CN105487091A - GNSS track loop software correlator design and self-adaptive intelligent tracking method - Google Patents

GNSS track loop software correlator design and self-adaptive intelligent tracking method Download PDF

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CN105487091A
CN105487091A CN201510847935.8A CN201510847935A CN105487091A CN 105487091 A CN105487091 A CN 105487091A CN 201510847935 A CN201510847935 A CN 201510847935A CN 105487091 A CN105487091 A CN 105487091A
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signal
sgn
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carrier
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CN105487091B (en
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陈熙源
杨阳
崔冰波
王熙赢
汤新华
祝雪芬
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Southeast University
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system

Abstract

The invention discloses a GNSS track loop software correlator design and a self-adaptive intelligent tracking method. Intelligent satellite navigation work mode switching, different types of track loop software correlator self-adaptive intelligent matching and intelligent navigation and positioning are carried out based on the situation where a software receiver receives different intensities of GNSS satellite signals in different environment and at different time periods. No matter under a normal environment, a highly-dynamic environment or a weak satellite signal environment, the characteristics of the track loop software correlator under different quantitative rules can be made full use of, and a balance can be achieved among tracking accuracy, computation complexity and quantitative loss; and seamless positioning under a plurality of environments of urban traffic, avenues and tunnels and the like can be effectively realized.

Description

The design of a kind of GNSS track loop software correlator and self-adapting intelligent tracking
Technical field
The present invention relates to a kind of track loop correlator, specifically, be a kind of track loop correlator of GNSS software receiver, the invention also discloses its adaptive tracking.
Background technology
In recent years, along with widely using and the high speed development of Digital Signal Processing of GNSS software receiver, the method for process GNSS satellite signal is more and more tending towards utilizing the method for software to realize.This method is incorporated in GNSS receiver by the concept of " software radio ", and make ADC module try one's best near the place of antenna signal digital in receivers, next recycling software processes to realize location to digital signal, as shown in Figure 1.The conventional GNSS receiver of the work such as radio frequency reception, base band signal process, navigation calculation was carried out in the past with a series of asic chip, except RF front-end part does not change, follow-up hardware based all signal processing modules all " software implementations " on PC.In software receiver, carrying out signal transacting by software has a lot of advantage, as the construction cycle is short, be convenient to the new algorithm tested and assess, and can expand to flexibly in new signal system and go, as GPSL1, L2, L5 and other GNSS system, as Galileo, the Big Dipper etc.Therefore, in GNSS system research, the Curve guide impeller of software receiver algorithm and efficiency improve very important.
But the signal processing of GNSS receiver needs to carry out a large amount of related operations, this computing power is that ordinary PC is unapproachable.For GPSL1 frequency tracking channel, suppose the sampling rate adopting 5MHz, the coherent integration time of 1ms, so every 1ms has 5000 signal sampling points, each sampled point needs to carry out correlation accumulation with a local carrier, three tunnel pseudo-codes, and the value of local carrier and pseudo-code all needs to produce in real time according to current parameter.Rough estimation is known, and for possessing the receiver of 12 parallel channels, every 1ms needs to carry out more than 20 ten thousand multiply-add operations.Therefore, lot of documents is all paying close attention to how to reduce the calculated amount of software receiver signal correction process, makes software receiver can smooth operating on PC.
Current software receiver algorithm can complete the real-time process of GPSL1 signal in ordinary PC, but also require further improvement: on the one hand, along with appearance and the GNSS modernization development of new GNSS system, signal bandwidth may higher than GPSL1 signal 2 to 10 times (the B1 frequency of such as Chinese Beidou satellite navigation system be 2 times of GPSL1 frequency signal bandwidth), and this proposes new requirement to the computing power of software receiver; On the other hand, above-mentioned a part of method exchanges counting yield for by loss signal quality, and a part of method is only applicable to specific quantization digit.The present invention attempts to provide a kind of new software receiver correlator implementation method, can weigh the contradiction that calculated amount is excessive and lose between signal quality further.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art; a kind of GNSS track loop software correlator is provided to design and self-adapting intelligent tracking; the method overcome in traditional receivers signal carrier-to-noise ratio size, the restriction of contradiction between computation complexity and tracking accuracy; mode of operation switches, the track loop software correlator self-adapting intelligent of different quantizing rule mates and intelligent navigation location to take intelligent satellite to navigate; no matter under home, high dynamic environment or weak satellite signal environment, can effectively realize seamless location.
