CN102116866B - Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier - Google Patents
Method and device for tracking global positioning system precision (GPS P) and/or Y code signal of full-cycle carrier Download PDFInfo
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Abstract
The invention provides a method and a device for tracking a global positioning system precision (GPS P) and/or Y code signal of a full-cycle carrier. The method comprises the following steps of: generating a local P code through coarse/acquisition (C/A) code guide of an L1 satellite signal; correlating the L1 satellite signal and an L2 satellite signal to the local P code respectively; performing primary accumulation with W bit length on the correlation result, multiplying in a crossed way, and then performing secondary accumulation to obtain secondary accumulation results of the L1 satellite signal and the L2 satellite signal respectively; and tracking a code ring and a carrier ring of the L1 satellite signal and the L2 satellite signal according to the secondary accumulation results of the L1 satellite signal and the L2 satellite signal. By the method and the device, full-wavelength restoration of the carrier can be realized on the L2; and higher signal-to-noise ratio is achieved.
Description
Technical field
The present invention relates to navigation field, relate in particular to a kind of GPSP of complete cycle carrier wave and/or tracking and the device of Y coded signal.
Background technology
Gps satellite is launched L1, L2 two-way spread-spectrum signal simultaneously, and carrier wave is respectively 1575.42MHz, 1227.6MHz, and the L1 signal carries out spread spectrum with C/A code and P code respectively with navigation message, and the L2 carrier wave only uses the P code that navigation message is carried out spread spectrum.US military has been formulated AS (Anti-Spoofing) policy for security consideration, i.e. the W code that utilization holds in close confidence and P code mould two add formation Y code and again navigation message carried out band spectrum modulation, so just do not allow domestic consumer directly to use the two-frequency operation mode.And the dual-frequency carrier measurement is very important for the mapping application; Fine compensation for ionosphere delay in the navigation application also needs the double frequency pseudorange.
The people such as Ashjaee propose involution or square method (seeing patent U.S.Pat.No.4928106), L2 signal and self square, removed the modulation of Y code, the output continuous wave is used for carrier phase measurement.The shortcoming of this method is: 2 times of output frequencies are to the primary carrier frequency after square, and wavelength reduces by half, and increase the half cycle blur level, bring difficulty for quick ambiguity solution degree; Square also cause more noise to enter receiver, the decline of loop signal to noise ratio.Carrier-to-noise ratio 40dB/Hz be transformed into signal to noise ratio (S/N ratio) (40-70) after the 10M bandwidth=-30dB, after square be-60dB signal to noise ratio (S/N ratio) decline 30dB (comparing with pseudo code correlation is cumulative).
Another kind is the method for multiplication cross.Ionospheric impact causes L1 different with the time-delay of L2 signal, and the time-delay on L2 is greater than L1.The upper modulation of L1, L2 Y code is synchronous, and the L1 signal is taken the L2 signal after time-delay, to remove the upper Y code modulation of L2.Compare the recovery that can obtain the upper full wavelength signals of L2 with method one because L1 road signal has been compared the 3dB gain with L2, so two-way multiply each other after with respect to L2 self square, the gain of 3dB is arranged equally.The shortcoming of this method is: in order to make P (Y) the code alignment on L1 and the L2, L2 postpones variable; Because this method is still processed under apread spectrum bandwidth, signal to noise ratio (S/N ratio) is lower.
Keegan proposes the method (seeing patent U.S.Pat.No.4972431) of auxiliary L2 square of P code, and the method is to direct square of input signal, but behind the C/A code guiding P code tracking, peels off the P code, then reduces bandwidth to the W signal bandwidth.Namely produce local P code, remove the P code in the L2 signal Y code, keep unknown W code.Bandwidth is reduced to positive and negative 500kHz from positive and negative 10MHz.The carrier-to-noise ratio of same 40dB/Hz, be transformed into signal to noise ratio (S/N ratio) (40-57) after the 500kHz bandwidth=-17dB.Like this when L2 signal square, there is not the P code auxiliary before comparing, the gain of 13dB is arranged.Shortcoming is to have equally half-wavelength blur level problem; With known W code bit edge, integration is compared between bit period, and bandpass filter is not optimum.
The people such as Lorenz propose the method (seeing patent U.S.Pat.No.5134407) of the auxiliary multiplication cross of P code, combine the advantage of the auxiliary L2 quadratic sum multiplication cross method of P code, reduce bandwidth, reduce the loss of signal to noise ratio (S/N ratio).This kind method has been improved signal to noise ratio (S/N ratio), realizes the long carrier track of all-wave.Yet the W bit must rely on high-gain aerial with respect to the timing relationship of P code phase and obtain, and is unrealistic in actual applications.
Litton, the people such as Russell and Woo propose a kind of Z-tracking (seeing patent U.S.Pat.No.5576715).Consider the relation between W code and the P code.Unknown W code polarity is estimated it.Produce respectively demodulation L1 of P code with this locality, the L2 two paths of signals, signal bandwidth is reduced to 1MHz from 20MHz.By the period-luminosity relation between W code and the P code, in W code chip interval, do accumulation process.The output valve of one road signal is done symbol decision as the estimated value to the W code.Estimated value is taken on another road signal to remove the W code.With respect to auxiliary square of P code, the high 3dB of the method signal to noise ratio (S/N ratio).
