CN102176028A - Multipath signal baseband processing method for global navigation satellite system (GNSS) receiver - Google Patents
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Abstract
The invention discloses a multipath signal baseband processing method for a global navigation satellite system (GNSS) receiver, which aims to eliminate the influence of multipath signals on the positioning accuracy of the GNSS receiver and reduce the bit error rate of GNSS receiver navigation message data by utilizing information in the multipath signals. In signal related channels corresponding to each visible satellite, direct signals and the multipath signals in received digital intermediate frequency signals are processed by utilizing independent signal related sub-channels respectively. The multipath signals are captured and tracked by utilizing the independent signal related sub-channels, and the influence of the multipath signals on the received digital intermediate frequency signals are eliminated to obtain the pure direct signals. The direct signals are tracked by utilizing the independent signal related sub-channels, and simultaneously the positioning of the GNSS receiver is finished. The recurrent direct signals and multipath signals of the receiver are superposed under the condition of realizing the accurate tracking of both the direct signals and the multipath signals to finish extracting the GNSS receiver navigation message data.
Description
Technical Field
The invention belongs to the field of satellite navigation, and particularly relates to a baseband processing method of a multipath signal of a GNSS (global navigation satellite system) receiver.
Background
With the popularization and development of GNSS application, multipath signals are main error sources in the processing of baseband signals of GNSS receivers, and influence the positioning accuracy of the receivers and the error rate of navigation message data. Most of the existing baseband signal processing methods of the GNSS receiver for the multipath signals adopt a mode of inhibiting the multipath signals, digital intermediate frequency signals after down-conversion of received signals are approximately regarded as direct signals for processing, and the influence of the multipath signals on the direct signals is reduced. Although the method for inhibiting the multipath signals can achieve the purpose of reducing the influence of the multipath signals to a certain extent, the multipath signals are not directly processed, the utilization of information contained in the multipath signals is lacked, the influence of the multipath signals on the positioning accuracy of a GNSS receiver cannot be completely removed, and the error rate of navigation message data cannot be reduced. In the GNSS receiver baseband signal processing, corresponding to the above-described method of suppressing multipath signals, a method of utilizing multipath signals has attracted considerable attention in recent years. However, the existing methods using multipath signals estimate the influence of multipath signals through a large amount of complex algorithm operations, and have complex calculation and large computation amount.
Disclosure of Invention
The invention aims to provide a baseband processing method for multipath signals in a GNSS receiver, which extracts the information of the multipath signals by utilizing the related sub-channels of the multipath signals, removes the influence of the information on the direct signals, improves the positioning precision of the GNSS receiver, reduces the error rate of navigation message data, and is simple and easy to realize.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a baseband processing method of GNSS receiver multipath signals comprises the following steps:
1) initial start-upStage, the signal-related sub-channel corresponding to the direct signal is based on the input digital intermediate frequency signalr(t) Acquiring and tracking the direct signal, judging whether the tracking of the direct signal is realized according to a tracking judgment unit, and if the tracking is realized, utilizing the direct signal reproduced by a signal generation unit
Executing step 2), if the tracking is not realized, returning to execute step 1);
2) according to the input digital intermediate frequency signalr(t) And a recurring direct signal
Using a subtraction unit in the signal dependent sub-channel corresponding to the first path signal, in accordance with
Output the first path signalr 1(t) The first path signal is captured and tracked by utilizing a carrier tracking loop and a code delay locking loop in a signal related sub-channel, whether the tracking of the first path signal is realized is judged according to a tracking judgment unit, and if the tracking is realized, the first path signal is reproduced by utilizing a signal generation unit
Step 3) is executed, if the tracking is not realized, the amplitude, the delay and the phase estimation of the first path signal are set to be 0, and the step 2) is executed;