The present invention for achieving the above object, adopts following technical scheme:
A kind of GNSS track loop software correlator, comprises with lower module:
GNSS signal receives selects module, signal correction device module, carrier number controlled oscillator module, C/A code generator module, shift register, SumTable module, integrator, code ring phase detector, loop filter module with carrier-to-noise ratio estimation module, correlator;
GNSS satellite signal sends into GNSS signal carrier-to-noise ratio estimation module to obtain current signal intensity, the quantizing rule then selecting model choice to be applicable to by correlator and correlator, through selection quantizing rule and correlator in SumTable module to the carrier wave reproducing signals produced by carrier number controlled oscillator module and by C/A code generator module generation and carry out computing through the digital medium-frequency signal copying C/A coded signal and input that shift register shift operation obtains, then operation result is sent in integrator, code ring phase detector, loop filter.
A self-adapting intelligent tracking for GNSS track loop software correlator, comprises step as follows:
1) receive GNSS satellite signal by software receiver, the satellite-signal captured is sent into GNSS signal carrier-to-noise ratio estimation module to obtain current signal intensity;
2) correlator selects module by judging current signal strength, selects applicable quantizing rule and correlator;
3) carrier number controlled oscillator module is in order to produce, this signal code position L sGNrespectively by a sine table and cosine table then with the digital medium-frequency signal X of input (n)sign bit X sGNbe multiplied and form I, Q two-way mixed frequency signal;
4) C/A code generator module mainly advanced, instant, delayed copies C/A code in order to produce, above-mentioned I, Q two-way mixed frequency signal respectively simultaneously with C/A code generator module in produce copy C/A code C in advance sGN-E, immediately copy C/A code C sGN-P, delayedly copy C/A code C sGN-Lcarry out related operation and generate I, Q two paths of signals, i.e. I, Q two-way R sGN-E, P, Lsignal, is respectively i e-R sGN, i p-R sGN, i l-R sGN, q e-R sGN, q p-R sGN, q l-R sGN, the signal now on I, Q branch road is exactly only containing the sign bit of the baseband signal of data bit.
5) shift register is to the amplitude position X of the digital medium-frequency signal of input mAGwith the carrier wave reproducing signals amplitude position L that carrier number controlled oscillator module produces mAGcarry out shift operation, produce the amplitude position of digital medium-frequency signal and advanced, instant, the delay signal X of carrier wave reproducing signals amplitude position respectively mAG-E, P, Land L mAG-E, P, Li.e. X mAG-E, X mAG-P, X mAG-Land L mAG-E, L mAG-P, L mAG-L;
6) according to the current quantisation rule that correlator selects module to decide, to X in SumTable module mAG-E, P, L, L mAG-E, P, Land R sGN-E, P, Lcarrying out computing finally obtains only containing the value of the baseband signal of data bit;
7) only containing the subsequent module such as the follow-up feeding integrator of baseband signal, code ring phase detector, loop filter of data bit.
Correlator selects module by judging the carrier-to-noise ratio size of the digital medium-frequency signal received, in supervise loop, select the quantizing rule that is applicable to and the signal correction device that adapts to of self-adapting intelligent coupling to reach the balance between the loss of tracking accuracy, computation complexity and carrier-to-noise ratio: if carrier-to-noise ratio is more than or equal to 40dB/Hz, then satellite-signal is strong, if carrier-to-noise ratio is more than or equal to 30dB/Hz and be less than 40dB/Hz, then satellite-signal is moderate strength, if carrier-to-noise ratio is less than 30dB/Hz, then satellite-signal is weak; Signal correction device carrier wave 1bit being quantized, digital medium-frequency signal 2bit is quantized is selected when described satellite-signal is strong, select signal correction device carrier wave 2bit being quantized, digital medium-frequency signal 2bit is quantized when satellite-signal is weak, during satellite-signal moderate strength, select signal correction device carrier wave 1.5bit being quantized, digital medium-frequency signal 1.5bit is quantized.
Described 1bit signal correction device: the signal be quantized only has two to quantize value, only has sign bit, does not have amplitude position; 2bit signal correction device: the signal be quantized has 4 to quantize value, has sign bit and amplitude position; 1.5bit signal correction device: the signal be quantized has 3 to quantize value, and have sign bit and amplitude position, wherein the effect of amplitude position is equal to an effective Enable Pin of 0 level.
