CN102087362A - Kalman filtering, digital phase-locked loop filtering and signal tracking methods and devices - Google Patents

Abstract

The invention discloses Kalman filtering, digital phase-locked loop filtering and signal tracking methods and Kalman filtering, digital phase-locked loop filtering and signal tracking devices, and belongs to the field of wireless communication. The signal tracking method comprises the following steps of: processing the received signal to obtain a receiving signal, and extracting a current observed value from the receiving signal, wherein the receiving signal comprises receiving carriers and receiving codes; and judging whether speed, accelerated speed or jerk of a receiver is greater than a preset threshold value, if so, determining that the carrier is positioned in a high dynamic environment, and performing signal tracking by utilizing the Kalman filtering, otherwise, determining that the carrier is positioned in a non-high dynamic environment, and performing signal tracking by utilizing a digital phase-locked loop. The invention also discloses a signal tracking device, a Kalman filtering method, a Kalman filtering device, a digital phase-locked loop filtering method and a digital phase-locked loop filtering device. The provided methods make the receiver adaptively switch a carrier tracking method, reduce the loop error, improve a refresh rate of a positioning result, and fulfill the aim of continuously tracking and locking the signal in a complex dynamic environment.

Description

The method and apparatus of Kalman filtering, digital phase-locked loop filtering and signal trace

Technical field

The present invention relates to wireless communication field, the method and apparatus of particularly a kind of Kalman filtering, digital phase-locked loop filtering and signal trace.

Background technology

Part crucial in the satellite navigation receiver baseband signal processing module is carrier track and code tracking method, after receiving gps satellite signal, can obtain the estimated value of carrier doppler frequency shift value and code phase in the input signal, at this moment receiver can change tracking mode over to, the effect of track loop is that tracking code phase change and carrier doppler change, thereby the local reproduction of realization receiver signal is accurately synchronous with input signal, extract observed quantity accurately and navigation message information, carry out the receiver navigation calculation.

Carrier track of the prior art and code tracking method mainly contain two kinds:

First method be after received signal is handled through Kalman filtering, obtain new observed reading after, come the currency of estimated signal according to previous estimated value and last observation data, suitable especially real time data processing.

Second method be after received signal is handled through digital phase-locked loop, finish accurate carrier wave and peel off by reappearing accurate carrier frequency and phase place.Concrete grammar is: input signal and local carrier frequency carry out mixing, obtain in-phase signal I and orthogonal signal Q, by obtaining the phase differential of carrier signal and local carrier signal after low-pass filter and the phase detector, this phase signal is to local carrier signal NCO (numerical controlled oscillator, numerically-controlled oscillator) controls, produce new carrier wave.

After prior art was analyzed, the inventor found that prior art has following shortcoming at least:

Though Kalman filtering can be carried out instant prediction to the variation tendency of high dynamic signal, calculated amount is big, and the computation complexity height can't adapt to the requirement of supercomputing under high dynamic environment.

The loop bandwidth of digital phase-locked loop is fixed, and can not change the self-adaptation adjustment with signal to noise ratio (S/N ratio), can surpass the loop bandwidth losing lock because of doppler changing rate under the situation of bearer rate sudden change or acceleration sudden change.

Summary of the invention

The embodiment of the invention provides the method and apparatus of a kind of Kalman filtering, digital phase-locked loop filtering and signal trace.Described technical scheme is as follows:

A kind of kalman filter method comprises:

Handle to the received signal, obtain received signal, and extract observed reading from described received signal, described received signal comprises reception carrier and receiving code;

State value to described received signal upgrades;

With the state value after the described observed reading correction renewal, obtain the final estimated value of current state; Described observed reading obtains by observation equation,

Described observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k);

Utilize the final estimated value control NCO of described state to produce new signal.

A kind of digital phase-locked loop filtering method that utilizes comprises:

Handle to the received signal, obtain received signal, described received signal comprises reception carrier and receiving code;

Calculate phase differential or difference on the frequency between local signal and the described received signal;

Described local signal comprises local carrier and local code;

Utilize the loop filtering parameter that described phase differential or difference on the frequency are carried out loop filtering;

Described loop filtering parameter utilizes controlled algorithm to obtain;

Generate new local signal by described phase differential or difference on the frequency control NCO.

A kind of method of signal trace comprises:

Handle to the received signal, obtain received signal, and extract observed reading from described received signal, described received signal comprises reception carrier and receiving code;

Whether judge receiver speed, acceleration or acceleration greater than preset threshold value,, utilize Kalman filtering to carry out signal trace if then described carrier is in high dynamic environment; If not, then described carrier is in non-high dynamic environment, utilizes digital phase-locked loop to carry out signal trace.

Observation equation in the described Kalman filtering is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

The loop filtering parameter of described digital phase-locked loop utilizes controlled algorithm to obtain.

A kind of Kalman filtering device comprises:

First processing module is used for handling to the received signal, obtains received signal, and extracts observed reading from described received signal, and described received signal comprises reception carrier and receiving code;

Update module is used for the state value of described received signal is upgraded;

The observation module is used for obtaining the final estimated value of current state with the state value after the described observed reading correction renewal; Described observed reading obtains by observation equation,

Described observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k);

First generation module is used to utilize the final estimated value control NCO of described state to produce new signal.

A kind of digital phase-locked loop filter that utilizes comprises:

Second processing module is used for handling to the received signal, obtains received signal, and described received signal comprises reception carrier and receiving code;

Difference block is used to calculate phase differential or difference on the frequency between local signal and the described received signal;

Described local signal comprises local carrier and local code;

The loop filtering module is used to utilize the loop filtering parameter that described phase differential or difference on the frequency are carried out loop filtering;

Described loop filtering parameter utilizes controlled algorithm to obtain;

Second generation module is used to utilize described phase differential or difference on the frequency control NCO to generate new local signal.