3) according to the input digital intermediate frequency signalr(t) Reproduced direct signal
And a first path signal
Using a subtraction unit in the signal dependent sub-channel corresponding to the third path signal, in accordance withOutput the second path signalr 2(t) Capturing and tracking the second path signal by using a carrier tracking loop and a code delay locking loop in the signal related sub-channel, judging whether the tracking of the second path signal is realized according to a tracking judgment unit, and if the tracking is realized, reproducing the second path signal by using a signal generation unit
Step 4) is executed, if the tracking is not realized, the amplitude, the delay and the phase estimation of the third path signal are set to be 0, and the step 3) is executed;
4) sequentially judging whether the first step is realized or not according to the process similar to the step 3)iTracking the path signal, if not, theniThe amplitude, delay and phase estimates of the path signals are set to 0 and the second step is repeatediTracking of the path signal, if tracking is effected, reproducingiRadial signal
Repeating the above process untili = MEntering a stable tracking stage;
5) in the stable tracking stage, the signal related sub-channel corresponding to the direct signal reproduces the multipath signal according to other signal related sub-channels
(i= 1, …, M), in accordance with
The subtraction unit is used for removing the influence of multipath signals on the direct signal to obtain a pure digital intermediate frequency signal only containing the direct signalr 0(t) For the direct signal not affected by the multipath signalr 0(t) Carrying out accurate tracking;
6) a signal dependent subchannel corresponding to the first path signal, a signal reproduced from the other signal dependent subchannels
(i= 0, 2, …, M) in accordance with
Removing the influence of other signals on the first path by using a subtraction unit, keeping the tracking of the first path signal by using a carrier tracking loop and a code delay locking loop in a signal correlation sub-channel, and updating the amplitude, delay and phase estimation of the first path signal;
7) following a procedure similar to step 6), the tracked first on initial start-up phase is paired with each signal dependent subchanneliThe path signal keeps track of and updatesiAmplitude, delay and phase estimation parameters of the path signals;
8) repeating the step 5) to the step 7), and keeping stable tracking of each path signal;
9) in the stable tracking stage, the signal related sub-channel corresponding to the direct signal outputs the measurement data of the direct signal to a navigation positioning resolving module to realize the positioning of the GNSS receiver; direct signal to be reproducedMultipath signals reproduced with respect to subchannels associated with other signals
(iAnd = 1, …, M), and outputting the superposed result to a navigation positioning resolving module to realize extraction of navigation message data of the GNSS receiver.
In the GNSS receiver multipath signal baseband processing method, the signal correlation channel corresponding to each visible satellite is composed of a plurality of signal correlation sub-channels, each signal correlation sub-channel comprises a carrier tracking loop and a code delay locking loop, and each signal correlation sub-channel can capture and track signals of each path and output amplitude, delay and phase estimation information of the signals.
The receiver adopts an independent signal processing sub-channel to capture and track the multipath signals, only the multipath signals with the relative delay of less than 440 meters with the direct signals are searched during the capture, and the amplitude, delay and phase information of the multipath signals are output by respectively utilizing a carrier tracking loop and a code delay locking loop in the sub-channel during the tracking, so that the receiver can accurately reproduce the multipath signals in the received digital intermediate frequency signals.
And subtracting the repeated multipath signals from the digital intermediate frequency signals after the down-conversion of the received signals, removing multipath signal components in the received signals to obtain pure direct signals, processing the direct signals by adopting independent signal related sub-channels, and respectively obtaining the amplitude, delay and phase information of the direct signals by utilizing a carrier tracking loop and a code delay locking loop in the direct signals to realize the accurate tracking of the direct signals.
Under the condition that the tracking judgment unit judges that each path signal is accurately tracked, according to the multipath signals reproduced by the signal generation unit in the multipath signal related sub-channels, the multipath signals and the reproduced direct signals are simultaneously superposed in phase, and are output to the navigation positioning resolving module, and navigation message data in GNSS receiving signals are extracted.