Summary of the invention
The technical problem to be solved in the present invention provides a kind of gps signal P of complete cycle carrier wave and/or tracking and the device of Y coded signal, can obtain the long recovery of carrier wave all-wave at L2, carries out P and/or the Y code tracking of gps signal, has more high s/n ratio.
In order to address the above problem, the invention provides a kind of GPSP of complete cycle carrier wave and/or the tracking of Y coded signal, comprising:
A, the guiding of the C/A code by the L1 satellite-signal produce local P code;
B, L1, L2 satellite-signal are relevant with described local P code respectively, correlated results is done the one-accumulate of 1 Wbit length after, intersect take advantage of mutually after, carry out respectively secondary cumulative, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
Further, described step C specifically comprises:
The cumulative result of secondary is carried out FFT, noncoherent accumulation, output L1, the code of L2 satellite-signal, carrier phase driscrimination error;
With carrying out loop filtering as code, the carrier phase driscrimination error of L1, L2 satellite-signal integral body behind the code on the I of L1, L2 satellite-signal, Q road, the carrier phase driscrimination error weighting summation, finish code ring, the carrier wave ring of L1 and L2 satellite-signal and follow the tracks of respectively.
Further, among the described step B:
Carry out multichannel relevant, different pseudo-code delaies is adopted on each road, obtains different correlated results; A road correlated results after relevant with local P code as the L2 satellite-signal with relevant peaks maximum in the correlated results.
Further, among the described step B:
The result that one-accumulate is obtained carries out normalized and obtains W position estimated value, intersects with the W position estimated value that obtains and takes advantage of mutually.
Further, among the described step B, the step that produces W code clock signal comprises:
The present rate value is made as A or B;
P code chip is counted, constantly produced W code clock signal when reaching the present rate value at the edge;
W code clock signal is counted, when the present rate value is A, when W code clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W code clock signal reaches N, the present rate value is made as B;
A, B, M, N are positive integer.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtain I, Q two-way correlated results, obtain an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length, cumulative I road, the Q road secondary accumulation result that obtains the L1 satellite-signal of displacement and secondary;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of L2 satellite-signal.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtain I, Q two-way correlated results, obtain the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length, cumulative I road, the Q road secondary accumulation result that obtains the L2 satellite-signal of displacement and secondary;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of L1 satellite-signal.
Further, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
Further, described steps A specifically comprises:
A1, at first pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture C/A code ring and the carrier loop of closed L1 behind the satellite-signal, realize pseudo-code and carrier phase synchronously, C/A code ring and the carrier wave ring of locking L1;
A2, demodulation L1 satellite-signal are resolved navigation message, obtain Zcount and the dependent phase information of current time;
A3, produce local P code according to described dependent phase information;
A4, the code ring by the L1 satellite-signal, the code ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status.
The present invention also provides a kind of GPSP of complete cycle carrier wave and/or the tracking means of Y coded signal, comprising:
P code generation module is used for the C/A code guiding by the L1 satellite-signal, produces local P code;
First, second correlator is respectively applied to L1, L2 satellite-signal relevantly with described local P code, obtains first, second correlated results;
W code supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 Wbit length taking advantage of mutually, carries out respectively secondary again and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
Further, described loop tracks module specifically comprises:
Be respectively applied to the secondary accumulation result of L1, L2 satellite-signal is carried out first, second FFT unit of Fourier transform;
Be respectively applied to the result of first, second FFT unit output is carried out first, second cumulative unit of noncoherent accumulation;
Be respectively applied to export the code of L1, L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied to I, the code on Q road, carrier phase driscrimination error weighting summation with L1, L2 satellite-signal, obtain the code of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error;
Be respectively applied to the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the code ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
Further, described the second correlator comprises:
A plurality of interlock circuits are respectively applied to carry out relevant to the L2 satellite-signal with described local P code according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; Correlated results output after the correlated results of the interlock circuit output that this is current is relevant with local P code as the L2 satellite-signal.
Further, described tracking means also comprises first, second C/A code generation module, for generation of the C/A code;
Described the first/the second correlator respectively comprises:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator for generation of sin, cos signal, inputs to respectively first, second multiplier;
The yardage controlled oscillator is used for the output control signal to described P code generation module;
First, second multiplier be respectively applied to will input satellite-signal and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied to described I road, Q road signal and local P code are multiplied each other, and obtains I, Q road correlated results, exports to W code supplementary module;
Five, the 6th multiplier is respectively applied to described I road, Q road signal and C/A code are multiplied each other, and the result exports to totalizer.