A kind of device of signal trace comprises:

Processing module is used for handling to the received signal, obtains received signal, and extracts observed reading from described received signal, and described received signal comprises reception carrier and receiving code;

Whether judge module, the speed, acceleration or the acceleration that are used to judge receiver be greater than preset threshold value, if triggering is used for described carrier and is in high dynamic environment, utilizes Kalman filtering to carry out the Kalman filtering module of signal trace; If not, triggering is used for described carrier and is in non-high dynamic environment, utilizes digital phase-locked loop to carry out the digital phase-locked loop module of signal trace.

Observation equation in the described Kalman filtering module is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

The loop filtering parameter of described digital phase-locked loop module utilizes controlled algorithm to obtain.

The beneficial effect of the technical scheme that the embodiment of the invention provides is:

Carrier track and the code tracking method of the present invention by switching according to the dynamic perfromance self-adaptation of carrier, when carrier is in high dynamic environment, but the self-adaptation that receiver utilizes this programme to propose adjust bandwidth improvement the sigma point kalman filter method of observation equation carry out carrier track; And when carrier is in non-high dynamic environment, switch to high efficiency digital phase-locked loop and follow the tracks of, reduce the error of loop, improve the positioning result refresh rate based on the continuous controllable root, reach in complicated dynamic environment, to the signal Continuous Tracking and the purpose of non-losing lock.

Description of drawings

In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the process flow diagram of the method for a kind of carrier track of providing of the embodiment of the invention 1;

Fig. 2 is the structural representation of the device of a kind of Kalman filtering of providing of the embodiment of the invention 2;

Fig. 3 is the structural representation of the device of a kind of digital phase-locked loop filtering of providing of the embodiment of the invention 2;

Fig. 4 is the structural representation of a kind of signal trace device of providing of the embodiment of the invention 2;

Fig. 5 is the process flow diagram of a kind of code tracking method of providing of the embodiment of the invention 3.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.

For the ease of understanding, here Kalman filtering is introduced:

Kalman filtering is mainly used to estimate those can only be by system itself indirectly or the system state of out of true observation.The method of Kalman filtering specifically comprises:

System state equation is as follows:

X _k+1＝Φ _kX _k+G _kf _k+w _k

${\left[\begin{array}{c}{x}_p\\ x_{\mathrm{\ω}}\\ x_a\\ x_t\end{array}\right]}_{k+1}=\left[\begin{array}{cccc}1& \mathrm{\Δ}{T}_k& \frac{\mathrm{\Δ}{T}_k^2}{2}& 0\\ 0& 1& \mathrm{\Δ}{T}_k& 0\\ 0& 0& 1& 0\\ 0& \frac{\mathrm{\Δ}{T}_k}{2\mathrm{\π}\×1540}& \frac{\mathrm{\Δ}{T}_k^2}{4\mathrm{\π}\×1540}& 1\end{array}\right]{\left[\begin{array}{c}{x}_p\\ x_{\mathrm{\ω}}\\ x_a\\ x_t\end{array}\right]}_k+\left[\begin{array}{cc}-\mathrm{\Δ}{T}_k& 0\\ 0& 0\\ 0& 0\\ 0& -\mathrm{\Δ}{T}_k\end{array}\right]{\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{Ncok}}\\ f_{\mathrm{ck}}\end{array}\right]}_k+w_k$

Following formula is the 4 rank linear condition equations of deriving and setting up, and first three is individual about carrier wave for selected state vector, and another is about the C/A sign indicating number.Wherein, x _pIt is the phase differential of true carrier wave and local reproduction carrier wave;

It is the Doppler drift of carrier wave;

It is the Doppler drift rate of change of carrier wave; x _tBe that true code phase reappears the poor of code phase with this locality, unit is a C/A sign indicating number base sign indicating number number; Δ T _kIt is the mistiming of twice calculating; Which time measurement k represents; ω _NcokAngular frequency deviation when being the local carrier reproduction on the intermediate frequency basis; f _CkWhen being local receiver reproduction C/A sign indicating number, the skew of bit rate on the 1.023MHz basis; w _kBe 4 * 1 process noise vectors, mainly comprised the influence of satellite and receiver relative motion, nonsynchronous noise between sign indicating number that causes by ionosphere fluctuation and the carrier wave.In addition, parameter 1540 is L1 carrier waves and the ratio of C/A code frequency in the equation.

The observation equation of system is as follows:

Z _k＝H _kX _k+U _kf _k+v _k

${\hat{Z}}_k=\left[\begin{array}{c}\mathrm{\Δ}{\widehat{\mathrm{\φ}}}_k\\ \mathrm{\Δ}{\widehat{\mathrm{\τ}}}_k\end{array}\right]=\begin{array}{}\end{array}\left[\begin{array}{cccc}1& \frac{\mathrm{\Δ}{T}_k}{2}& \frac{\mathrm{\Δ}{T}_k^2}{6}& 0\\ 0& \frac{\mathrm{\Δ}{T}_k}{4\mathrm{\π}\×1540}& \frac{\mathrm{\Δ}{T}_k^2}{12\mathrm{\π}\×1540}& 1\end{array}\right]{\left[\begin{array}{c}{x}_p\\ x_{\mathrm{\ω}}\\ x_a\\ x_t\end{array}\right]}_k+\left[\begin{array}{cc}-\frac{\mathrm{\Δ}{T}_k}{2}& 0\\ 0& -\frac{\mathrm{\Δ}{T}_k}{2}\end{array}\right]{\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{Ncok}}\\ f_{\mathrm{ck}}\end{array}\right]}_k+v_k$

