CN101430373B - Continuous tracing and positioning method for global positioning system receiver in signal lack condition - Google Patents
Continuous tracing and positioning method for global positioning system receiver in signal lack condition Download PDFInfo
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- CN101430373B CN101430373B CN2007101769389A CN200710176938A CN101430373B CN 101430373 B CN101430373 B CN 101430373B CN 2007101769389 A CN2007101769389 A CN 2007101769389A CN 200710176938 A CN200710176938 A CN 200710176938A CN 101430373 B CN101430373 B CN 101430373B
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Abstract
The invention discloses a continuous tracking and positioning method in the case of signal absence of a GPS receiver, and relates to the global satellite positioning and navigation field, such as GPS. In the method , certain data used for tracking and positioning are recorded in a normal tracking and positioning state, when the signal is temporarily absent, the continuous satellite tracking and continuous positioning are realized by the data and a pseudo tracking loop, and the normal tracking and positioning method is performed after the signal is recovered. The pseudo tracking and positioning method in the signal absence condition is applicable to the baseband processing chip of any types of GPS receivers, can greatly enhance robustness and starting and positioning speeds of the receiver, and has the advantages of simple structure, low chip area overhead, low cost and convenient transplantation.
Description
Technical field
The present invention relates to global positioning satellite and navigation field, gps system for example, particularly a kind of method that under the gps signal deletion condition, realizes continuing to follow the tracks of and then realize continuous positioning.
Background technology
Global positioning satellite and navigational system, for example the GPS of the U.S. (GPS) comprises one group of satellite constellation (the Navstar satellite is otherwise known as) that sends gps signal, this gps signal can be received the position that machine is used for determining this receiver.Satellite orbit is arranged in a plurality of planes, so that any on earth position can both receive this kind signal from least four satellites.More typical situation is that most on earth places can both receive this kind signal from six above satellites.
The gps signal that each gps satellite transmitted all is a Direct Sequence Spread Spectrum Signal.The signal of commercial use is relevant with standard setting service (SPS), and is referred to as the direct sequence two-phase spread-spectrum signal of thick sign indicating number (C/A sign indicating number), under the carrier wave of 1575.42MHz, has the speed of per second 1.023 million chips.Pseudo noise (PN) sequence length is 1023 chips, corresponding to 1 millisecond time cycle.The PN sign indicating number that each satellites transmits is different (Gold sign indicating number) makes signal to send simultaneously from several satellites, and received simultaneously by a receiver, and is almost noiseless each other.Term " satellite asterisk " is relevant with this PN sign indicating number, can be in order to indicate different gps satellites.
The modulation signal of GPS is the combinational code of navigation message (the D sign indicating number is otherwise known as) and PN sign indicating number.The speed of navigation message is per second 50 bits.The base unit of D sign indicating number is the prime frame of one 1500 bit, and prime frame is divided into the subframe of 5 300 bits again.Wherein subframe one has comprised identification code, star kind data length of time, satellite clock corrected parameter information.Subframe two and subframe three have comprised real-time gps satellite ephemeris (ephemeris), and ephemeris is the main content of current navigator fix information.Subframe four and subframe five have comprised the health status of 1-32 satellite, the almanac (almanac) of UTC calibration information and ionospheric corrections parameter and 1-32 satellite.Almanac is the simplified subset of satellite ephemeris parameter.Broadcasted once in its per 12.5 minutes, the life-span is a week, can extend to 2 months.