Further, P code generation module specifically comprises:
C/A code tracking and capturing unit are used for pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture locking C/A code ring and carrier loop behind the L1 satellite-signal;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains Zcount and the dependent phase information of current time;
First, second P code generation unit is respectively applied to produce the local P code on L1, L2 road;
Initialization unit is used for according to first, second P code generation unit of described dependent phase information initializing; Code ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
Further, described W code supplementary module specifically comprises: first, second secondary unit that adds up;
The one W position estimation unit is used for the I of described the first correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described the second correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W code clock generator is used for output W code clock signal to described first, second W position estimation unit;
The cumulative unit of described the first secondary adds up for carrying out secondary after W position, described the 2nd I road estimated value is taken advantage of mutually with an I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
The cumulative unit of described the second secondary adds up for carrying out secondary after W position, described I road estimated value is taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
Further, a described W position estimation unit result that a described I road, Q road one-accumulate are obtained carries out normalized and obtains an I road, W position, Q road estimated value; The result that described the 2nd W position estimation unit obtains described the 2nd I road, Q road one-accumulate carries out normalized and obtains the 2nd I road, W position, Q road estimated value;
Further, described W code clock generator specifically comprises:
The speed selector switch, it is the present rate value that A or B are set; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B; When being A such as the present rate value, change rate value into B after receiving enable signal;
The first counter is used for P code clock signal is counted, and namely P code chip is counted; Output W code clock signal when count value reaches the rate value of described speed selector switch setting, and restart counting;
The second counter is used for the W code clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving X1A reset signal epoch, first, second counter restarts counting; It is A or B that the speed selector switch arranges the present rate value.
Further, the cumulative unit of described first, second secondary each specifically comprise:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
In the cumulative unit of described the first secondary:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L1 satellite-signal/Q road secondary accumulation result;
In the cumulative unit of described the second secondary:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L2 satellite-signal/Q road secondary accumulation result.
Various embodiments of the present invention have the following advantages:
(1) owing to not adopting L2 satellite-signal square or involution, therefore can obtain the long recovery of carrier wave all-wave at the L2 satellite-signal, not have the half-wavelength blur level;
(2) can adopt general circuit structure, by the change instrumental value, set such as register, to support P code, Y code tracking;
(3) scheme of employing secondary coherent accumulation makes loop have more high s/n ratio;
(4) soft-decision of employing Wbit estimated value can realize that the real number of integer characteristic codes is estimated;
(5) tracking results of C code on C/A code on the L1/L2 satellite-signal or the L2 satellite-signal and the tracking results of P (Y) code are merged, to realize the associating tracking, can improve measuring accuracy;
(6) adopt the relevant scheme of multichannel, can finish more rapidly the search of correlation energy on the L2 satellite-signal, eliminate L1, the L2 satellite-signal is because the impact of the different delayed time that ionosphere produces.
(7) adopt the design of unidirectional auxiliary or bi-directional symmetrical, L1, the L2 satellite-signal can intersect auxiliary, but the also auxiliary L2 satellite-signal of L1 satellite-signal list, perhaps the auxiliary L1 satellite-signal of L2 satellite-signal list realizes that the Y code is auxiliary.
Description of drawings
Fig. 1 is the process flow diagram of the tracking object lesson of the GPSP of complete cycle carrier wave among the embodiment one and/or Y coded signal;
Fig. 2 is the structured flowchart of the tracking means of the GPSP of complete cycle carrier wave among the embodiment two and/or Y coded signal;
Fig. 3 is the structured flowchart of correlator among the embodiment two;
Fig. 4 is the structured flowchart of the tracking means object lesson of the GPSP of complete cycle carrier wave among the embodiment two and/or Y coded signal;
Fig. 5 is the structured flowchart of W code clock generator among the embodiment two;
Fig. 6 is the structured flowchart of the cumulative unit of secondary of W code supplementary module among the embodiment two.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described in detail.
The design philosophy of each embodiment is as follows among the present invention:
The L1 of same satellite, the L2 signal runs on respectively different passages, the this locality of doing respectively the P code through the baseband signal after the Digital Down Convert in two passages is relevant, mutually does the auxiliary rear respectively coherent accumulation that the W position is estimated, the result enters code ring carrier wave ring and carries out loop tracks.
Treatment channel is carried out modular design, reach each funtion part and be designed to standalone module, IO interface is arranged.
Both can realize unidirectionally auxiliary also can realizing two-way auxiliaryly, realize the Y code tracking, that is: L1, L2 can intersect auxiliary, but the also single auxiliary L2 of L1 or the single auxiliary L1 of L2.
Receiver can be supported P code, Y code tracking in the situation that do not do any structural modification.
Embodiment one, and the tracking of a kind of GPSP of complete cycle carrier wave and/or Y coded signal comprises:
A, the guiding of the C/A code by the L1 satellite-signal produce local P code;
B, L1, L2 satellite-signal are relevant with described local P code respectively, correlated results is done the one-accumulate of 1 Wbit length after, intersect take advantage of mutually after, carry out respectively again secondary cumulative, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal, namely carry out the tracking of code phase, carrier phase.
The tracking that realizes the L2 satellite-signal has just realized the in other words tracking of P code of Y code.
