CN106443718B - The modified measurement zero non-error tracking system and method for relevant peaks are based under non-ideal communication channel - Google Patents
The modified measurement zero non-error tracking system and method for relevant peaks are based under non-ideal communication channel Download PDFInfo
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- CN106443718B CN106443718B CN201610813703.5A CN201610813703A CN106443718B CN 106443718 B CN106443718 B CN 106443718B CN 201610813703 A CN201610813703 A CN 201610813703A CN 106443718 B CN106443718 B CN 106443718B
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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
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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Abstract
The invention proposes the modified measurement zero non-error tracking system and method for relevant peaks are based under a kind of non-ideal communication channel, it is from the structure of anti-interference filter, the relevant peaks after AF panel are decomposed as the sum of center relevant peaks and a series of delay relevant peaks first, least square method is recycled to estimate the related peak-to-peak amplitude for being input to track loop, finally according to known interference suppression filter order, coefficient and sample rate prior information, delay relevant peaks component is deducted from the relevant peaks finally synthesized, so that the correlation peak shape for being input to early ring late is consistent with the correlation peak shape before AF panel.This method solve traditional tracking channels to measure the problem of zero changes with external disturbance and fluctuated under non-ideal communication channel, and Project Realization is very simple.Present invention can apply to need to meet simultaneously in the satellite navigation receiver of anti-interference demand and precision distance measurement.
Description
Technical field
The present invention relates to satellite navigation receiver design field, specifically a kind of satellite navigation receiver signal pseudo-code
Tracking can be used in satellite navigation receiver design.
Background technique
In the operation and application process of satellite navigation system, satellite navigation receiver is one of its core equipment.This
In signified satellite navigation receiver not only include the miscellaneous receiver of User Part, also refer to space segment and above ground portion
Receiver.The latter be mainly used for completing star, stand between the functions such as precise synchronization, communication, generally than User Part
Receiver has higher performance requirement, and for the system accuracy demand of nanosecond order, such receiver need to reach subnanosecond amount
The range accuracy of grade.When range accuracy is increased to magnitude of subnanosecond, group delay characteristic, the amplitude-frequency of such as receiver channel are special
The factors such as property, the stability of time-frequency all may cause measurement error.
Existing time domain anti-interference method be it is assumed that channel characteristic ideally, by time domain anti-interference filtration
Device parameter is constrained, so that filter meets linear phase, it is constant to reach receiver measurement zero under any jamming pattern
Purpose.But due to the distortion of the analog devices such as RF cable, amplifier and frequency mixer so that in actual navigation neceiver
In, channel is generally difficult meeting the reason that amplitude-frequency response is constant value, group delay response is constant value (phase response is linear) with interior
Think condition.It changes to which above-mentioned interference protection measure will lead to the estimation of receiver time delay, and variable quantity and interference immunity parameter
It is related.
Summary of the invention
In view of the problems of the existing technology, technical solution of the present invention proposes under a kind of non-ideal communication channel based on correlation
The modified measurement zero non-error tracking system and method in peak first press down interference from the structure of anti-interference filter
It is the sum of center relevant peaks and a series of delay relevant peaks that relevant peaks after system, which are decomposed, and least square method is recycled to estimate input
To the related peak-to-peak amplitude of track loop, finally according to known anti-interference filter order, coefficient and sample rate prior information, from
Delay relevant peaks component is deducted in the relevant peaks finally synthesized, is pressed down so that being input to the early correlation peak shape of ring late with interference
Correlation peak shape before system is consistent.This method solve traditional tracking channels to measure zero with external dry under non-ideal communication channel
The problem of disturbing variation and fluctuating, and Project Realization is very simple.