One of main target of GPS receiver is to determine the time of arrival of PN sign indicating number.Term " between the GPS arrival " refers to that gps satellite PN sign indicating number arrives the time of GPS receiver.This is to compare with the signal of reception and " slip " local reference is finished until aliging in time with received signal by the PN reference signal that this locality is produced.By being referred to as multiplying each other and integral process of " being correlated with ", these two signals are compared mutually.When two signals were alignment in time, the result of output was maximum.If do once such comparison in the time of every half-chip, in a PN epoch, need finish 2046 comparisons of search so.Must all carry out such search to determine which satellite in sight to all satellites.In addition, the error of received signal frequency (this deviation is to be caused with respect to the Doppler effect that receiver motion produces by satellite) often requires search that the various hypothesis of signal frequency are added.In other words, this search procedure need be got fixed three unknown quantitys by search: visible satellite asterisk, the code phase of the carrier frequency of this satellite and PN sign indicating number.Search procedure takes the parallel mode of extensive correlator to quicken acquisition procedure at commercialization receiver (baseband processing chip) usually.Yet such search and acquisition procedure are still very time-consuming.Cross large-scale parallel correlator simultaneously and also can cause many negative issues such as increasing considerably of power consumption and cost.
Term " is recaptured the time " and is meant the GPS receiver under the normal situation of following the tracks of gps satellite and locating, because of a variety of causes satellite-signal disappearance, and then signal reproduction, get constantly from signal reproduction, to catching the satellite mistiming constantly again.Similarly, term " reorientation time " is meant the GPS receiver under the normal situation of following the tracks of gps satellite and locating, because of a variety of causes satellite-signal disappearance, and then signal reproduction, get constantly from signal reproduction, to the mistiming of reorientating.Term " the pseudo-tracking " is to be used to describe the method for following the tracks of gps satellite under the signal deletion condition.
Usually the GPS baseband chip needs could normally to locate by down a series of processes under the prerequisite without any prior imformation: at first enter the trapped state search of satellite, this process comprises the visible frequency of defending asterisk and this satellites transmits information of search subscriber.In case search available satellite, then change tracking mode over to by a frequency pulling process, make the frequency of receiver consistent with the gps satellite of catching with code phase.Under tracking mode, receiver can the demodulation carrier information obtains the ephemeris and the almanac information of GPS broadcasting, calculates gps satellite time of arrival simultaneously.After obtaining above-mentioned information, receiver can calculate receiver location.When receiver when signal deletion is caught again, if without any prior imformation then need to experience fully such process.This process is very long (＞2 minutes) consuming time usually, and GPS user often expects higher toggle speed.
The GPS receiver often runs into the situation of gps signal disappearance, particularly under the situation that the GPS receiver moves and shelter is more.A typical occasion is the vehicle GPS location receiver that travels in the city.The vehicle that travels often meets with blocking of shelters such as different types of rridges, buildings, tunnel, makes receiver can't receive the gps signal of enough signal to noise ratio (S/N ratio)s.The time span of these signal deletions often from second level do not wait by several minutes.If the signal deletion time is longer, then the GPS receiver need be recaptured.Recapture and the reorientation time of GPS receiver is one of core capabilities of GPS user's care, thereby has attracted considerable research.If but the signal deletion time is shorter, for example the several seconds level wishes that then GPS receives function and continues in some way to follow the tracks of and continue to provide locating information, treats directly to be transformed into normal tracking and station-keeping mode after signal recovers, avoid the very long relatively process of recapturing, realize uninterruptedly location.
How under the situation of the of short duration disappearance of signal, realize the important research direction that lasting tracking and continuous positioning to gps satellite are the GPS Base-Band Processing.
Summary of the invention
The object of the invention provides a kind of and realizes continuing to follow the tracks of under the short signal deletion condition of GPS, relates to global positioning satellite and navigation field, gps system for example, and then realize the method for continuous positioning.
This method is calculated the intensity of receiving satellite signal to adjudicate the situation that signal deletion whether occurs.Normal follow the tracks of and positioning states under write down some and be used to the controlled quentity controlled variable and data of following the tracks of and locating.In case the situation of signal deletion occurs, then attempt tracking mode to be kept a bit of time, and then utilize the navigation information of storage to realize continuous positioning by pseudo-tracking loop.