In the present embodiment, among the described step B, be that the I after L1, the L2 satellite-signal down coversion, Q two paths of signals are carried out related operation with C/A code and the P code of this locality respectively; Adopt respectively different integrating ranges when cumulative, wherein the integrating range of P code is 1 Wbit length,, does 1 Wbit length one-accumulate that is.
In the present embodiment, step C can specifically comprise:
The cumulative result of secondary is carried out FFT, noncoherent accumulation, the code of output L1, L2, carrier phase driscrimination error, carry out loop filtering, finish the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring.
The tracking results of C code on C/A code or the L2 satellite-signal on L1, the L2 satellite-signal and the tracking results of P (Y) code are merged, unite tracking.Merge and specifically to refer to: respectively with behind the code of the C/A code (I road) of L1, L2 satellite-signal and P or Y code (Q road) signal, the carrier phase driscrimination error weighting summation as L1, L2 satellite-signal integral body yard, the carrier phase driscrimination error carries out loop filtering; Described weighting coefficient can be determined according to experiment or simulation result.According to these two tributary signal noise levels, determine weighting coefficient,
In the present embodiment, can further include behind the step C: carry out pseudorange and carrier phase measurement.
In the present embodiment, utilize the L1/L2 satellite-signal that the Y code phase of L1 and L2 satellite-signal is followed the tracks of among the step C, simultaneously the carrier phase of L1 and L2 satellite-signal is followed the tracks of, finally realize the measurement of the observed reading of L1 and L2, finish the high-acruracy survey function.
In the present embodiment, described steps A specifically comprises:
A1, finish the tenacious tracking of the upper C/A code of L1.At first the upper C/A pseudo-code phase of L1 and Doppler frequency are carried out two-dimensional search, capture C/A code ring and the carrier wave ring of closed L1 behind the satellite-signal, realize the upper C/A pseudo-code of L1 and carrier phase synchronously, C/A code ring and the carrier wave ring of locking L1; Realize tenacious tracking.
A2, demodulation L1 satellite-signal.Behind the satellite-signal, just navigation message be can resolve in the tracking, Zcount and dependent phase information comprised in the navigation message; Obtain Zcount and the dependent phase information of current time after the parsing;
A3, produce local P code according to described dependent phase information;
A4, the code ring by the L1 satellite-signal, the code ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status; Because what L1 and L2 followed the tracks of is same satellite-signal, Doppler frequency on the L1 frequency can be converted the Doppler frequency on (extrapolating) L2, pseudo-code on the L1 and the pseudo-code on the L2 are alignd in time, so just can set carrier wave ring and the code ring of L2.
In the present embodiment, among the described step B, the concrete steps that the L2 satellite-signal is relevant with described local P code comprise:
Carry out multichannel relevant, different pseudo-code delaies is adopted on each road, obtains different correlated results; A road current correlated results after relevant with local P code as the L2 satellite-signal with relevant peaks maximum in the correlated results.Such design can make the Y code branch road on the L2 more promptly find correlator corresponding to instantaneous code in the hunting zone.
This moment can closed L2 track loop, code and the carrier tracking loop of locking L2.The Wbit of L2 is estimated as optimum after the track loop locking, and the Wbit of L2 estimates that auxiliary L1 can finish the tracking of the upper Q branch road of L1, and to reach I, Q unites tracking.
Adopt Wbit real number estimated value in the present embodiment.The present embodiment carries out the W position estimated value that normalized obtains to the one-accumulate result, namely the one-accumulate result being done real number estimates, so-called real number estimates to refer to the result who calculates not done 0 or 1 judgement of single thresholding, but the result is carried out exporting after the normalized, participate in subsequent treatment directly, namely intersect with the W position estimated value that obtains and take advantage of mutually.
In the present embodiment, the W code has 2 kinds of optional speed A, B (A, B are P code number of chips, or P code clock signal number); 2 kinds of bit rates continue respectively M, N Wbit length at every turn.
The concrete mode that produces W code clock signal among the step B of the present embodiment is:
The present rate value is made as A or B;
P code chip is counted, constantly produced W code clock signal when reaching the present rate value at the edge;
W code clock signal is counted, when the present rate value is A, when W code clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W code clock signal reaches N, the present rate value is made as B;
A, B, M, N are positive integer.
As seen, the cycle of the W code that produces like this is the integral multiple in P code cycle, and the edge of W code necessarily aligns with P code edge.
In the present embodiment, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 Wbit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 Wbit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
Such way is L1, and L2 intersects auxiliary, during practical application, also but the L1 list is assisted L2: only W position, I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively, multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of L2 satellite-signal; With an I road, the displacement of W position, Q road estimated value and cumulative I road, the Q road secondary accumulation result that obtains the L1 satellite-signal of secondary.
Can also assist L1 by the L2 list: only W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively, multiplied result is shifted respectively, and secondary is cumulative, obtain I road, the Q road secondary accumulation result of L1 satellite-signal; With the 2nd I road, the displacement of W position, Q road estimated value and cumulative I road, the Q road secondary accumulation result that obtains the L2 satellite-signal of secondary.