The invention has the beneficial effects that: the capture and tracking of the multipath signals in the received signals are realized through the multipath signal related sub-channels, so that the repeated multipath signals are obtained, and the amplitude, delay and phase information of the multipath signals can be utilized; according to the repeated multipath signals, the influence of the repeated multipath signals on direct signals in the received signals is removed, and the accurate tracking of the direct signals is realized through the sub-channels related to the direct signals, so that the positioning precision of the GNSS receiver in the multipath environment is improved; the repeated multipath signals and the direct signals are simultaneously superposed in phase, the energy utilization rate of the received signals is improved by utilizing the energy contained in the multipath signals, and the error rate of navigation message data of the GNSS receiver is reduced.
Drawings
FIG. 1 is a general block diagram of a receiver system for a method of baseband processing of GNSS receiver multipath signals in accordance with the present invention.
FIG. 2 is a block diagram of a signal correlation sub-channel structure of a baseband processing method for GNSS receiver multipath signals.
FIG. 3 is a flowchart of a baseband processing method of GNSS receiver multipath signals according to the present invention.
FIG. 4 is a detailed diagram of a signal correlation sub-channel of the method for baseband processing of multi-path signals of a GNSS receiver according to the present invention.
FIG. 5 is a diagram of signal correlation channels of a method for baseband processing of GNSS receiver multipath signals in accordance with the present invention.
In the figure: 1. the system comprises an antenna, 2, a radio frequency front end, 3, a digital baseband signal processing module, 4, a navigation positioning resolving module, 5, a signal correlation channel, 6, a digital intermediate frequency signal, 7, a signal correlation sub-channel, 8, a subtraction unit, 9, a carrier tracking loop, 10, a code delay locking loop, 11, a tracking decision unit, 12, a signal generating unit, 13, a Doppler removing unit, 14, a correlator removing unit, 15, a DLL discriminator, 16, a loop filter, 17, an FLL/PLL discriminator, 18, a code NCO, 19, a carrier NCO, 20, an FPGA hardware platform, 21, a digital signal processor, 22, a direct signal correlation sub-channel and 23, a multipath signal correlation sub-channel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the receiver system antenna 1, the radio frequency front end 2, the digital baseband signal processing module 3 and the navigation positioning resolving module 4 of the baseband processing method of the GNSS receiver multipath signal of the present invention are composed of four parts. After the satellite signals are received by the antenna 1, the satellite signals are subjected to down-conversion processing by the radio frequency front end 2, the received GNSS digital intermediate frequency signals are subjected to baseband processing by the digital baseband signal processing module 3 to obtain measurement data and navigation message data, and the navigation positioning resolving module 4 realizes the positioning of the GNSS receiver and the extraction of the navigation message data according to the output of the digital baseband signal processing module 3. The digital baseband signal processing module 3 is composed of a plurality of signal correlation channels 5, and each signal correlation channel 5 corresponds to one visible satellite. Each signal-dependent channel 5 is formed by a plurality of signal-dependent sub-channels 7. And processing the multipath signals by using the independent signal correlation sub-channel 7, removing the influence of the multipath signals on the direct signals, and obtaining the pure direct signals. And the direct signal is captured and tracked by utilizing a single signal correlation sub-channel 7, so that the positioning of the GNSS receiver is realized. And extracting the navigation message data of the GNSS receiver by using the direct signal and the multipath signal reproduced by the signal related subchannel.