The present invention's advantage is compared with prior art:
(1) GNSS software receiver of the present invention is compared with common hardware receiver, realizes simple, with low cost, is easy to optimize, and be convenient to test and the new algorithm of assessment, the construction cycle is short, and can expand to flexibly in new signal system and go.
(2) the present invention can receive the situation of varying strength GNSS satellite signal according to Different periods varying environment, carries out the switching of intelligent satellite navigation mode of operation, the track loop software correlator self-adapting intelligent of different quantizing rule mates and intelligent navigation is located.Software receiver track loop compared to other single-modes is more intelligent, autonomy-oriented, can reasonably EQUILIBRIUM CALCULATION FOR PROCESS complexity, quantize loss with tracking accuracy between contradiction, adaptable.
The present invention is directed to software receiver receives varying strength GNSS satellite signal situation in Different periods varying environment, carry out the switching of intelligent satellite navigation mode of operation, the track loop software correlator self-adapting intelligent of different quantizing rule mates and intelligent navigation is located.The present invention is no matter under home, high dynamic environment or weak satellite signal environment; the track loop software correlator that can make full use of different quantizing rule carries out intelligent adaptive coupling; in tracking accuracy, average out between computation complexity and quantification loss, effectively can realize the seamless location under the multiple environment such as urban transportation, alameda, tunnel.
Accompanying drawing explanation
Fig. 1 is technical background figure of the present invention;
Fig. 2 is algorithm flow chart of the present invention;
Fig. 3 is embodiment of the present invention principle schematic;
Fig. 4 is Bitsum computing schematic diagram of the present invention;
Fig. 5 is 1.5bit correlator schematic diagram of the present invention.
Embodiment
Be described in detail below in conjunction with the technical scheme of accompanying drawing to invention:
As shown in Figure 2, GNSS track loop software correlator design of the present invention and self-adapting intelligent tracking, receive the situation of varying strength GNSS satellite signal for software receiver in Different periods varying environment, carry out the switching of intelligent satellite navigation mode of operation, the track loop software correlator self-adapting intelligent of different quantizing rule mates and intelligent navigation is located.No matter under home, high dynamic environment or weak satellite signal environment; the track loop software correlator that can make full use of different quantizing rule carries out intelligent adaptive coupling; in tracking accuracy, average out between computation complexity and quantification loss; effectively can realize the seamless location under the multiple environment such as urban transportation, alameda, tunnel, concrete steps are as follows:
(1) parallel by bit algorithm
A) receive GNSS satellite signal by software receiver, the satellite-signal captured is sent into GNSS signal carrier-to-noise ratio estimation module to obtain current signal intensity;
B) correlator selects module by judging current signal strength, selects applicable quantizing rule and correlator;
C) carrier number controlled oscillator module is in order to produce carrier wave reproducing signals, this signal code position L sGNrespectively by a sine table and cosine table then with the digital medium-frequency signal X of input (n)sign bit X sGNbe multiplied and form I, Q two-way mixed frequency signal;
D) C/A code generator module mainly advanced, instant, delayed copies C/A code in order to produce, above-mentioned I, Q two-way mixed frequency signal respectively simultaneously with C/A code generator module in produce copy C/A code C in advance sGN-E, immediately copy C/A code C sGN-P, delayedly copy C/A code C sGN-Lcarry out related operation and generate I, Q two paths of signals (i.e. I, Q two-way R sGN-E, P, Lsignal, is respectively i e-R sGN, i p-R sGN, i l-R sGN, q e-R sGN, q p-R sGN, q l-R sGN).Signal now on I, Q branch road is exactly only containing the sign bit of the baseband signal of data bit.
E) shift register is to the amplitude position X of the digital medium-frequency signal of input mAGwith the carrier wave reproducing signals amplitude position L that carrier number controlled oscillator module produces mAGcarry out shift operation, produce the amplitude position of digital medium-frequency signal and advanced, instant, the delay signal X of carrier wave reproducing signals amplitude position respectively mAG-E, P, Land L mAG-E, P, L(i.e. X mAG-E, X mAG-P, X mAG-Land L mAG-E, L mAG-P, L mAG-L).