The flow process of a concrete example of the present embodiment comprises as shown in Figure 1:
101, C/A code ring and the carrier wave ring of L1 are followed the tracks of, and the demodulation navigation signal;
102, carry out initialization, the local P code of generation is aimed at L1 C/A code; Produce local P code;
103, according to L1 code ring, carrier wave ring initialization L2 code ring, carrier wave ring;
104, L1, L2 carry out relevant with local P code; In the multichannel correlated results of L2, find a road of relevant peaks maximum;
105, the track loop of closed L2 code and carrier wave;
106, judge that whether the L2 carrier tracking loop locks, and if it is carry out step 107; Otherwise continue this step;
107, L1 unites tracking C/A code and P code;
108, carry out pseudorange and carrier phase measurement.
Embodiment two, and the tracking means of a kind of GPSP of complete cycle carrier wave and/or Y coded signal as shown in Figure 2, comprising:
P code generation module is used for the C/A code guiding by the L1 satellite-signal, produces local P code;
First, second correlator is respectively applied to L1, L2 satellite-signal relevantly with described local P code, obtains first, second correlated results;
W code supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 Wbit length taking advantage of mutually, carries out respectively secondary again and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the code ring of L1 and L2 satellite-signal and the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
The tracking that realizes the L2 satellite-signal is exactly to have realized the in other words tracking of P code of Y code.
In the present embodiment, described loop tracks module can specifically comprise:
Be respectively applied to the secondary accumulation result of L1, L2 satellite-signal is carried out first, second FFT unit of Fourier transform;
Be respectively applied to the result of first, second FFT unit output is carried out first, second cumulative unit of noncoherent accumulation;
Be respectively applied to export the code of L1, L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied to I, the code on Q road, carrier phase driscrimination error weighting summation with L1, L2 satellite-signal, obtain the code of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error;
Be respectively applied to the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the code ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
In the present embodiment, described tracking means also comprises first, second C/A code generation module, for generation of the C/A code;
In the present embodiment, described the first/the second correlator can respectively comprise as shown in Figure 3:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator for generation of sin, cos signal, inputs to respectively first, second multiplier;
The yardage controlled oscillator is used for the output control signal to described first, second C/A code generation module and P code generation module;
First, second multiplier be respectively applied to will input satellite-signal (for the first correlator, being the L1 satellite-signal, for the second correlator, is the L2 satellite-signal) and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied to described I road, Q road signal and local P code are multiplied each other, and obtains I, Q road correlated results, exports to W code supplementary module and carries out one-accumulate, namely exports to the one-accumulate device among Fig. 3;
Five, the 6th multiplier is respectively applied to described I road, Q road signal and C/A code are multiplied each other, and the result exports to totalizer.
In the present embodiment, described W code supplementary module specifically can comprise:
First, second secondary unit that adds up;
The one W position estimation unit is used for the I of described the first correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described the second correlator output, the one-accumulate that Q road correlated results is done 1 Wbit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W code clock generator is used for output W code clock signal to described first, second W position estimation unit;
The cumulative unit of described the first secondary adds up for carrying out secondary after W position, described the 2nd I road estimated value is taken advantage of mutually with an I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
The cumulative unit of described the second secondary adds up for carrying out secondary after W position, described I road estimated value is taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
In the present embodiment, described the first/the 2nd W position estimation unit adopts the soft-decision of Wbit estimated value, the result that described the first/the 2nd I, Q road one-accumulate are obtained carries out normalized (doing real number estimates) and obtains the first/the 2nd I, W position, Q road estimated value, and be not only single thresholding, 0,1 judgement.
The structure of a concrete example of the present embodiment as shown in Figure 4, comprise two passages respectively L1, L2 satellite-signal being processed, each channel architecture is similar, the below will describe the passage that the L1 satellite-signal is processed, can analogize the passage that the L2 satellite-signal is processed, repeat no more.
With above-mentioned description to correlator, sin, cos signal and satellite-signal that the carrier number controlled oscillator produces multiply each other and obtain I, Q road signal; I, Q road signal multiply each other respectively and by local P code, the C/A code of yardage controlled oscillator control; Among this figure, PN (I) is local P code, and PN (Q) is the C/A code.
The result who multiplies each other with the C/A code advances totalizer; The result who multiplies each other with the P code advances W position estimation unit, i.e. W code integration zero clearing among the figure; The L1W position that obtains is estimated into this passage with to the secondary of L2 treatment channel cumulative unit, i.e. secondary totalizer among the figure;
Secondary totalizer result out advances the loop tracks module, i.e. L1 track loop among the figure;
Wherein, the zero clearing of W code integration is controlled by L1W code clock signal; L1W code clock signal produces according to L1P code clock signal and L1X1A reset signal epoch; The yardage controlled oscillator is controlled by L1P code clock signal.