Following formula is the systematic observation equation of deriving and setting up, and observed quantity is Δ φ _kWith Δ τ _kΔ φ _kBe the k time pre-detection Δ integral time T _kIn, the average phase-difference of true carrier wave and local reproduction carrier wave; Δ τ _kBe the k time pre-detection Δ integral time T _kIn, true C/A sign indicating number is with the average phase-difference of local reproduction sign indicating number, and unit is a base sign indicating number number.v _kBe 2 * 1 observation noise vectors.The actual observation amount comes from the output of loop Discr.:

$\mathrm{\Δ}{\widetilde{\text{\φ}}}_k=\arctan [Q_{\mathrm{Pk}}/I_{\mathrm{Pk}}]$

$\mathrm{\Δ}{\widetilde{\mathrm{\τ}}}_k=\frac{\mathrm{\Σ}\sqrt{I_{\mathrm{Ek}}^2+Q_{\mathrm{Ek}}^2}-\mathrm{\Σ}\sqrt{I_{\mathrm{Lk}}^2+Q_{\mathrm{Lk}}^2}}{\mathrm{\Σ}\sqrt{I_{\mathrm{Ek}}^2+Q_{\mathrm{Ek}}^2}+\mathrm{\Σ}\sqrt{I_{\mathrm{Lk}}^2+Q_{\mathrm{Lk}}^2}}\×0.5$ (base sign indicating number)

Wherein, I _Ek, I _Pk, I _Lk, Q _Ek, Q _Pk, Q _LkBe respectively leading, instant, the lagged value of I, the k time pre-detection integration of Q branch road.

The loop filtering process is as follows:

${\hat{X}}_{k,k-1}={\mathrm{\Φ}}_{k,k-1}{\hat{X}}_{k-1,k-1}+G_{k,k-1}{\hat{f}}_{k-1}$

$P_{k,k-1}={\mathrm{\Φ}}_{k,k-1}{P}_{k-1}{\mathrm{\Φ}}_{k,k-1}^T+{\hat{Q}}_{k-1}$

$J_k=P_{k,k-1}{H}_k^T{[H_k{P}_{k,k-1}{H}_k^T+{\hat{R}}_{k-1}]}^{-1}$

${\hat{X}}_k={\hat{X}}_{k,k-1}+J_k[Z_k-H_k{\hat{X}}_{k,k-1}-U_k{\hat{f}}_{k-1}]$

P _k＝[I-J _kH _k]P _k，k-1

Wherein, $E\left\{w_k{w}_l^T\right\}=Q_k{\mathrm{\δ}}_{k,l},$ $E\left\{v_k{v}_l^T\right\}=R_k{\mathrm{\δ}}_{k,l},$ And $E\left\{w_k{v}_l^T\right\}=0.$

The generic card Thalmann filter is used to estimate the state of linear system, for the state of nonlinear system, then should use extended Kalman filter to estimate, next is described in detail the algorithm principle of spreading kalman (EKF):

We are example with the gps satellite, the digital medium-frequency signal that receives as shown in the formula:

r(k)＝Ad(k)c[(1+ζ)(k-τ)]cos(ω _ck+φ ₀)+n(k)

When the loop integral time is T _sThe time, carrier phase θ (k) can be by as shown in the formula expansion:

$\mathrm{\θ}(k+1)=\mathrm{\θ}\left(k\right)+T_s{\mathrm{\ω}}_0\left(k\right)+T_s^2{\mathrm{\ω}}_1\left(k\right)/2+T_s^3{\mathrm{\ω}}_2\left(k\right)/6+{\mathrm{\η}}_1\left(k\right)$

${\mathrm{\ω}}_0(k+1)={\mathrm{\ω}}_0\left(k\right)+T_s{\mathrm{\ω}}_1\left(k\right)+T_s^2{\mathrm{\ω}}_2\left(k\right)/2+{\mathrm{\η}}_2\left(k\right)$

ω ₁(k+1)＝ω ₁(k)+T _sω ₂(k)+η ₃(k)

ω ₂(k+1)＝ω ₂(k)+η ₄(k)

ω wherein ₀(k), ω ₁(k), ω ₂(k) be the all-order derivative of carrier phase, represent the rate of change of frequency, frequency and the second derivative of frequency respectively, η _i(i=1,2,3,4) are the expansion remainder, and noise is instigated in expression.Owing to estimate phase place in the time of to Frequency Estimation, can reduce estimated frequency error, also for being fit to the needs of high dynamic environment, frequency one, second derivative are estimated together then state vector is expressed as simultaneously:

X(k)＝[θ(k)，ω ₀(k)，ω ₁(k)，ω ₂(k)] ^T

Can get state equation suc as formula shown in,

X(k+1)＝ФX(k)+η(k)

Wherein, η (k)=[η ₁(k), η ₂(k), η ₃(k), η ₄(k)] ^TBe to instigate noise vector, be commonly considered as white Gaussian noise, the covariance matrix Q of transition matrix Φ of system and η (k) can be expressed as respectively,

$\mathrm{\Φ}=\left[\begin{array}{cccc}1& T_s& T_s^2/2& T_s^3/6\\ 0& 1& T_s& T_s^2/2\\ 0& 0& 1& T_s\\ 0& 0& 0& 1\end{array}\right]$

$Q=q{T}_s\left[\begin{array}{cccc}{T}_s^6/252& T_s^5/72& T_s^4/30& T_s^3/24\\ T_s^5/72& T_s^4/20& T_s^3/8& T_s^2/6\\ T_s^4/30& T_s^3/8& T_s^2/3& T_s/2\\ T_s^3/24& T_s^2/6& T_s/2& 1\end{array}\right]$