Comprise, at first signal deletion condition occurs, select to enter normal tracking or pseudo-the tracking according to signal deletion condition then: at signal just often, enter normal tracking, calculate and storing satellite signal trace information according to estimating of received signal intensity; When signal deletion, the satellite-signal trace information that utilizes signal just often to store carries out puppet to be followed the tracks of; Wherein, described pseudo-tracking during signal deletion, utilizes the satellite-signal trace information of storage to produce reproduction carrier wave and reproduction sign indicating number in receiver, keeps the tracking mode to satellite-signal; Described pseudo-tracking, the puppet under the signal deletion are followed the tracks of and are held time less than default holding time, and signal reproduction within this default holding time then withdraws from pseudo-the tracking, enters normal tracking; Surpass the signal of default to hold time and still lack, then withdraw from pseudo-the tracking, enter and recapture.
Further, describedly signal deletion condition whether occurs according to estimating of received signal intensity and comprise:, then think to have signal deletion if the estimation of received signal intensity is lower than predetermined threshold value; If the estimation of received signal intensity is higher than default certain threshold value, think that then received signal is normal.Described received signal intensity be estimated as the received signal carrier-to-noise ratio, or be the sign indicating number lock indicator or be the carrier phase lock indicator, or be the combination of above-mentioned information.
Further, described satellite tracking information is stored in the interior hardware register of pseudo-tracking loop, or is stored in the random access memory (RAM), and. just often store under the normally tracking situation at signal.
Further, described satellite-signal trace information is a receiver reproduction carrier frequency, or is receiver reproduction code frequency, or is the skew of satellite carrier Doppler frequency, or is satellite code Doppler frequency frequency deviation, or is the combination of above-mentioned information.
Further, described pseudo-tracking when receiver is in pseudo-tracking mode, utilizes the satellite-signal navigation information of storage to realize continuous positioning.
Further, described satellite-signal navigator fix information is just often resolved acquisition and storage under the normally tracking situation at signal.
Further, described satellite-signal navigation information is satellite orbit parameter or satellite navigation message.
One embodiment of the present of invention have realized the signal deletion time less than under the 5s situation, to the lasting tracking of gps signal, and continue uninterrupted location.
Advantage of the present invention is to adopt method of the present invention, if the signal deletion time is shorter, for example less than 2 seconds, the GPS receiver can " be crossed " this signal deletion district, realize continuous positioning, treat to transfer normal tracking and localization method again to after signal recovers, thereby avoid entering very long relatively recapturing the stage.
Description of drawings
Fig. 1 is the whole hardware block diagram of a preferred embodiment of the present invention;
Fig. 2 is that the GPS receiver under the no supplementary starts to resolving positioning flow figure;
Fig. 3 typically follows the tracks of the channel architecture block diagram;
Fig. 4 is the hardware block diagram of the pseudo-tracking loop of a preferred embodiment of the present invention;
Fig. 5 is the normal tracking and the pseudo-mixture length block diagram of following the tracks of of a preferred embodiment of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The GPS baseband chip is to handle the baseband signal chip in the GPS receiver, is the core in the whole GPS receiver.The whole bag of tricks of the present invention is all realized in the GPS baseband chip.For simplicity, " receiver " all refers to " GPS baseband chip " among the present invention.
What Fig. 1 described is a preferred embodiment hardware block diagram of the present invention.This is a complete GPS receiver, has comprised antenna 101, radio frequency front end chip 102, baseband processing chip 103 and external crystal-controlled oscillation 104 compositions.This embodiment has used radio-frequency front-end to become the form of chip with the Base-Band Processing individual packages.An alternative embodiment of the invention is packaged together two parts becomes the SIP system.And other designs unite two into one two parts and form single S OC chip.The present invention is suitable for the GPS receiver chip of above form.All parts of the present invention all are to concentrate on the Base-Band Processing part, for the sake of simplicity, only Base-Band Processing partly are described in detail.