In the present embodiment, described P code generation module specifically can comprise:
The C/A code is caught and tracking cell, is used for pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, captures locking C/A code and carrier wave behind the L1 satellite-signal, realize pseudo-code and carrier phase synchronously;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains Zcount and the dependent phase information of current time;
First, second P code generation unit is respectively applied to produce the local P code on L1, L2 road;
Initialization unit is used for according to first, second P code generation unit of described dependent phase information initializing; Code ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
In the present embodiment, described the second correlator can comprise:
A plurality of interlock circuits are respectively applied to carry out relevant to the L2 satellite-signal with described local P code according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; Correlated results output after the correlated results of the interlock circuit output that this is current is relevant with local P code as the L2 satellite-signal.
In the present embodiment, as input, the I of each correlator, Q value multiply each other with the Wbit auxiliary signal of other passage respectively described W code supplementary module the output accumulation result of Y code branch road correlator, do respectively secondary after the multiplied result displacement cumulative.Accumulation intervals is subjected to the zero clearing indication control of I branch road.After peeling off P code, W code and navigation message, only comprise the signal of carrier phase difference, therefore can do long-time coherent accumulation, significantly improve loop signal to noise ratio.
In the present embodiment, described W code clock generator is used for controlling the integrating range of P code when adding up, and as shown in Figure 5, specifically can comprise:
The speed selector switch, powering on arranges first A or B is the present rate value afterwards; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B; When being A such as the present rate value, change rate value into B after receiving enable signal;
The first counter is used for P code clock signal is counted, and namely P code chip is counted; Output W code clock signal when count value reaches the rate value of described speed selector switch setting, and restart counting;
The second counter is used for the W code clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving X1A reset signal epoch, first, second counter restarts counting; It is A or B that the speed selector switch arranges the present rate value.
In the present embodiment, the cumulative unit of described first, second secondary can respectively comprise as shown in Figure 6:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
In the cumulative unit of described the first secondary:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other; In the practical application, also can with 1 multiply each other the auxiliary L1 of L2 this moment; Can but be not limited to deposit the 2nd I road W position estimated value or 1 with a register;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L1 satellite-signal/Q road secondary accumulation result;
In the cumulative unit of described the second secondary:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other; In the practical application, also can with 1 multiply each other the auxiliary L2 of L1 this moment; Can but be not limited to deposit an I road W position estimated value or 1 with a register;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L2 satellite-signal/Q road secondary accumulation result.Cumulative through secondary, can generate synchronously I/Q two-way identification result, be weighted combination, generate associating tracking controlled quentity controlled variable, the upper C/A of L1/L2 or L2C and Y code can be realized the associating tracking, improve measuring accuracy.
Among above-mentioned two embodiment; for example understand the tracking of satellite-signal with the P/Y code; in the practical application; if satellite navigation system adopts the signal structure with the known high-frequency ranging code of low frequency security code modulation; take above-mentioned method and apparatus that it is caught and follows the tracks of; to reach the demodulation of satellite signal, pseudorange and carrier phase etc. are measured purpose, all within the application's protection domain.
Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.
Claims (18)
1. the tracking of the GPS P of a complete cycle carrier wave and/or Y coded signal comprises:
A, the guiding of the C/A code by the L1 satellite-signal produce local P code;
B, L1, L2 satellite-signal are relevant with described local P code respectively, correlated results is done the one-accumulate of 1 W bit length after, intersect take advantage of mutually after, carry out respectively secondary cumulative, obtain the secondary accumulation result of L1, L2 satellite-signal;
C, carry out the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
2. the method for claim 1 is characterized in that, described step C specifically comprises:
The cumulative result of secondary is carried out FFT, noncoherent accumulation, output L1, the code of L2 satellite-signal, carrier phase driscrimination error;
With carrying out loop filtering as code, the carrier phase driscrimination error of L1, L2 satellite-signal integral body behind the code on the I of L1, L2 satellite-signal, Q road, the carrier phase driscrimination error weighting summation, finish code ring, the carrier wave ring of L1 and L2 satellite-signal and follow the tracks of respectively.
3. the method for claim 1 is characterized in that, among the described step B:
Carry out multichannel relevant, different pseudo-code delaies is adopted on each road, obtains different correlated results; A road correlated results after relevant with local P code as the L2 satellite-signal with relevant peaks maximum in the correlated results.
4. the method for claim 1 is characterized in that, among the described step B:
The result that one-accumulate is obtained carries out normalized and obtains W position estimated value, and the W position estimated value that obtains in week is intersected and taken advantage of mutually.
5. the method for claim 1 is characterized in that, among the described step B, the step that produces W code clock signal comprises:
The present rate value is made as A or B;
P code chip is counted, constantly produced W code clock signal when reaching the present rate value at the edge;
W code clock signal is counted, when the present rate value is A, when W code clock signal reaches M, the present rate value is made as B; When the present rate value is B, when W code clock signal reaches N, the present rate value is made as A;
A, B, M, N are positive integer.
6. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtain I, Q two-way correlated results, obtain an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length, cumulative I road, the Q road secondary accumulation result that obtains the L1 satellite-signal of displacement and secondary;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of L2 satellite-signal.
7. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtain I, Q two-way correlated results, obtain the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length, cumulative I road, the Q road secondary accumulation result that obtains the L2 satellite-signal of displacement and secondary;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of L1 satellite-signal.
8. the method for claim 1 is characterized in that, step B specifically comprises:
With the L1 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains an I road W position estimated value and W position, Q road estimated value after doing the one-accumulate of 1 W bit length;
With the L2 satellite-signal be divided into I, the Q two-way is relevant with described local P code, obtains I, Q two-way correlated results, obtains the 2nd I road W position estimated value and W position, the 2nd Q road estimated value after doing the one-accumulate of 1 W bit length;
W position, the one I road estimated value is multiplied each other with the 2nd I road, W position, Q road estimated value respectively;
W position, the 2nd I road estimated value is multiplied each other with an I road, W position, Q road estimated value respectively;
Multiplied result is shifted respectively, and secondary is cumulative, obtains I road, the Q road secondary accumulation result of I road, Q road secondary accumulation result and the L2 satellite-signal of L1 satellite-signal.
9. such as each described method in the claim 1 to 8, it is characterized in that, described steps A specifically comprises:
A1, at first pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture C/A code ring and the carrier loop of closed L1 behind the satellite-signal, realize pseudo-code and carrier phase synchronously, C/A code ring and the carrier wave ring of locking L1;
A2, demodulation L1 satellite-signal are resolved navigation message, obtain Zcount and the dependent phase information of current time;
A3, produce local P code according to described dependent phase information;
A4, the code ring by the L1 satellite-signal, the code ring of carrier wave ring status initialization L2 satellite-signal, carrier wave ring status.
10. the tracking means of the GPS P of a complete cycle carrier wave and/or Y coded signal is characterized in that, comprising:
P code generation module is used for the C/A code guiding by the L1 satellite-signal, produces local P code;
First, second correlator is respectively applied to L1, L2 satellite-signal relevantly with described local P code, obtains first, second correlated results;
W code supplementary module is used for respectively described first, second correlated results done to intersect behind the one-accumulate of 1 W bit length taking advantage of mutually, carries out respectively secondary again and adds up, and obtains the secondary accumulation result of L1, L2 satellite-signal;
The loop tracks module is used for carrying out the code ring of L1 and L2 satellite-signal, the tracking of carrier wave ring according to the secondary accumulation result of described L1, L2 satellite-signal.
11. device as claimed in claim 10 is characterized in that, described loop tracks module specifically comprises:
Be respectively applied to the secondary accumulation result of L1, L2 satellite-signal is carried out first, second FFT unit of Fourier transform;
Be respectively applied to the result of first, second FFT unit output is carried out first, second cumulative unit of noncoherent accumulation;
Be respectively applied to export the code of L1, L2 satellite-signal, first, second Discr. of carrier phase driscrimination error;
Be respectively applied to I, the code on Q road, carrier phase driscrimination error weighting summation with L1, L2 satellite-signal, obtain the code of L1, L2 satellite-signal integral body, first, second fusion device of carrier phase driscrimination error;
Be respectively applied to the result behind the weighting summation of L1, L2 satellite-signal is carried out loop filtering, finish the code ring of L1 and L2 satellite-signal and first, second loop filter that the carrier wave ring is followed the tracks of.
12. device as claimed in claim 10 is characterized in that, described the second correlator comprises:
A plurality of interlock circuits are respectively applied to carry out relevant to the L2 satellite-signal with described local P code according to different pseudo-code delaies;
Selected cell, with the interlock circuit of correlated results of output maximum correlation peak as current interlock circuit; Correlated results output after the correlated results of the interlock circuit output that this is current is relevant with local P code as the L2 satellite-signal.
13. such as each described device in the claim 10 to 12, it is characterized in that, also comprise:
First, second C/A code generation module is for generation of the C/A code;
Described the first/the second correlator respectively comprises:
First, second, third, fourth, the 5th, the 6th multiplier;
The carrier number controlled oscillator for generation of sin, cos signal, inputs to respectively first, second multiplier;
The yardage controlled oscillator is used for the output control signal to described P code generation module;
First, second multiplier be respectively applied to will input satellite-signal and described sin, cos signal multiplication, obtain I, Q road signal;
Three, the 4th multiplier is respectively applied to described I road, Q road signal and local P code are multiplied each other, and obtains I, Q road correlated results, exports to W code supplementary module;
Five, the 6th multiplier is respectively applied to described I road, Q road signal and C/A code are multiplied each other, and the result exports to totalizer.
14. device as claimed in claim 13 is characterized in that, P code generation module specifically comprises:
C/A code tracking and capturing unit are used for pseudo-code phase and the Doppler frequency of L1 satellite-signal are carried out two-dimensional search, capture locking C/A code ring and carrier loop behind the L1 satellite-signal;
Demodulating unit is used for demodulation L1 satellite-signal, resolves navigation message, obtains Zcount and the dependent phase information of current time;
First, second P code generation unit is respectively applied to produce the local P code on L1, L2 road;
Initialization unit is used for according to first, second P code generation unit of described dependent phase information initializing; Code ring, carrier wave ring status initialization L1, the yardage controlled oscillator of L2 satellite-signal, carrier number controlled oscillator by the L1 satellite-signal.