Digital medium-frequency signal is through after despreading and the quadrature decomposition, and the real-time signal of the k time incoming carrier tracking can be expressed as:

r _I(k)＝Ad(k)sin(θ(k))+n _I(k)

r _Q(k)＝Ad(k)cos(θ(k))+n _Q(k)

Wherein, r _I(k) be in-phase component, r _Q(k) be quadrature component, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n _I(k), n _Q(k) be the observation noise vector.With regard to GPS C/A, usually following formula is expressed as:

$Z\left(k\right)=\left[\begin{array}{c}{r}_I\left(k\right)\\ r_Q\left(k\right)\end{array}\right]=\mathrm{Ad}\left(k\right)\left[\begin{array}{c}\sin \left(\mathrm{\θ}\left(k\right)\right)\\ \cos \left(\mathrm{\θ}\left(k\right)\right)\end{array}\right]+n\left(k\right)$

Following formula is the observation equation of EKF.

Wherein, n (k)=[n _I(k), n _Q(k)] ^TBe the measurement vector noise, its covariance matrix is

I represents 2 * 2 unit matrix.

Utilize this observation equation again and obtain observed reading, from observed reading, extract the phase differential of local carrier and reception carrier, utilize this phase differential control carrier wave NCO to produce new carrier wave with state value.

Embodiment 1

In order to adapt to complex dynamic environment, make the track loop can be according to the variation switched carrier tracking of dynamic environment, loop bandwidth has certain self-adaptation adjustment capability, the bandwidth that in high dynamic environment, has broad, in non-high dynamic environment, has less bandwidth, and take into account the acquisition performance of loop and the tracking performance of stable state, the embodiment of the invention provides a kind of kalman filter method, comprising:

Handle to the received signal, obtain received signal, and extract observed reading from this received signal, this received signal comprises reception carrier and receiving code;

Wherein, the method for extraction observed reading has multiple, and the embodiment of the invention is not done concrete qualification.

State value to this received signal upgrades;

With the state value after this observed reading correction renewal, obtain the final estimated value of current state; This observed reading obtains by observation equation,

This observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r^I\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of this received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k);

Utilize the final estimated value control NCO of this state to produce new signal.

The embodiment of the invention provides a kind of digital phase-locked loop filtering method that utilizes, and comprising:

Handle to the received signal, obtain received signal, this received signal comprises reception carrier and receiving code;

Calculate phase differential or difference on the frequency between local signal and this received signal;

This local signal comprises local carrier and local code;

Utilize the loop filtering parameter that this phase differential or difference on the frequency are carried out loop filtering;

This loop filtering parameter utilizes controlled algorithm to obtain;

Generate new local signal by this phase differential or difference on the frequency control NCO.

The embodiment of the invention also provides a kind of method of signal trace, comprising:

Handle to the received signal, obtain received signal, and extract observed reading from this received signal, this received signal comprises reception carrier and receiving code;

Wherein, the method for extraction observed reading has multiple, and the embodiment of the invention is not done concrete qualification.

Whether judge receiver speed, acceleration or acceleration greater than preset threshold value,, utilize Kalman filtering to carry out signal trace if then this carrier is in high dynamic environment; If not, then this carrier is in non-high dynamic environment, utilizes digital phase-locked loop to carry out signal trace.

Observation equation in this Kalman filtering is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

The loop filtering parameter of this digital phase-locked loop utilizes controlled algorithm to obtain.

Preferably, the embodiment of the invention provides a kind of method of carrier track, and referring to Fig. 1, this method specifically comprises:

101: the receiver receiving satellite signal by radio-frequency front-end, A/D conversion, the satellite-signal that receives is down-converted to intermediate-freuqncy signal (4Mbps), and to this intermediate-freuqncy signal digitizing, obtaining digital intermediate frequency signal is received signal; Digital intermediate frequency signal and the local C/A sign indicating number that produces are multiplied each other, multiply by the homophase and the quadrature component of local carrier, obtain I, Q road signal, i.e. observation signal, and from observation signal, extract current observed reading;

Need to prove, when carrying out code tracking, obtain digital intermediate frequency signal after, the homophase and the quadrature component of digital intermediate frequency signal and local carrier are multiplied each other respectively, multiply by the local C/A sign indicating number that produces again, obtain observation signal, and from observation signal, extract current observed reading.

Wherein, the method for extraction observed reading has multiple, and the embodiment of the invention is not done concrete qualification.

Wherein, received signal includes but not limited to the reception carrier that extracts from signal.In the present embodiment, carrier wave tracing method and code tracking method are referred to as the signal trace method.

102: whether speed, acceleration or the acceleration of judging receiver greater than predetermined threshold value, if, then receiver be in dynamically high, execution in step 103, if not, it is dynamic that receiver is in non-height, execution in step 106;

Wherein, the kinetic characteristic of judging receiver promptly is to judge the kinetic characteristic of the carrier of signal, because the location is to position to receiver, or receiving chip, this receiver or chip can be embedded on the carrier in any motion, so just locate to motion carrier to the receiver location.

Wherein, to the judgement that receives motor-driven step response the information of the sensor (accelerometer or gyroscope etc.) that carries by receiver, include but not limited to what speed, acceleration or acceleration etc. carried out.

Wherein, above-mentioned threshold value can be set according to actual conditions, and the embodiment of the invention is not done concrete qualification.