F) according to the current quantisation rule that correlator selects module to decide, to X in SumTable module mAG-E, P, L, L mAG-E, P, Land R sGN-E, P, Lcarrying out computing finally obtains only containing the value of the baseband signal of data bit;
G) only containing the subsequent module such as the follow-up feeding integrator of baseband signal, code ring phase detector, loop filter of data bit.
(2) module selected by correlator
According to the carrier-to-noise ratio of the satellite-signal captured, the signal correction device that self-adapting intelligent coupling adapts in supervise loop: if carrier-to-noise ratio is more than or equal to 40dB/Hz, then satellite-signal is strong; If carrier-to-noise ratio is more than or equal to 30dB/Hz and be less than 40dB/Hz, then satellite-signal is moderate strength; If carrier-to-noise ratio is less than 30dB/Hz, then satellite-signal is weak.
Signal correction device carrier wave 1bit being quantized, digital medium-frequency signal 2bit is quantized is selected when satellite-signal is strong, select signal correction device carrier wave 2bit being quantized, digital medium-frequency signal 2bit is quantized when satellite-signal is weak, during satellite-signal moderate strength, select signal correction device carrier wave 1.5bit being quantized, digital medium-frequency signal 1.5bit is quantized.
(3) signal correction device design
Below for GPSL1 signal, illustrate the mentality of designing of all kinds software correlator.
1. 1bit correlator design
Local C/A coded signal under 1bit quantizing rule is as shown in table 1.
Local C/A coded signal under table 11bit quantizing rule
C SGN Value
0 -1
1 +1
Table 1 represents under 1bit quantizing rule, and local C/A coded signal only has sign bit, without amplitude position.When the word that two word lengths are 8bit carries out related calculation step-by-step with or sum operation Bitsum process as shown in Figure 4 with or truth table as shown in table 2.In Fig. 4, left figure is computing in machine, and right figure is actual operation.
Table 2 with or truth table
a b a⊙b
0 0 1
1 1 1
0 1 0
1 0 0
2. 2bit walks abreast step-by-step operation correlator
Under table 3 and table 4 are illustrated respectively in 2bit quantizing rule, the sign bit of digital medium-frequency signal and carrier wave and the value of amplitude position.Table 5 illustrates the value (1bitC/A code, 2bit digital medium-frequency signal, when 2bit carrier wave) of the baseband signal R (t) finally obtained.
Digital medium-frequency signal under table 32bit quantizing rule
Carrier signal under table 42bit quantizing rule
The value (1bitC/A code, 2bit digital medium-frequency signal, 2bit carrier wave) of table 5 baseband signal R (t)
In table 5, R sGN, C sGN, X sGN, L sGNthe sign bit of baseband signal, C/A code (under 1bit, C/A code only has sign bit), digital medium-frequency signal and carrier wave after representing mixing.R mAG, X mAGand L mAGrepresent baseband signal, digital medium-frequency signal signal and local carrier amplitude position size.Mathematical relation between them is such as formula shown in (3) ~ (5):
R(t)＝R SGN*R MAG(3)
R SGN＝C SGN*X SGN*L SGN(4)
R MAG＝X MAG*L MAG(5)
R S G N = + 1 S + 1 = C S G N * X S G N * L S G N = + 1 R S G N = - 1 S - 1 = C S G N * X S G N * L S G N = - 1 - - - ( 6 )
In the processor of 32bit word length, the multiplication that energy concurrent operation is a large amount of and addition, so R (t) can be written as:
I P = Σ t = 1 N s R S G N ( t ) * R M A G ( t ) = Σ n = 1 N s / 32 Σ k = 1 32 R S G N ( n , k ) * R M A G ( n , k ) - - - ( 8 )
Wherein N sit is the sampling duration of system.