15. device as claimed in claim 13 is characterized in that, described W code supplementary module specifically comprises: first, second secondary unit that adds up;
The one W position estimation unit is used for the I of described the first correlator output, the one-accumulate that Q road correlated results is done 1 W bit length are obtained an I road W position estimated value and W position, Q road estimated value;
The 2nd W position estimation unit is used for the I of described the second correlator output, the one-accumulate that Q road correlated results is done 1 W bit length are obtained the 2nd I road W position estimated value and W position, the 2nd Q road estimated value;
W code clock generator is used for output W code clock signal to described first, second W position estimation unit;
The cumulative unit of described the first secondary adds up for carrying out secondary after W position, described the 2nd I road estimated value is taken advantage of mutually with an I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L1 satellite-signal inputs to described loop tracks module;
The cumulative unit of described the second secondary adds up for carrying out secondary after W position, described I road estimated value is taken advantage of mutually with the 2nd I, W position, Q road estimated value respectively, and the secondary accumulation result that obtains the L2 satellite-signal inputs to described loop tracks module.
16. device as claimed in claim 15 is characterized in that:
The result that a described W position estimation unit obtains a described I road, Q road one-accumulate carries out normalized and obtains an I road, W position, Q road estimated value; The result that described the 2nd W position estimation unit obtains described the 2nd I road, Q road one-accumulate carries out normalized and obtains the 2nd I road, W position, Q road estimated value.
17. device as claimed in claim 15 is characterized in that, described W code clock generator specifically comprises:
The speed selector switch, it is the present rate value that A or B are set; After receiving enable signal, rate value is set to another value beyond the present rate value at every turn, and described rate value is A or B;
The first counter is used for P code clock signal is counted, and namely P code chip is counted; Output W code clock signal when count value reaches the rate value of described speed selector switch setting, and restart counting;
The second counter is used for the W code clock signal of output is counted, and when the present rate value is A, sends enable signal when count value arrives M, when the present rate value is B, sends enable signal when count value arrives N; Restart counting after sending enable signal;
After receiving XlA reset signal epoch, first, second counter restarts counting; It is A or B that the speed selector switch arranges the present rate value.
18. device as claimed in claim 15 is characterized in that, each specifically comprises the cumulative unit of described first, second secondary:
I road, Q road multiplier, I road, Q road shift register reach I road, Q road totalizer;
In the cumulative unit of described the first secondary:
Described I road/Q road multiplier is used for I road/Q road W position estimated value and W position, the 2nd I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L1 satellite-signal/Q road secondary accumulation result;
In the cumulative unit of described the second secondary:
Described I road/Q road multiplier is used for the 2nd I road/Q road W position estimated value and W position, I road estimated value are multiplied each other;
Described I road/Q road shift register is used for I road/Q road multiplied result is shifted;
Described I road/Q road totalizer is used for the data accumulation after I road/Q road displacement, obtains the I road of L2 satellite-signal/Q road secondary accumulation result.
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| CN103152072A (en) * | 2013-01-31 | 2013-06-12 | 南京航空航天大学 | P code generating method at random time |
| CN103675855B (en) * | 2013-11-29 | 2015-11-04 | 航天恒星科技有限公司 | A kind of GPS-P code generating method guided based on code week end moment L1CA |
| CN104459733B (en) * | 2014-11-18 | 2017-01-18 | 中国电子科技集团公司第十研究所 | Method for improving GPS signal L1-P(Y) code tracking performance |
| CN104765049B (en) * | 2015-04-20 | 2017-07-21 | 和芯星通科技(北京)有限公司 | A kind of navigation satellite signal tracking method and device |
| CN106802424B (en) * | 2016-12-23 | 2019-09-10 | 湖南北云科技有限公司 | A kind of quick guiding and tracking method of multifrequency satellite navigation neceiver and device |
| CN106814374A (en) * | 2016-12-23 | 2017-06-09 | 湖南北云科技有限公司 | A kind of reception device and method of GPS L5 signals |
| CN107688188B (en) * | 2017-07-28 | 2020-09-15 | 桂林电子科技大学 | GPS L1C/A and L1C signal joint acquisition method and satellite navigation receiver |
| CN109581432A (en) * | 2018-12-20 | 2019-04-05 | 西安空间无线电技术研究所 | A kind of satellite-based navigation receiver tracking loop circuit and its processing method |
| CN109633714B (en) * | 2018-12-26 | 2021-04-13 | 西安空间无线电技术研究所 | L2P (Y) signal tracking method with high W code adaptability |
| CN109633715B (en) * | 2018-12-29 | 2021-04-30 | 西安开阳微电子有限公司 | Method for capturing GPS and Beidou third-generation signals based on parallel code phases |
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