103: each state value to received signal (carrier phase, frequency, frequency, second derivative) upgrades;

Particularly, the process that the process of following 103b-103b is upgraded for each state value in to received signal, this process specifically comprises:

103a: carry out initialization to received signal, given original state estimated value

With initial estimation covariance matrix S _0|0

Wherein, initialized the original state estimated value is the 4*1 matrix to liking the original state estimated value and the initial estimation covariance matrix of received signal, and value is 0, and covariance matrix is Ts is pre-detection integral time, and Ts is 1ms in the embodiment of the invention, and q gets 1000.

103b: determine that sigma point set and state upgrade;

Wherein, determine that the sigma point set is a process of mathematical modeling, obtain by weighting statistics linear regression method, specifically comprise: choose a plurality of points according to the stochastic variable prior distribution, utilize nonlinear function to calculate the value of these points, utilize the linearization of linear regression technique realization to the stochastic variable nonlinear function then, a plurality of regression points of wherein choosing are exactly the sigma point, have also promptly determined the sigma point set.

Wherein, state upgrade to as if carrier phase, frequency and the frequency of received signal one, second derivative, what this state upgraded is specially: with k state x constantly _kEstimated value based on the overall situation

Square root S with estimation error covariance _K|kProduce 2n+1 σ point, the one-step prediction value of computing mode Square root S with the predicated error covariance _K+1|k, its algorithm sees following formula for details:

$X_k=[{\hat{X}}_k,{\hat{X}}_k+\sqrt{n+r}{S}_k,{\hat{X}}_k-\sqrt{n+k}{S}_k]$

X _k+1|k＝Φ(X _k)

λ＝α ²(n+k)-n

$W_0^{\left(m\right)}=\mathrm{\λ}/(n+\mathrm{\λ})$

$W_0^{\left(c\right)}=\mathrm{\λ}/(n+\mathrm{\λ})+(1-{\mathrm{\α}}^2+\mathrm{\β})$

$W_i^m=W_i^c=1/\left[2(n+\mathrm{\λ})\right]$ i＝1，2，...2n

${\hat{X}}_{k+1|k}=\underset{i=0}{\overset{2n}{\mathrm{\Σ}}}{W}_i^{\left(m\right)}{X}_{i,k+1|k}$

$S_{k+1|k}^0=\mathrm{qr}\left\{\right[\sqrt{W_1^c}(X_{1:2n,k+1|k}-{\hat{X}}_{k+1|k}),\sqrt{Q}\left]\right\}$

$S_{k+1|k}=\mathrm{choludate}(S_{k+1|k}^0,X_{0,k}-{\hat{X}}_{k+1|k},W_0^c)$

Need to prove that above-mentioned state upgrades the corresponding state of k constantly, when moment k+1, the state that enters next round upgrades.

104:, obtain the final estimated value of current state with the state value after the observed reading correction renewal;

Particularly, step 104 is to measure the process of upgrading, and uses Z _K+1Right

Revise, obtain k+1 constantly based on measurement information Z ^kAnd observed reading Z _K+1The final estimated value of state And the square root S of corresponding evaluated error _K+1|k+1

Particularly, use Right Revise, obtain k+1 constantly based on measuring z ^kAnd observed reading

The final estimated value of state

And the square root of corresponding evaluated error

With

Right

Revise, obtain k+1 constantly based on measuring z ^kAnd observed reading

The final estimated value of state And the square root of corresponding evaluated error

With

(3≤i≤N) right

Revise, obtain k+1 constantly based on measuring z ^kAnd observed reading

The final estimated value of state

And the square root of corresponding evaluated error

The system that finally obtains at k+1 constantly based on measurement information z ^K+1The final estimated value of state and corresponding evaluated error are:

${\hat{x}}_{k+1|k+1}={\hat{x}}_{k+1|k+1}^N$

${\hat{P}}_{k+1|k+1}={\left(S_{k+1|k+1}^N\right)}^T{S}_{k+1|k+1}^N$

Specific algorithm is shown below:

$S_{k+1|k}=\mathrm{chouludate}(S_{k+1|k}^0,y_{0,k+1|k}-Z_{k+1|k},W_0^{\left(c\right)})$

y _k+1|k＝H(X _k+1|k)

$Z_{k+1|k}=\underset{i=0}{\overset{2n}{\mathrm{\Σ}}}{W}_i^{\left(m\right)}{y}_{i,k+1|k}$

$P_{\mathrm{xy}(k+1|k)}=\underset{i=0}{\overset{2n}{\mathrm{\Σ}}}{W}_i^{\left(c\right)}[X_{i,k+1|k}-{\hat{X}}_{k+1|k}]{[y_{i,k+1|k}-Z_{k+1|k}]}^T$

$K_{k+1}=(P_{\mathrm{xy}(k+1|k)}/S_{y(k+1/k)}^T)/S_{y(k+1|k)}$

${\hat{X}}_{k+1|k+1}={\hat{X}}_{k+1|k}+K_{k+1}(Z_{k+1}-Z_{k+1|k})$

U＝K _k+1S _y(k+1|k)

S _k+1|k+1＝choludate(S _k+1|k，U，-1)

Wherein, α decision sigma point is got a little positive number (as: 1e-4≤α≤11) usually around the distribution of average in the top formula, and k is a proportionality factor, generally when state estimation, be made as 0, β is another scale factor, is used for merging the priori (for Gaussian distribution, its optimal value is 2) that stochastic variable distributes, the QR of qr{} representing matrix decomposes, the correction that cholupdate{} representing matrix Cholesky decomposes, even S is the Cholesky decomposition of original matrix P, correction matrix

Cholesky be decomposed into S=cholupdate{S, u, ± v}.