Base-Band Processing shown in frame of broken lines part is caught path 10 5 by some passages, and Flash 111 forms in the tracking path 10 6 of some passages, embedded microprocessor 107, internal bus 108, real-time clock 109, ram in slice 110 and the sheet.Catch passage in order to the gps satellite in the search visual field, determine each visible satellite, and carrier doppler that transmits and PN sign indicating number code phase.Follow the tracks of path 10 4 and be used to follow the tracks of the satellite that captures, and synchronous with it, so that calculate the launch time of PN sign indicating number, demodulate navigation message simultaneously in order to the location.Described comprise synchronously carrier synchronization, sign indicating number synchronously, bit synchronous and frame synchronization.The number of catching passage and tracking passage can require to change flexibly according to performance, cost, power consumption etc., rather than determinate.This embodiment has used 12 to catch passage and 12 tracking passages.Another preferred embodiment of the present invention has used 32 to catch passage and 12 tracking passages.SiRF II has used the passage of catching of as many as 1920 for chip.Embedded microprocessor 112 is used to control each and catches and follow the tracks of passage, finishes the demodulation text simultaneously, calculates the time of arrival of PN sign indicating number, and then resolve work such as receiver location, speed and time.
This baseband processing chip also has ram in slice 109 to be used for flush bonding processor; Flash110 is in order to stored programme and other prior imformations in the sheet.Ram in slice links to each other with flush bonding processor by internal bus 108 with the interior Flash of sheet.But RAM and Flash limit to be present in baseband processing chip inside, and RAM and Flash all can be realized by the outer chip of sheet separately or fully.
Radio-frequency front-end and Base-Band Processing have used a crystal oscillator 104 as frequency reference jointly.Crystal oscillator can use temperature compensating crystal oscillator TCXO or the higher temperature control crystal oscillator OCXO of precision, if even have the specific (special) requirements can the high atomic clock of service precision.The crystal oscillator precision is high more, and receiver performance is good more, but, be raising along with accuracy requirement, the cost of crystal oscillator also is close to the increase of index percent.
The GPS receiver that Fig. 2 has described under the typical no supplementary starts flow process.Process shown in Figure 2 is from receiver power-up initializing 201, finishes until calculating customer location 106.Usually enter trapped state 202 after receiver powers on, satellite, the carrier frequency of this satellite and the code phase of PN sign indicating number in the search sight line.Search to carrier frequency under this state is coarse, usually hundreds of hertz magnitude.Enter frequency pulling state 203 afterwards, local frequency pulling to and the satellite carrier frequency differ several hertz magnitude, carry out bit synchronous simultaneously.After finishing frequency pulling, receiver enters tracking mode 204, finishes frame synchronization, promptly can enter demodulation text state 205, and the text demodulation of modulating on the carrier wave is come out to be used for to calculate receiver location 206 times at subsequently the state that resolves.
What Fig. 3 described is typically to follow the tracks of channel architecture.In this part corresponding diagram 1 106.This structure has certain representativeness, and at present a lot of products have all used similar structure.This tracking passage comes down to the combination of adjustable carrier tracking loop and PN code tracking loop, is also referred to as the auxiliary sign indicating number ring of carrier wave ring.After digital medium-frequency signal 301 is obtained by radio-frequency front-end shown in Figure 1 102, enter and catch passage and be divided into homophase (I road) and quadrature (Q road) two-way mutually, cosine component and the sinusoidal component that reappears carrier wave 303 with this locality multiplies each other 302 respectively.Further, the correlator 304 that enters separately carries out related operation.The reference quantity of its related operation is by this locality reproduction pseudo-code 305, and the result of related operation (perhaps similar matching operation process) transfers to detecting device 310 detections, by the output frequency of synthetic (sign indicating number NCO) 307 of the numerical frequency of corresponding algorithm controls PN sign indicating number and synthetic (the carrier wave NCO) 309 of carrier frequency.Sign indicating number NCO has comprised a sampling rate register among the present invention, can realize the change to sign indicating number NCO reference frequency by the value of revising this sampling rate register.Code generator 306 is driven by sign indicating number NCO, supplies with the correlator computing in order to the PN sign indicating number that generates local reproduction.The output frequency of sign indicating number NCO has directly influenced the speed of this locality reproduction PN sign indicating number of code generator generation.Like this, correlator, detecting device, sign indicating number NCO, code generator have formed a sign indicating number ring.Simultaneously detecting device has been controlled the output frequency of carrier wave NCO, through sin/cos mapping 308, square wave converted to sinusoidal wavely becomes this locality to reappear carrier wave with cosine waveform, and then enter multiplier and digital medium-frequency signal carries out multiplying.But the sin/cos mapping is not a necessary module of the present invention, and in fact in another embodiment of the present invention, the output of carrier wave NCO has been mapped directly to square-wave signal, uses for down coversion.Like this, multiplier, correlator, detecting device, a carrier wave ring of carrier wave NCO, Sin/Cos mapping formation.