As shown in fig. 2, each signal correlation subchannel 7 is composed of a subtracting unit 8, a carrier tracking loop 9, a code delay locking loop 10, a tracking decision unit 11, and a signal generating unit 12. The subtracting unit 8 is used for removing the other path signal pairiInfluence of the path signal, two inputs being a superposition of the digital intermediate frequency signal 6 and the other signal-dependent sub-channel 7 reproduction signal, respectively, wherein the digital intermediate frequency signal 6 is represented as
Wherein,Mas to the number of received multi-path signals,a i 、τ i andθ i are respectively the firstiThe amplitude, delay and phase of the path signal over time, which are functions of time,p(t) Is a pseudo-random code and is,ωfor the intermediate frequency carrier angular frequency after down-conversion of the satellite signal,i = 0 denotes a direct signal. The output of the subtraction unit 8 is therefore
(
)
Wherein,
is as followsjReproduction of individual signal dependent sub-channelsjAnd (4) a path signal. The carrier tracking loop 9 and the code delay locking loop 10 are based on the output of the subtraction unit 8r i (t) To obtain the firstiAmplitude, delay and phase estimation of the path signals, respectively、
And
and (4) showing. The tracking decision unit 11 is used for determining whether the signal related sub-channel is completediAnd tracking the path signal. The signal generating unit 12 is based oniThe amplitude, delay and phase estimation of the path signal to reproduce the secondiPath signal, denoted as
(
)
Multipath signals for processing signal-dependent subchannels of a direct signal, reproduced from other signal-dependent subchannels
(i = 1, …, M) The subtracting unit 8 is used for removing the influence of the multipath signal on the direct signal to obtain a pure direct signalr 0(t) The carrier tracking loop 9 and the code delay locking loop 10 are used to carry out the direct signal which is not influenced by the multipath signalr 0(t) And (4) accurately tracking, and outputting the measurement data of the direct signal to the navigation positioning resolving module 4 to realize the positioning of the GNSS receiver.
Direct signal with reproduction of signal dependent sub-channels for processing the direct signal
Multipath signals reproduced with respect to subchannels associated with other signals
(iAnd = 1, …, M), and outputting the superposition result to the navigation positioning calculation module 4, thereby realizing the extraction of the navigation message data of the GNSS receiver.
As shown in fig. 4, the implementation of the baseband processing method for GNSS receiver multipath signals can be accomplished by using a Field Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP). The digital signal processor can adopt independent DSP, ARM and other processor units, and can also adopt a soft core signal processor unit embedded in the FPGA. In the detailed structure diagram of the signal correlation subchannel of the baseband processing method of the GNSS receiver multipath signal shown in fig. 4, the carrier tracking loop is used to track the carrier doppler frequency and carrier phase of the signal. A code Delay Locked Loop (DLL) is used to track the pseudo random code information of the signal. They first complete the correlation operation of the signals using the common doppler removal unit 13, correlator removal unit 14, then the carrier tracking loop tracks the signal frequency using Frequency Locked Loop (FLL)/Phase Locked Loop (PLL) discriminator 17, loop filter 16 and carrier Numerically Controlled Oscillator (NCO) 19, and the code delay locked loop tracks the pseudo random code using DLL discriminator 15, loop filter 16 and code NCO 18. The signal generation unit 12 reproduces the signal of the path based on the outputs of the code NCO 18 and the carrier NCO 19 under the condition that the tracking decision unit decides 11 that the signal tracking has been completed. In the signal correlation sub-channel, the subtracting unit 8, the doppler removing unit 13, the correlator removing unit 14, the code NCO 18, the carrier NCO 19, and the signal generating unit 12 are all implemented by an FPGA hardware platform 20, and the DLL discriminator 15, the FLL/PLL discriminator 17, the loop filter 16, and the tracking decision unit 11 are all implemented by a digital signal processor 21.