Particularly, in the present embodiment, Z _K+1|kObtain by following observation equation,

$Z_{k+1|k}=\left[\begin{array}{c}{2r}_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

N ' is the observation noise vector (k), by square d of d (k) ²(k) remove the influence of data saltus step.

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, A is the amplitude of received signal;

Wherein, this observation equation be by

With trigonometric function double angle formula sin2A=2sinAcosA and cos2A=(cosA) ²-(sinA) ²Obtain;

Wherein, r _I(k) be in-phase component, r _Q(k) be quadrature component, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n _I(k), n _Q(k) be the observation noise vector.

105: utilize the final estimated value control carrier wave NCO of current state to produce new carrier wave, finish.

Particularly, the current state value includes but not limited to θ (k+1), utilizes θ (k+1) control carrier wave NCO to produce new carrier wave.

Above-mentioned steps 103-105 is a process of predicting this state value by the state value of last time and this observed reading, and the basic thought of this process is: according to known k moment state x _kEstimated value based on the overall situation

And corresponding estimation error covariance P _K|k, at k+1 constantly, the observed reading of utilizing wave filter and k+1 each sensor of the moment is successively to state x _K+1Estimate, obtain estimated value at last based on the information of the overall situation

Covariance P with corresponding error _K+1|k+1

Need to prove, but above-mentioned steps 103-105 is the process that the improvement sigma point Kalman filtering loop of utilization self-adaptation adjustment bandwidth carries out carrier track, but because the residing complicated dynamic environment of receiver, after this tracing process, still need the dynamic perfromance of receiver is judged, according to judged result, select tracking.

Need to prove that the purpose of tracking is for the carrier wave that makes local generation can both be corresponding fully with the actual reception signal with code phase, thereby realizes accurately peeling off.

106: received signal at first enters into phase detector (frequency discriminator), and the phase place (or frequency) that calculates between local carrier and the reception carrier is poor;

107: utilize the loop filtering parameter that this phase place (or frequency) difference is carried out loop filtering;

Wherein, the effect of loop filtering is clutter in this difference of filtering and noise etc., only keeps live part.

Wherein, above-mentioned loop filtering parameter determined by controlled algorithm, and in order to solve the problem in the method that analogue loop designs digital loop, STEPENS S.A. and THOMASJ.B. propose design DPLL (Digital PLL, all-digital phase-locked loop) controlled formula, this group formula has provided B _nThe continuous renewal of T＜0.1 (CU, Continuous Update) pattern and B _nThe method for designing of DPLL under two kinds of situations of the discrete renewal of T＞0.1 (DU, Discrete Update) pattern can design the stable DPLL in any rank according to this method, and normalized factor B _nThe restriction of T also is eliminated.Controlled algorithm provides one group of new loop design B parameter when the simplification high-order is stablized loop design _n, λ _i,

Wherein, B _nBe the monolateral equivalent noise bandwidth of loop, λ _iBe the relative attenuation parameter,

Determined the damping characteristic of loop.

Below be the detailed process of controlled algorithm:

Under the CU pattern, as enough hour of T update time, DPLL is similar to APLL (Analog PLL, analog phase-locked look), supposes that its system transfer function is

$H_{\mathrm{\θ}}\left(s\right)=\frac{k_1{s}^{N-1}+k_2{s}^{N-2}+...+k_N}{s^N+k_1{s}^{N-1}+k_2{s}^{N-2}+...+k_N}$

This system is N rank N type loops, and the limit of its open-loop transmission function is all at initial point.The monolateral equivalent noise bandwidth of system is

$B_n={\∫}_0^{\∞}{\left|H\left(j2\mathrm{\πf}\right)\right|}^2\mathrm{dt}$

Solving equation can obtain the approximate loop bandwidth B down of CU _nWith the loop coefficient k _iRelational expression.Then, the secular equation of solving system

s ^N+k ₁s ^N-1+k ₂s ^N-2+...+k _N＝0

According to above-mentioned secular equation, obtain the loop coefficient k _iWith characteristic root s _kBetween relation.

In order to set up new loop design parameter, be the cascade of a plurality of second-order systems and first-order system with the following formula abbreviation, trying to achieve characteristic root for each second-order system is s _i=-β _i(1 ± η _i), trying to achieve characteristic root for each first-order system is s _i=-2 β _i, η wherein _iBe the discriminant in the quadratic equation with one unknown radical formula of corresponding second order subsystem, and attenuation rate β _iCorresponding to the a/2 in the radical formula.

The time correspondence subsystem be overdamping;

The time correspondence subsystem be critical damping;

The time correspondence subsystem be underdamping; For second order loop,

And can press between traditional damping factor Change, and attenuation rate β _iWith traditional loop natural frequency ω ₀Relevant, and β _i=ζ ω _nAt definite B _nAfter the back, selected β ₁As the reference attenuation parameter, and define new parameter lambda _i, β _i=λ _iβ ₁, i 〉=2 are called the relative attenuation parameter.

In order to guarantee the stability of system, parameter beta ₁Must be positive number, and only be B _nFunction.N independent optional parameter for N rank loop is the B of above-mentioned definition like this _n, λ _i,

Because β ₁＞0, must make λ for making loop present attenuation characteristic _i＞0.Definition high-order loop CALCULATION OF PARAMETERS formula

I=2,3 ... N, this definition mode makes α _iThere is not dimension.

Find the solution α _iExpression formula and carry it into the loop coefficient k _iWith systematic parameter B _nAnd α _iBetween relational expression, just can obtain the loop coefficient k _iWith systematic parameter B _n, λ _i,

Between relation.