When digital medium-frequency signal and carrier signal all take 2bit to quantize, the I finally obtained pcan be expressed as:
I P = Σ n = 1 N s / 32 [ B i t s u m ( M 1 S + 1 ) + 2 * B i t s u m ( M 2 S + 1 ) + 3 * B i t s u m ( M 3 S + 1 ) + 6 * B i t s u m ( M 6 S + 1 ) ] - Σ n = 1 N s / 32 [ B i t s u m ( M 1 S - 1 ) + 2 * B i t s u m ( M 2 S - 1 ) + 3 * B i t s u m ( M 3 S - 1 ) + 6 * B i t s u m ( M 6 S - 1 ) ] - - - ( 9 )
Wherein, Bitsum operation is that XOR is asked in step-by-step, then to each summation.When digital medium-frequency signal or carrier signal take different quantizing rules respectively, formula need slightly be changed, I pthe Xiang Rubiao 6 retained in expression formula:
I under the different quantizing rule of table 6 pthe item retained in expression formula
3. 1.5bit correlator
About the explanation of 1.5bit correlator design, the present embodiment provides three kinds of situations, and what this patent adopted is the second situation and the third situation.As shown in Figure 5, the GNSS signal r [n] of unlimited sampling precision becomes A by AGC (automatic growth control) g[n], then sends into 1.5bit quantizer final quantization for only having-1,0, the r of 1 three values b[n].
1) 1.5bit quantizing rule is taked to C/A coded signal
C/A code under table 71.5bit quantizing rule
X in table 7 represents 0 or 1, works as C mAGvalue effective when being 0, end value is zero; Invalid when it is 1, positive action can not become 0 to final value.Its effect is similar to an effective Enable Pin of 0 level.
The value (1.5bitC/A code, 2bit digital medium-frequency signal, 2bit carrier wave) of table 8 baseband signal R (t)
In table 8, R sGN, C sGN, X sGN, L sGNrepresent the sign bit of baseband signal, C/A coded signal, digital medium-frequency signal and local carrier after mixing.R mAG, X mAG, L mAGand C mAGrepresent the amplitude position size of baseband signal, digital medium-frequency signal, local carrier and C/A coded signal.Mathematical relation between them is such as formula shown in (10) ~ (12):
R(t)＝R SGN*R MAG(10)
R SGN＝C SGN*X SGN*L SGN(11)
R MAG＝X MAG*L MAG*C MAG(12)
2) 1.5bit quantizing rule is taked to carrier signal
Carrier wave under table 91.5bit quantizing rule
In table 9, X represents 0 or 1, when value when being 0, end value is zero; When it is 1, positive action 0 can not be become to final value.Its effect is similar to an effective Enable Pin of 0 level.
Digital medium-frequency signal under table 102bit quantizing rule
The value (1bitC/A code, 2bit digital medium-frequency signal, 1.5bit carrier wave) of table 11 baseband signal R (t)
In table 10 and table 11, R sGN, C sGN, X sGN, L sGNrepresent the sign bit of baseband signal, C/A coded signal, digital medium-frequency signal and local carrier after mixing.R mAG, X mAGand L mAGrepresent the amplitude position size of baseband signal, digital medium-frequency signal and local carrier.Mathematical relation between them is as follows:
R(t)＝R SGN*R MAG(13)
R SGN＝C SGN*X SGN*L SGN(14)
R MAG＝X MAG*L MAG(15)
3) generalized case that 1.5bit quantizes is promoted
When time, the value of final R (t) is 0, can simplify a lot of calculating accordingly.After different quantizing rule is taked respectively to digital medium-frequency signal and carrier signal, I pexpression formula is as follows:
I P = Σ n = 1 N s / 32 [ B i t s u m ( N 1 S + 1 ) + 2 * B i t s u m ( N 2 S + 1 ) + 3 * B i t s u m ( N 3 S + 1 ) ] - Σ n = 1 N s / 32 [ B i t s u m ( N 1 S - 1 ) + 2 * B i t s u m ( N 2 S - 1 ) + 3 * B i t s u m ( N 3 S - 1 ) ] - - - ( 16 )
Wherein S + 1, S -1represent that sign bit is just or bears; N 0, N 1, N 2and N 3representative quantizes back panel value and is respectively 0,1,2, the item of 3.A S is comprised in formula + 1, S -1, N 1, N 2, N 3, N 0computing method as follows:
R S G N = + 1 S + 1 = C S G N * X S G N * L S G N = + 1 R S G N = - 1 S - 1 = C S G N * X S G N * L S G N = - 1 - - - ( 17 )
Under the different quantizing rule of table 12, baseband signal amplitude judges
I under the different quantizing rule of table 13 pthe item retained in expression formula

Claims (4)

1. a GNSS track loop software correlator, is characterized in that: comprise with lower module:
GNSS signal receives selects module, signal correction device module, carrier number controlled oscillator module, C/A code generator module, shift register, SumTable module, integrator, code ring phase detector, loop filter module with carrier-to-noise ratio estimation module, correlator;
GNSS satellite signal sends into GNSS signal carrier-to-noise ratio estimation module to obtain current signal intensity, the quantizing rule then selecting model choice to be applicable to by correlator and correlator, through selection quantizing rule and correlator in SumTable module to the carrier wave reproducing signals produced by carrier number controlled oscillator module and by C/A code generator module generation and carry out computing through the digital medium-frequency signal copying C/A coded signal and input that shift register shift operation obtains, then operation result is sent in integrator, code ring phase detector, loop filter.