What Fig. 4 described is the pseudo-tracking loop hardware block diagram of a preferred embodiment of the present invention.This part-structure is similar with the classical channel architecture of following the tracks of, and black solid line boxes is represented the hardware components that increases among the figure.After digital medium-frequency signal 401 is obtained by radio-frequency front-end shown in Figure 1 102, enter and catch passage and be divided into homophase (I road) and quadrature (Q road) two-way mutually, cosine component and the sinusoidal component that reappears carrier wave 403 with this locality multiplies each other 402 respectively.Further, the correlator 404 that enters separately carries out related operation.The reference quantity of its related operation is local reproduction pseudo-code 405, and the result of related operation (perhaps similar matching operation process) transfers to detecting device 410 detections, detecting device 410 calculates the intensity of receiving satellite signal according to respective algorithms, and then judge whether to occur signal deletion, select normal tracking or two kinds of methods of pseudo-tracking with decision, the output frequency of the digital frequency synthesizer of control PN sign indicating number (sign indicating number NCO) 407 and carrier frequency compositor (carrier wave NCO) 409, reproduction and received signal have the sign indicating number and the carrier wave of same frequency, phase place.In a preferred embodiment of the present invention, adopt the carrier-to-noise ratio of received signal to judge received signal intensity, must not use carrier-to-noise ratio to come estimated signal strength but do not limit.Term " carrier-to-noise ratio " is defined as ratio (" carrier-to-noisedensity " ratio, the i.e. ratio of carrier power and the noise power spectral density) C/N0 of carrier wave and noise spectral density
C/N
0＝(SNR)(B)[ratio-Hz]
Because the signal to noise ratio snr of spread-spectrum signal difference before and after despreading is very big, thereby, signal to noise ratio snr is normalized in the 1Hz bandwidth, thereby obtain the standard of a signal to noise ratio (S/N ratio) that is associated with bandwidth as gauge signal intensity.The carrier-to-noise ratio that is applicable to the GPS receiver estimates at a lot of methods, is to estimate by following formula in a preferred embodiment of the present invention, must not adopt following method but do not limit.
Wherein I is certain passage sampled signal in the same way, and Q is certain passage orthogonal terms sampled signal, K=50, M=20.
In one embodiment of the invention, adopt the basis for estimation of sign indicating number lock indicator as signal intensity.Term " sign indicating number lock indicator " is meant a kind of physical quantity that is used to judge the pseudo-code synchronous regime, is the known term of spread spectrum communication field professional.The sign indicating number lock indicator that is applicable to the GPS receiver estimates at a lot of methods, is to estimate by following formula in a preferred embodiment of the present invention, must not adopt following method but do not limit.
Wherein I is certain passage sampled signal in the same way, and Q is certain passage orthogonal terms sampled signal, K=50, M=20.
In another embodiment of the present invention, adopt the basis for estimation of phase locking indicator as signal intensity.Term " carrier phase lock indicator " is meant a kind of physical quantity that is used to judge the carrier phase synchronization state, is the known term of spread spectrum communication field professional.The carrier phase lock indicator that is applicable to the GPS receiver estimates at a lot of methods, is to estimate by following formula in a preferred embodiment of the present invention, must not adopt following method but do not limit.