The technical scheme is that
The modified measurement zero non-error tracking system of relevant peaks, including anti-interference filtration are based under a kind of non-ideal communication channel
Device, correlator, local pseudo- code generator, long-time statistical average module, amplitude Estimation module, relevant peaks correction module, code with
Track loop, wherein long-time statistical average module, amplitude Estimation module, relevant peaks correction module are the distinctive invention of this patent,
Remaining module is identical as traditional GNSS receiver；
Anti-interference filter uses time domain two-tap transverse direction anti-interference filter, narrow in the baseband signal by estimation input
Band interference signal, the narrow-band interference signal removed in the baseband signal of input retain the broadband GNSS useful signal；
The signal of anti-interference filter output inputs correlator, the local pseudo-code that correlator generates local pseudo- code generator
Signal and the baseband signal of anti-interference filter output carry out related operation, obtain the relevant peaks main lobe R comprising white Gaussian noise
(τ)；
When long-time statistical average module carries out long by the relevant peaks obtained to correlator before system starts
Between statistical average, obtain do not include noise normalization after benchmark relevant peaks
Amplitude Estimation module does not include the related peak amplitude of noise by the estimation of maximal possibility estimation criterion
Relevant peaks correction module utilizes the related peak amplitude not comprising noise of amplitude Estimation module estimationTo relevant peaks master
Valve R (τ) is modified and by revised relevant peaks main lobeIt is sent into code tracking loop；
The pseudo-code phase of code tracking loop tracking input GNSS signal, obtains input GNSS signal and local pseudo- code generator
The amount of phase error Δ τ of the pseudo-code signal of generation；
The amount of phase error Δ τ for the pseudo-code signal that local puppet code generator is fed back according to code tracking loop is generated and input GNSS
The consistent local pseudo-code signal of broadband useful signal pseudo-code phase.
It is unbiased the present invention also provides the modified measurement zero of relevant peaks is based under a kind of non-ideal communication channel based on above system
Tracking, comprising the following steps:
S1. the GNSS baseband signal x (n) inputted first passes around time domain two-tap transverse direction anti-interference filter, time domain black soy sauce
The lateral anti-interference filter of head presses transversely arranged delay cell Z by 2M-1And tap coefficient h (i) is constituted, tap interval is equal to
Sampling interval Ts, it is defeated after one adder circuit of feeding after the postpones signal of each tap is multiplied with corresponding tap coefficient h (i)
Out.As shown in Figure 1, the signal y (n) after anti-interference filter are as follows:
Wherein: h (i) is the coefficient of i-th of tap of time domain two-tap transverse direction anti-interference filter, TsFor the sampling period.
S2. the signal y (n) of anti-interference filter output is subjected to related operation with local pseudo-code and obtains the phase comprising noise
It closes peak main lobe R (τ) are as follows:
Wherein:
L=ceil (2Tc/Ts)
Ceil () is the function that rounds up, correlation r (τ) original after being input signal x (n) related to local pseudo-code
Peak, n are white Gaussian noise, TcFor chip period, TsFor the sampling period.
S3. relevant peaks main lobe R (τ) passes through relevant peaks correction module, revised relevant peaks main lobeAre as follows:
WhereinFor normalized benchmark relevant peaks, by the way that the coefficient of anti-interference filter is set to: h (i)=0, i
≠ 0, h (0)=1 carry out long-time statistical average to relevant peaks, obtain the normalized benchmark relevant peaks for not including noise, should
Processing can be realized offline.For the related peak amplitude not comprising noise of estimation.The amplitude of relevant peaks passes through amplitude Estimation module
It obtains, the related peak amplitude not comprising noise that amplitude Estimation module uses maximal possibility estimation criterion to be estimated
S4. revised relevant peaks main lobeIt is sent into code tracking loop, code tracking loop is calculate by the following formula phase mistake
Residual quantity Δ τ:
Wherein: d is early interval late, usually Tc/ 2, k are proportionality coefficient.
Detailed description of the invention
The schematic diagram of time domain two-tap transverse direction anti-interference filter used in Fig. 1 present invention.
Realization structural schematic diagram Fig. 2 of the invention.