Method for baseband processing of multipath signals in a GNSS receiver, inM The performance requirement of the GNSS receiver can be satisfied when the signal strength is 1, that is, only one multipath signal needs to be processed. At this time, a signal correlation channel structure diagram of the baseband processing method of the GNSS receiver multipath signal is shown in fig. 5, and a baseband processing working method of the multipath signal is shown in fig. 3, which includes the following specific steps:
1) in the initial starting stage, the GNSS receiver digital baseband signal processing module 3 utilizes the digital intermediate frequency signal 6 output by the radio frequency front end 2r(t) According to the formular(t) = r 0(t) To convert the digital intermediate frequency signalr(t) Approximately as a direct signalr 0(t) Carrying out treatment; alignment of direct signals using direct signal correlation sub-channel 22r 0(t) Performing acquisition and tracking; judging whether the direct signal tracking is realized or not according to the tracking judgment unit 11, and if the direct signal tracking is realized, obtaining the amplitude of the direct signal through the outputs of a carrier tracking loop and a code delay locking loop in the direct signal related sub-channel 22
Delay, delayAnd phase
(ii) a According to
(
)
Can obtain the direct signal reproduced by the receiver
(ii) a If the tracking is not realized, returning to execute the step 1);
2) from the received digital intermediate frequency signal 6r(t) In which the direct signal is reproduced by the receiver
According to the formula
Obtaining a multipath signalr 1(t)；
3) The multipath signal is captured and tracked by the multipath signal correlation sub-channel 23, wherein, the multipath signal with the relative delay less than 440 meters with the direct signal is only needed to be searched and captured, and the amplitude of the multipath signal is obtained by the output of the carrier tracking loop and the code delay locking loop in the multipath signal correlation sub-channel 23
Delay, delay
And phase
According to
(1). (
)
Can obtain multipath signals reproduced by a receiver
Entering a stable tracking stage and executing the step 3); if the tracking judgment unit does not judge that the tracking of the multipath signal is finished, the amplitude is enabled
Delay, delay
And phase
All are zero, and step 2) is executed;
4) a stable tracking phase according to
Multipath signal reproduced by the obtained receiverFrom the received digital intermediate frequency signal 6r(t) Subtracting to obtain a new direct signalr 0(t)；
5) Keeping on new direct signal using direct signal correlation subchannel 22Signalr 0(t) The latest amplitude of the direct signal is obtained from the outputs of the carrier tracking loop and the code delay locking loop in the direct signal correlation sub-channel 22
Delay, delay
And phase
To obtain the latest direct signal reproduced by the receiver
；
6) From the received digital intermediate frequency signal 6r(t) In which the latest direct signal reproduced by the receiver is used
According to the formulaObtaining the latest multipath signalr 1(t)；
7) The receiver reproduces the new multipath signal by keeping track of the multipath signal using the multipath signal correlation subchannel 23
；
8) Repeating the step 4) to the step 8), and keeping tracking of the direct signal and the multipath signal;
9) in the stable tracking stage, positioning calculation of the GNSS receiver is realized according to measurement data output by the carrier tracking loop and the code delay locking loop in the direct signal correlation sub-channel 22; the extraction of the GNSS receiver navigation message data is achieved based on the outputs of the signal generation unit 12 in the direct signal correlation sub-channel 22 and the signal generation unit 12 in the multipath signal correlation sub-channel 23.
Claims (1)
1. A baseband processing method for GNSS receiver multipath signals is characterized in that the method comprises the following steps:
1) at the initial start-up stage, the signal-related sub-channel corresponding to the direct signal is based on the input digital intermediate frequency signalr(t) Acquiring and tracking the direct signal, judging whether the tracking of the direct signal is realized according to a tracking judgment unit, and if the tracking is realized, utilizing the direct signal reproduced by a signal generation unit
Executing step 2), if the tracking is not realized, returning to execute step 1);
2) according to the input digital intermediate frequency signalr(t) And a recurring direct signal
Using a subtraction unit in the signal dependent sub-channel corresponding to the first path signal, in accordance with
Output the first path signalr 1(t) The first path signal is captured and tracked by utilizing a carrier tracking loop and a code delay locking loop in a signal related sub-channel, whether the tracking of the first path signal is realized is judged according to a tracking judgment unit, and if the tracking is realized, the first path signal is reproduced by utilizing a signal generation unit