Wherein I is certain passage sampled signal in the same way, and Q is certain passage orthogonal terms sampled signal.
Among the present invention, be lower than the judgment condition of a threshold value as signal deletion with signal intensity.This threshold value is relevant with employed receiver acquisition sensitivity, if promptly signal intensity is lower than the lowest signal-to-noise that used GPS receiver can capture then thinks signal deletion.
Normal as signal, the NCO407 of control code as a result and the carrier wave NCO 409 that then adopt normal tracking to utilize detecting device to provide.If signal deletion or signal to noise ratio (S/N ratio) are low excessively, then utilize sign indicating number register 411 and and carrier wave register 412 control code NCO 407 and carrier wave NCO 409 according to respective algorithms.But the way of realization of sign indicating number register 411 and carrier wave register 412 does not limit the form that must adopt register, can use ram cell in the flush bonding processor yet.In fact in another embodiment of the present invention, sign indicating number register 411 and carrier wave register 412 are respectively two storage unit of ram in slice.Sign indicating number NCO has comprised a sampling rate register among the present invention, can realize the change to sign indicating number NCO reference frequency by the value of revising this sampling rate register.Code generator 406 is driven by sign indicating number NCO, in order to generate the PN sign indicating number of local reproduction, supplies with the correlator computing.The output frequency of sign indicating number NCO has directly influenced the speed of this locality reproduction PN sign indicating number of code generator generation.Like this, correlator, detecting device, sign indicating number NCO, code generator have formed a sign indicating number ring.Simultaneously detecting device has been controlled the output frequency of carrier wave NCO, through sin/cos mapping 408, square wave converted to sinusoidal wavely becomes this locality to reappear carrier wave with cosine waveform, and then enter multiplier and digital medium-frequency signal carries out multiplying.But the sin/cos mapping is not a necessary module of the present invention, and in fact in another preferred embodiment of the present invention, the output of carrier wave NCO has been mapped directly to square-wave signal, uses for down coversion.Similarly, multiplier, correlator, detecting device, a carrier wave ring of carrier wave NCO, Sin/Cos mapping formation.
Fig. 5 has described the normal tracking and the pseudo-mixture length block diagram of following the tracks of of a preferred embodiment of the present invention.This flow process is included in the GPS receiver location general flow shown in Figure 2.Concrete steps are: enter the tracking treatment scheme at 204 places shown in Figure 2 when receiver after, at first by 501 output datas of obtaining each correlator (or similarly matching operation process), and then estimating received signal intensity 502, judge whether to exist the situation 503 of signal deletion according to signal intensity.If signal normally then adopt normal tracking 504, adopts pseudo-tracking 508 if signal deletion or signal are more weak.504 utilize the correlator output data to estimate satellite signal carrier frequency and code frequency, and control carrier wave NCO409 produces reproduction carrier wave and reproduction sign indicating number with sign indicating number NCO 407, and the new satellite tracking information of estimating 505 of storage, in order under the situation of signal deletion, to realize pseudo-the tracking.Further, demodulation of satellite navigation message 506 if the text demodulation finishes 507, then resolves customer location 511 and stores customer location and speed 512.This process is consistent with 205～206 processes shown in Figure 2.