Following table has been listed under the standard underdamping situation, based on the expression formula of finding the solution of 1～4 rank APLL loop coefficient of CU pattern, the COEFFICIENT K of corresponding DPLL loop _i=k _iT ⁱIn embodiments of the present invention, filter factor can correspondence be found from following table.

108: NCO generates new local carrier by this phase place (or frequency) difference control carrier wave.

Need to prove that said process is constantly circulation in tracing process, finally reach phase place (or frequency) difference and infinitely approach zero, promptly realized accurate carrier track.

Need to prove that the code phase following principle is identical with this principle.

Need to prove that above step 106-step 108 is based on 3 rank FLL (the frequency lock loop of controlled technology, frequency-locked loop) auxiliary 4 rank PLL (phase lock loop, phase-locked loop) carrier track process is a kind of of digital phase-locked loop.

Need to prove that in tracing process, receiver is judged self residing dynamic environment constantly by sensor, in two kinds of track loop, switch then, thereby satisfy the Continuous Tracking of signal losing lock not.

The carrier wave tracing method of the present invention by switching according to the dynamic perfromance self-adaptation of carrier, when carrier is in high dynamic environment, but the self-adaptation that receiver utilizes this programme to propose adjust bandwidth improvement the sigma point kalman filter method of observation equation carry out carrier track; And when carrier is in non-high dynamic environment, switch to high efficiency digital phase-locked loop and follow the tracks of, reduce the error of loop, improve the positioning result refresh rate based on the continuous controllable root, reach in complicated dynamic environment, to the signal Continuous Tracking and the purpose of non-losing lock.

Embodiment 2

In order to adapt to complex dynamic environment, make the track loop can be according to the variation switched carrier tracking of dynamic environment, loop bandwidth has certain self-adaptation adjustment capability, the bandwidth that in high dynamic environment, has broad, in non-high dynamic environment, has less bandwidth, and take into account the acquisition performance of loop and the tracking performance of stable state, the embodiment of the invention provides a kind of Kalman filtering device.Referring to Fig. 2, this device specifically comprises:

First processing module 201 is used for handling to the received signal, obtains received signal, and extracts observed reading from this received signal, and this received signal comprises reception carrier and receiving code;

Update module 202 is used for the state value of this received signal is upgraded;

Observation module 203 is used for obtaining the final estimated value of current state with the state value after this observed reading correction renewal; This observed reading obtains by observation equation,

This observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of this received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k);

First generation module 204 is used to utilize the final estimated value control NCO of this state to produce new signal.

The embodiment of the invention provides a kind of digital phase-locked loop filter that utilizes, and referring to Fig. 3, this device specifically comprises:

Second processing module 301 is used for handling to the received signal, obtains received signal, and this received signal comprises reception carrier and receiving code;

Difference block 302 is used to calculate phase differential or difference on the frequency between local signal and this received signal;

This local signal comprises local carrier and local code;

Loop filtering module 303 is used to utilize the loop filtering parameter that this phase differential or difference on the frequency are carried out loop filtering:

This loop filtering parameter utilizes controlled algorithm to obtain;

Second generation module 304 is used to utilize this phase differential or difference on the frequency control NCO to generate new local signal.

The invention provides a kind of device of signal trace, referring to Fig. 4, this device specifically comprises:

Processing module 401 is used for handling to the received signal, obtains received signal, and extracts observed reading from this received signal, and this received signal comprises reception carrier and receiving code;

Wherein, the method for extraction observed reading has multiple, and the embodiment of the invention is not done concrete qualification.

Whether judge module 402, the speed, acceleration or the acceleration that are used to judge receiver be greater than preset threshold value, if triggering is used for this carrier and is in high dynamic environment, utilizes Kalman filtering to carry out the Kalman filtering module 403 of signal trace; If not, triggering is used for this carrier and is in non-high dynamic environment, utilizes digital phase-locked loop to carry out the digital phase-locked loop module 404 of signal trace.

Observation equation in this Kalman filtering module 403 is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

The loop filtering parameter of this digital phase-locked loop module 404 utilizes controlled algorithm to obtain.

The carrier track device of invention by switching according to the dynamic perfromance self-adaptation of carrier, when carrier is in high dynamic environment, but the self-adaptation that receiver utilizes this programme to propose adjust bandwidth improvement the sigma point kalman filter method of observation equation carry out carrier track; And when carrier is in non-high dynamic environment, switch to high efficiency digital phase-locked loop and follow the tracks of, reduce the error of loop, improve the positioning result refresh rate based on the continuous controllable root, reach in complicated dynamic environment, to the signal Continuous Tracking and the purpose of non-losing lock.

Embodiment 3

In order to adapt to complex dynamic environment, make the track loop can be according to the variation switched carrier tracking of dynamic environment, loop bandwidth has certain self-adaptation adjustment capability, the bandwidth that in high dynamic environment, has broad, in non-high dynamic environment, has less bandwidth, and take into account the acquisition performance of loop and the tracking performance of stable state, the embodiment of the invention provides a kind of method of code tracking.Referring to Fig. 5, this method specifically comprises:

501: the receiver receiving satellite signal, and handle to the received signal, obtain received signal, received signal be multiply by the homophase and the quadrature component of local carrier, C/A sign indicating number with this locality generation multiplies each other again, obtains observation signal, extracts current observed reading from observation signal;

Wherein, received signal includes but not limited to the receiving code that extracts from signal;

502: whether speed, acceleration or the acceleration of judging receiver greater than predetermined threshold value, if, then receiver be in dynamically high, execution in step 503, if not, it is dynamic that receiver is in non-height, execution in step 506;

503: carry out initialization and state value to received signal and upgrade;

504:, obtain the final estimated value of current state with the state value after upgrading in the observed reading correction step 503 that obtains in the step 501;

505: utilize the final estimated value control code NCO of current state to produce new sign indicating number, finish.

