keeps invalid due to overlarge change of the motion state during the transmission of the Beidou short message, the channel is switched into an out-of-lock heavy-capture state, and the signal is rapidly captured near the estimated Doppler parameter.
In view of the problem that when Beidou short message equipment and a satellite navigation receiver work on the same carrier, beidou short message emission enables the satellite navigation receiver to generate a receiving channel to lose lock due to blocking interference, the method is provided, and aims at the problem that the satellite navigation receiver cannot receive signals and causes the channel to lose lock of the receiver caused by high-frequency short-time Beidou short message emission, channel loop adjustment parameters during Beidou short message emission are predicted by utilizing motion state estimation between the receiver and a satellite, so that the channel of the receiver is kept.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for maintaining a channel of a satellite navigation receiver based on dynamic estimation, comprising the steps of:
step S1: the satellite navigation receiver receives a message sending starting signal of the Beidou short message equipment, sets a holding timer and initializes a channel holding operation;
step S2: carrying out short-time dynamic signal estimation operation, and calculating Doppler frequency shift estimation parameters of a signal channel;
step S3: generating signal channel carrier loop frequency control data, opening a carrier loop, and calculating loop frequency control parameters by using Doppler frequency shift estimation parameters;
step S4: the satellite navigation receiver receives a message transmission completion signal of the Beidou short message equipment or keeps the timing of the timer to be finished, and the carrier loop is closed again;
step S5: the signal channel resumes tracking the satellite navigation signal and the channel hold operation is stopped.
2. The method according to claim 1, wherein in the step S1, after the message transmission start signal is valid, the actual message transmission needs to be performed within a delay time τ, and the satellite navigation receiver completes the initialization of setting the hold timer and the subsequent channel hold and the subsequent parameter calculation.
3. The satellite navigation receiver channel maintenance method based on dynamic estimation of claim 1,the method is characterized in that in the step S1, the holding timer sets the time length asTWhereinTGreater than the maximum possible transmission duration of the messageT tMAX Delay time with actual message transmissionτAnd (3) summing.
4. The method for maintaining a channel of a satellite navigation receiver based on dynamic estimation according to claim 1, wherein in step S1, it is set that the satellite navigation receiver is currently presentnThe signal channels work normally, and the updating time interval of the tracking parameters of each channel isT s Wherein the firstiThe individual channels are pressed before the start of channel retentionkT s The Doppler shift of the three signals measured before the interval is reserved and respectively set asf id (0)，f id (1) Andf id (2) All as initialization parameters, whereinkIs a multiple of the sampling interval.
5. The method for maintaining a channel of a satellite navigation receiver based on dynamic estimation according to claim 4, wherein, in step S1,kT s >100ms。
6. the method according to claim 4, wherein in the step S2, the carrier and the third order motion model are described by a third order motion modeliOne-dimensional movement between satellites tracked by a single channel, in onekT s During the time period, it is assumed that the distance between the carrier and the satellite changes to
（1）
Wherein,for the initial time distance>Is one of initial timeInstantaneous speed of dimensional movement, < >>For one-dimensional motion acceleration,jerk for one-dimensional movement,/->Updating the interval number for the parameter;
the corresponding generated navigation signal Doppler frequency shift mathematical model is as follows:
（2）
wherein,is thatkT s Doppler frequency offset of each update time interval in time period, < >>For the signal carrier centre frequency to be known, +.>Is a constant of the speed of light;
using the reservation in step S1，/>And->Simultaneous equations set
（3）
Calculated to obtain、/>And->As a doppler estimation parameter when the subsequent channel is maintained.
7. The method for maintaining a channel of a satellite navigation receiver based on dynamic estimation according to claim 6, wherein in step S3, after the doppler estimation parameter is obtained in step S2, the carrier loop is disconnected in the next channel parameter update period, and the frequency of the carrier loop is controlled by the doppler parameter estimated by equation (4):
（4）。
8. the method for maintaining a channel of a satellite navigation receiver based on dynamic estimation according to claim 7, wherein in step S4, after receiving a message transmission completion signal of the beidou short message device, the control of the doppler parameter estimation on the loop is stopped, and at the same time, the carrier loop is closed in the next channel parameter update period.
9. The method according to claim 8, wherein if the Beidou short message equipment fails to transmit the signal to the satellite navigation receiver after the completion of timing of the holding timer, the satellite navigation receiver is forced to close the carrier loop in the next channel parameter update period, and control of the loop by the Doppler parameter estimation is stopped.
10. The method according to claim 8, wherein in step S5, it is checked whether the carrier loop and the code loop can continue to enter the signal tracking state, and if the carrier loop and the code loop are still in the signal tracking state, the operation is terminated; if the channel keeps invalid due to overlarge change of the motion state during the transmission of the Beidou short message, the channel is switched into an out-of-lock heavy-capture state, and the signal is rapidly captured near the estimated Doppler parameter.
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