If signal intensity is low excessively, detecting device is assert the gps signal disappearance, then uses pseudo-tracking 508 to keep of short duration tracking mode.Signal deletion causes the correlator output data unavailable, can't estimate satellite signal carrier frequency and pseudo-code frequency thus.For low current intelligence, when of short duration signal deletion occurring, to reach yard frequency deviation correlativity mutually very strong with sign indicating number for the carrier wave frequency deviation of received signal, do not have bigger variation.Therefore, pseudo-tracking loop utilizes the satellite tracking information of 505 storages, obtain occurring interior (for example less than in 1 second time) estimated satellite signal carrier frequency and pseudo-code frequency of preceding short period of signal deletion, and with its approximate estimated value as signal deletion satellite signal carrier frequency and pseudo-code frequency in the time period, utilize this two estimated value control carrier wave NCO 409 and sign indicating number NCO 407 output signal frequency, and then produce reproduction carrier wave and reproduction pseudo-code approximate and satellite-signal frequency homophase together, realize the Satellite Tracking under the signal deletion.Utilizing pseudo-the tracking in the section of holding time that realizes under the signal deletion condition satellite-signal being continued to follow the tracks of, can adopt 505 satellite informations of storing to replace the navigation message of real-time demodulation, and then resolve customer location 511 and store customer location and speed 512, realize transient continuous positioning.In puppet is followed the tracks of the section of holding time, judge by detection signal strength whether signal deletion condition finishes,, think that then signal recovers if signal intensity is higher than certain threshold value, turn back to normal tracking 504, and treat that using real-time text instead after real-time demodulation text correctly resolves customer location 512.If 509 judge that pseudo-tracking is held time long and signal does not recover, for example 2 seconds, then change over to and recapture 510.Owing to when being subjected to the blocking of shelters such as bridge, buildings, tunnel, can cause the of short duration disappearance of signal, cause and follow the tracks of the undesired tracking of passage to satellite.At this moment, satellite-signal is carried out virtual tracking, and to recover at signal be after signal intensity is higher than certain threshold value by adopting pseudo-tracking, after change normal tracking over to, avoided the recapture appearance of process of signal greatly.And the prior imformations such as satellite orbit parameter of storing when relying on operate as normal replace navigation message, have realized the continuous positioning under the signal deletion condition.
Although method and apparatus of the present invention is described with reference to gps satellite, should be appreciated that these principles are equally applicable to adopt the positioning system of the combination of pseudo-satelite (pseudolites) or satellite and pseudo-satelite.Pseudo-satelite is a kind of transmitter based on ground, and it is propagated and is modulated at L frequency range PN sign indicating number (similar to gps signal) on the ripple signal, and normally synchronous with gps time.Each transmitter can be endowed the PN sign indicating number of a uniqueness, thereby allows to be discerned by remote receiver.Pseudo-satelite is with under these circumstances, that is, and and from the gps signal disappearance of orbiter, as tunnel, mine, buildings or other closed area and obviously block.Here employed term " satellite " comprises the equivalence of pseudo-satelite or pseudo-satelite, and employed here term gps signal comprises the signal from the similar GPS of pseudo-satelite or pseudo-satelite equivalence.
In the discussion in front, the present invention describes with reference to american global positioning system (GPS).Yet, should be appreciated that these methods are equally applicable to similar global position system, as Muscovite GLONASS (Glonass) system, the Big Dipper 1 and the Big Dipper 2 systems of Galileo (Galileo) system in Europe and China.Employed term " GPS " also comprises some global position systems like this, as Muscovite GLONASS (Glonass) system, and the Big Dipper 1 and the Big Dipper 2 systems of Galileo (Galileo) system in Europe and China.Term " gps signal " comprises the signal from other global position systems.
Above, signal deletion condition has been described down by the pseudo-system that realizes the GPS receiver with localization method that follows the tracks of.Although the present invention describes with reference to specific embodiment, clearly, those of ordinary skill in the art under the situation of invention scope that non-migration claims are limited and spirit, can also make various modifications and changes to these embodiment.Therefore, instructions and accompanying drawing are descriptive, rather than determinate.