Step 3) is executed, if the tracking is not realized, the amplitude, the delay and the phase estimation of the first path signal are set to be 0, and the step 2) is executed;
3) according to the input digital intermediate frequency signalr(t) Reproduced direct signal
And a first path signal
Using a subtraction unit in the signal dependent sub-channel corresponding to the third path signal, in accordance with
Output the second path signalr 2(t) For the second path signalCapturing and tracking by using a carrier tracking loop and a code delay locking loop in the signal correlation sub-channel, judging whether the tracking of the second path signal is realized according to a tracking judgment unit, and if the tracking is realized, reproducing the second path signal by using a signal generation unit
Step 4) is executed, if the tracking is not realized, the amplitude, the delay and the phase estimation of the third path signal are set to be 0, and the step 3) is executed;
4) sequentially judging whether the first step is realized or not according to the process similar to the step 3)iTracking the path signal, if not, theniThe amplitude, delay and phase estimates of the path signals are set to 0 and the second step is repeatediTracking of the path signal, if tracking is effected, reproducingiRadial signal
Repeating the above process untili = MEntering a stable tracking stage;
5) in the stable tracking stage, the signal related sub-channel corresponding to the direct signal reproduces the multipath signal according to other signal related sub-channels (i= 1, …, M), in accordance with
The subtraction unit is used for removing the influence of multipath signals on the direct signal to obtain a pure digital intermediate frequency signal only containing the direct signalr 0(t) For the direct signal not affected by the multipath signalr 0(t) Carrying out accurate tracking;
6) a signal dependent subchannel corresponding to the first path signal, a signal reproduced from the other signal dependent subchannels
(i= 0, 2, …, M) in accordance with
Removing the influence of other signals on the first path by using a subtraction unit, keeping the tracking of the first path signal by using a carrier tracking loop and a code delay locking loop in a signal correlation sub-channel, and updating the amplitude, delay and phase estimation of the first path signal;
7) following a procedure similar to step 6), the tracked first on initial start-up phase is paired with each signal dependent subchanneliThe path signal keeps track of and updatesiAmplitude, delay and phase estimation parameters of the path signals;
8) repeating the step 5) to the step 7), and keeping stable tracking of each path signal;
9) in the stable tracking stage, the signal related sub-channel corresponding to the direct signal outputs the measurement data of the direct signal to a navigation positioning resolving module to realize the positioning of the GNSS receiver; direct signal to be reproduced
Multipath signals reproduced with respect to subchannels associated with other signals
(iAnd = 1, …, M), and outputting the superposed result to a navigation positioning resolving module to realize extraction of navigation message data of the GNSS receiver.
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| CN103901442A (en) * | 2014-03-14 | 2014-07-02 | 中国测绘科学研究院 | Detecting and relieving method for single-frequency multi-path effect |
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| CN104062668A (en) * | 2014-07-10 | 2014-09-24 | 武汉大学 | GNSS signal capturing and tracking method and system based on dual-polarized antenna |
| CN104062668B (en) * | 2014-07-10 | 2017-01-25 | 武汉大学 | GNSS signal capturing and tracking method and system based on dual-polarized antenna |
| CN105451327A (en) * | 2014-08-18 | 2016-03-30 | 北大方正集团有限公司 | Suppression method of self-interference positioning signal and terminal |
| CN105451327B (en) * | 2014-08-18 | 2018-11-20 | 北大方正集团有限公司 | The suppressing method and terminal of self-interference positioning signal |
| CN108886400A (en) * | 2016-04-12 | 2018-11-23 | 三菱电机株式会社 | Reception device and method of reseptance and program and recording medium |
| CN108886400B (en) * | 2016-04-12 | 2022-03-01 | 三菱电机株式会社 | Receiving apparatus, receiving method, and computer-readable recording medium |
| CN109379435A (en) * | 2018-11-14 | 2019-02-22 | 胡青 | A kind of ship end business service interconnects plateform system |
| CN110888150A (en) * | 2019-12-12 | 2020-03-17 | 成都航空职业技术学院 | Method and system for restraining multipath of GNSS receiver |
| CN110888150B (en) * | 2019-12-12 | 2020-09-01 | 成都航空职业技术学院 | Method and system for restraining multipath of GNSS receiver |
| CN112799111A (en) * | 2021-02-01 | 2021-05-14 | 姜毅 | Geographic information acquisition device and method thereof |
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Application publication date: 20110907 |