506: received signal at first enters into phase detector, calculates the phase differential between local code and the receiving code;

507: utilize the loop filtering parameter that this phase differential is carried out loop filtering;

Wherein, this loop filtering parameter utilizes controlled algorithm to obtain.

508: utilize this phase differential control code NCO to generate new local code.

The principle of the method for the carrier track that provides among the principle of the method for this code tracking and the embodiment 1 is identical, and concrete steps repeat no more.

The code tracking method of the present invention by switching according to the dynamic perfromance self-adaptation of carrier, when carrier is in high dynamic environment, but the self-adaptation that receiver utilizes this programme to propose adjust bandwidth improvement the sigma point kalman filter method of observation equation carry out code tracking; And when carrier is in non-high dynamic environment, switch to high efficiency digital phase-locked loop and follow the tracks of, reduce the error of loop, improve the positioning result refresh rate based on the continuous controllable root, reach in complicated dynamic environment, to the signal Continuous Tracking and the purpose of non-losing lock.

The embodiment of the invention can utilize software to realize that corresponding software programs can be stored in the storage medium that can read, for example, and in the hard disk of computing machine, buffer memory or the CD.

The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a kalman filter method is characterized in that, comprising:

Handle to the received signal, obtain received signal, and extract observed reading from described received signal, described received signal comprises reception carrier and receiving code;

State value to described received signal upgrades;

With the state value after the described observed reading correction renewal, obtain the final estimated value of current state; Described observed reading obtains by observation equation,

Described observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' (seven) is the observation noise vector;

Utilize the final estimated value control NCO of described state to produce new signal.

2. one kind is utilized the digital phase-locked loop filtering method, it is characterized in that, comprising:

Handle to the received signal, obtain received signal, described received signal comprises reception carrier and receiving code;

Calculate phase differential or difference on the frequency between local signal and the described received signal;

Described local signal comprises local carrier and local code;

Utilize the loop filtering parameter that described phase differential or difference on the frequency are carried out loop filtering;

Described loop filtering parameter utilizes controlled algorithm to obtain;

Generate new local signal by described phase differential or difference on the frequency control NCO.

3. the method for a signal trace is characterized in that, comprising:

Handle to the received signal, obtain received signal, and extract observed reading from described received signal, described received signal comprises reception carrier and receiving code;

Whether judge receiver speed, acceleration or acceleration greater than preset threshold value,, utilize Kalman filtering to carry out signal trace if then described carrier is in high dynamic environment; If not, then described carrier is in non-high dynamic environment, utilizes digital phase-locked loop to carry out signal trace.

4. method as claimed in claim 3 is characterized in that the observation equation in the described Kalman filtering is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

5. method as claimed in claim 3 is characterized in that, the loop filtering parameter of described digital phase-locked loop utilizes controlled algorithm to obtain.

6. a Kalman filtering device is characterized in that, comprising:

First processing module is used for handling to the received signal, obtains received signal, and extracts observed reading from described received signal, and described received signal comprises reception carrier and receiving code;

Update module is used for the state value of described received signal is upgraded;

The observation module is used for obtaining the final estimated value of current state with the state value after the described observed reading correction renewal; Described observed reading obtains by observation equation,

Described observation equation is shown below,

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k);

First generation module is used to utilize the final estimated value control NCO of described state to produce new signal.

7. one kind is utilized the digital phase-locked loop filter, it is characterized in that, comprising:

Second processing module is used for handling to the received signal, obtains received signal, and described received signal comprises reception carrier and receiving code;

Difference block is used to calculate phase differential or difference on the frequency between local signal and the described received signal;

Described local signal comprises local carrier and local code;

The loop filtering module is used to utilize the loop filtering parameter that described phase differential or difference on the frequency are carried out loop filtering;

Described loop filtering parameter utilizes controlled algorithm to obtain;

Second generation module is used to utilize described phase differential or difference on the frequency control NCO to generate new local signal.

8. the device of a signal trace is characterized in that, comprising:

Processing module is used for handling to the received signal, obtains received signal, and extracts observed reading from described received signal, and described received signal comprises reception carrier and receiving code;

Whether judge module, the speed, acceleration or the acceleration that are used to judge receiver be greater than preset threshold value, if triggering is used for described carrier and is in high dynamic environment, utilizes Kalman filtering to carry out the Kalman filtering module of signal trace; If not, triggering is used for described carrier and is in non-high dynamic environment, utilizes digital phase-locked loop to carry out the digital phase-locked loop module of signal trace.

9. device as claimed in claim 8 is characterized in that, the observation equation in the described Kalman filtering module is

$Z^{\′}\left(k\right)=\left[\begin{array}{c}2r_I\left(k\right)r_Q\left(k\right)\\ r_I^2\left(k\right)-r_Q^2\left(k\right)\end{array}\right]=A^2{d}^2\left(k\right)\left[\begin{array}{c}\sin 2\mathrm{\θ}\left(k\right)\\ \cos 2\mathrm{\θ}\left(k\right)\end{array}\right]+n^{\′}\left(k\right)=H\left(X\left(k\right)\right)+n\left(k\right)$

X (k) is a k state value constantly, r _I(k) be in-phase component, r _Q(k) be quadrature component, A is the amplitude of described received signal, d (k) value ± 1, θ (k)=L ^TX (k), L=[1,0,0,0] ^T, n ' is the observation noise vector (k).

10. device as claimed in claim 8 is characterized in that, the loop filtering parameter of described digital phase-locked loop module utilizes controlled algorithm to obtain.

Images