The above; only be the embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; the conversion that can expect easily or replacement all should be encompassed in of the present invention comprising within the scope.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (9)
1. the method that the GPS receiver signal deletion condition continues down to follow the tracks of and locate is characterized in that, comprising:
Whether signal deletion condition appears according to estimating of received signal intensity;
Select to enter normal tracking or pseudo-the tracking according to signal deletion condition:
Signal just often enters normal tracking, calculates and storing satellite signal trace information;
During signal deletion, the satellite-signal trace information that utilizes signal just often to store carries out puppet to be followed the tracks of;
Wherein, described pseudo-tracking during signal deletion, utilizes the satellite-signal trace information of storage to produce reproduction carrier wave and reproduction sign indicating number in receiver, keeps the tracking mode to satellite-signal;
Described pseudo-tracking, the puppet under the signal deletion are followed the tracks of and are held time less than default holding time, and signal reproduction within this default holding time then withdraws from pseudo-the tracking, enters normal tracking; Surpass the signal of default to hold time and still lack, then withdraw from pseudo-the tracking, enter and recapture.
2. tracking according to claim 1 and localization method is characterized in that, describedly signal deletion condition whether occurs according to estimating of received signal intensity and comprise: the estimation of received signal intensity is lower than predetermined threshold value, then thinks to have signal deletion; The estimation of received signal intensity is higher than predetermined threshold value, thinks that then received signal is normal.
3. tracking according to claim 2 and localization method is characterized in that, described received signal intensity be estimated as the received signal carrier-to-noise ratio, or be a sign indicating number lock indicator, or be the carrier phase lock indicator, or be the combination of above-mentioned information.
4. tracking according to claim 1 and localization method is characterized in that, described satellite tracking information is stored in the interior hardware register of pseudo-tracking loop, or is stored in the random access memory.
5. method according to claim 1 is characterized in that, described satellite-signal trace information is stored under normal tracking situation.
6. tracking according to claim 1 and localization method, it is characterized in that, described satellite-signal trace information is a receiver reproduction carrier frequency, or be that receiver reappears code frequency, or be that the satellite carrier Doppler frequency is offset, or be satellite code Doppler frequency frequency deviation, or be the combination of above-mentioned information.
7. tracking according to claim 1 and localization method is characterized in that, described pseudo-tracking when receiver is in pseudo-tracking mode, utilizes the satellite-signal navigation information of storage to realize continuous positioning.
8. tracking according to claim 7 and localization method is characterized in that, described satellite-signal navigation information resolves under normal tracking situation and obtains and storage.
9. tracking according to claim 7 and localization method is characterized in that, described satellite-signal navigation information is satellite orbit parameter or satellite navigation message.
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| CN101900802B (en) * | 2009-05-26 | 2012-06-27 | 大唐移动通信设备有限公司 | Anti-interference method, system and device based on timing and positioning system |
| CN101742545B (en) * | 2009-12-15 | 2012-11-14 | 中国科学院计算技术研究所 | Positioning method and system in WiFi environment |
| CN102981176A (en) * | 2012-12-28 | 2013-03-20 | 中国电子科技集团公司第五十四研究所 | Positioning computing method capable of dealing with transient loss of satellite signals |
| CN104703274B (en) * | 2013-12-04 | 2019-06-18 | 中兴通讯股份有限公司 | Pseudo satellite, pseudolite wireless location method, system and device in a kind of band |
| CN103792557A (en) * | 2014-01-27 | 2014-05-14 | 北京邮电大学 | Method and device for tracking satellite signals |
| CN105929418B (en) * | 2016-03-07 | 2018-08-31 | 广州海格通信集团股份有限公司 | A kind of high dynamic frequency discrimination method and frequency locking ring for satellite-signal tracking |
| CN117420579A (en) * | 2023-12-19 | 2024-01-19 | 中天引控科技股份有限公司 | Data signal positioning method and system based on satellite tracking |
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| CN1152380A (en) * | 1994-07-11 | 1997-06-18 | 夸尔柯姆股份有限公司 | Method for rapid signal acquisition in satellite communications system |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1152380A (en) * | 1994-07-11 | 1997-06-18 | 夸尔柯姆股份有限公司 | Method for rapid signal acquisition in satellite communications system |
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