2. the self-adapting intelligent tracking of a kind of GNSS track loop software correlator according to claim 1, is characterized in that: comprise step as follows:
1) receive GNSS satellite signal by software receiver, the satellite-signal captured is sent into GNSS signal carrier-to-noise ratio estimation module to obtain current signal intensity;
2) correlator selects module by judging current signal strength, selects applicable quantizing rule and correlator;
3) carrier number controlled oscillator module is in order to produce, this signal code position L sGNrespectively by a sine table and cosine table then with the digital medium-frequency signal X of input (n)sign bit X sGNbe multiplied and form I, Q two-way mixed frequency signal;
4) C/A code generator module mainly advanced, instant, delayed copies C/A code in order to produce, above-mentioned I, Q two-way mixed frequency signal respectively simultaneously with C/A code generator module in produce copy C/A code C in advance sGN-E, immediately copy C/A code C sGN-P, delayedly copy C/A code C sGN-Lcarry out related operation and generate I, Q two paths of signals, i.e. I, Q two-way R sGN-E, P, Lsignal, is respectively i e-R sGN, i p-R sGN, i l-R sGN, q e-R sGN, q p-R sGN, q l-R sGN, the signal now on I, Q branch road is exactly only containing the sign bit of the baseband signal of data bit.
5) shift register is to the amplitude position X of the digital medium-frequency signal of input mAGwith the carrier wave reproducing signals amplitude position L that carrier number controlled oscillator module produces mAGcarry out shift operation, produce the amplitude position of digital medium-frequency signal and advanced, instant, the delay signal X of carrier wave reproducing signals amplitude position respectively mAG-E, P, Land L mAG-E, P, Li.e. X mAG-E, X mAG-P, X mAG-Land L mAG-E, L mAG-P, L mAG-L;
6) according to the current quantisation rule that correlator selects module to decide, to X in SumTable module mAG-E, P, L, L mAG-E, P, Land R sGN-E, P, Lcarrying out computing finally obtains only containing the value of the baseband signal of data bit;
7) only containing the subsequent module such as the follow-up feeding integrator of baseband signal, code ring phase detector, loop filter of data bit.
3. tracking according to claim 2, it is characterized in that: correlator selects module by judging the carrier-to-noise ratio size of the digital medium-frequency signal received, in supervise loop, select the quantizing rule that is applicable to and the signal correction device that adapts to of self-adapting intelligent coupling to reach tracking accuracy, balance between computation complexity and carrier-to-noise ratio loss: if carrier-to-noise ratio is more than or equal to 40dB/Hz, then satellite-signal is strong, if carrier-to-noise ratio is more than or equal to 30dB/Hz and be less than 40dB/Hz, then satellite-signal is moderate strength, if carrier-to-noise ratio is less than 30dB/Hz, then satellite-signal is weak, signal correction device carrier wave 1bit being quantized, digital medium-frequency signal 2bit is quantized is selected when described satellite-signal is strong, select signal correction device carrier wave 2bit being quantized, digital medium-frequency signal 2bit is quantized when satellite-signal is weak, during satellite-signal moderate strength, select signal correction device carrier wave 1.5bit being quantized, digital medium-frequency signal 1.5bit is quantized.
4. tracking according to claim 2, is characterized in that: described 1bit signal correction device: the signal be quantized only has two to quantize value, only has sign bit, does not have amplitude position; 2bit signal correction device: the signal be quantized has 4 to quantize value, has sign bit and amplitude position; 1.5bit signal correction device: the signal be quantized has 3 to quantize value, and have sign bit and amplitude position, wherein the effect of amplitude position is equal to an effective Enable Pin of 0 level.
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