Specific embodiment
Fig. 1 is time domain two-tap transverse direction anti-interference filter used in the present invention, the i.e. filter of interpositioning.Black soy sauce
Head transversal filter presses transversely arranged delay cell Z by 2M-1And tap coefficient h (i) is constituted, tap interval is equal between sampling
Every Ts, exported after one adder circuit of feeding after the postpones signal of each tap is multiplied with corresponding tap coefficient h (i).It is same
When the data in past data and future are utilized, x is estimated according to data set { x (n-M) ... x (n-1) x (n+1) ... x (n+M) }
(n)。
The basic thought of Narrow Band Interference Suppression Technique based on Interference Estimation is using narrow band signal and broadband signal can
Difference on evaluation characteristic obtains the duplication of narrowband interference, then eliminates the interference signal of duplication from reception signal again, thus
Achieve the purpose that inhibit narrowband interference.Because narrowband interference is coloured noise, there is very strong correlation between sample value, it can be from past sample
Value estimation current sample；And Direct Sequence Spread Spectrum Signal spectral flatness, it is almost uncorrelated between the sample value that general rate samples to cut.When
When receiving in signal while including wide band direct sequence spread-spectrum signal component and narrowband interference components, if producing a reception
The estimated value of signal, then by the estimation mainly to narrow-band interference signal in estimated value.Before despreading from reception signal
The estimated value is subtracted, the narrowband interference components received in signal will be substantially reduced, to greatly improve Resistant DS Spread Spectrum System
Anti-interference ability.
The signal y (n) exported by time domain two-tap transverse direction anti-interference filter are as follows:
Wherein h (i) is the coefficient of i-th of tap of time domain two-tap transverse direction anti-interference filter:
It is (minimum that the coefficient vector w of the coefficient of time domain two-tap transverse direction i-th of tap of anti-interference filter generallys use MMSE
Mean square error) criterion obtain it is as follows:
If input signal x (n) are as follows:
X (n)=s (n)+j (n)
Wherein s (n) is useful signal, and j (n) is interference signal.
Then defining cost function is J:
J=E [y (n) y*(n)]
Wherein y (n) is error signal, y*It (n) is its conjugate transposition vector,For expectation function:
Y (n)=s (n)-wHx(n)
Wherein wHFor the complex conjugate transposed vector of coefficient vector w, then take out for i-th of anti-interference filter of time domain two-tap transverse direction
The coefficient vector w of the coefficient of head are as follows:
Wherein: RxxFor the autocorrelation matrix of input signal, rxsFor useful signal and receive signal dependent vector:
rxs=E [x (n) s*(n)]
Fig. 2 is the realization based on the modified measurement zero non-error tracking system of relevant peaks under a kind of non-ideal communication channel of the present invention
Structural schematic diagram, the interference signal that wherein anti-interference filter is used to remove in input signal retain useful signal；Correlator will
Local pseudo-code and the baseband signal of anti-interference filter output carry out related operation；Local puppet code generator is anti-according to track loop
The margin of error of feedback generates and the consistent pseudo-code signal of input signal phase；Code tracking loop passes through tracking input signal pseudo-code phase
Position, above-mentioned part are consistent with traditional receiver.It is unbiased that zero is measured compared to traditional receiver structure, under non-ideal communication channel
The core of tracking be to increase amplitude Estimation and relevant peaks correction module, and need to obtain using long-time offline mode
To referring to relevant peaks.Wherein amplitude Estimation module does not include noise after anti-interference filter by Least Square Method
Related peak amplitude, relevant peaks correction module repairs relevant peaks main lobe using the related peak amplitude not comprising noise of estimation
Just and by revised relevant peaks main lobe it is sent into code tracking loop.
Combined with specific embodiments below, illustrate under a kind of non-ideal communication channel of the present invention based on the modified measurement zero of relevant peaks
The implementation of non-error tracking method.
It is 40MHz with sample frequency, pseudo-code code rate selection 10.23MHz, signal intermediate frequency frequency is 13.299MHz, and be concerned with product
It is 10ms between timesharing, does not consider non-coherent integration, carrier-to-noise ratio 35dBHz.Interference scene is as shown in the table:
The order of time domain two-tap transverse direction anti-interference filter is 25 ranks, the complex coefficient obtained using MMSE criterion are as follows:
hi(i=-12 ... 0 ... 12)=
[-0.0447-0.0094i,-0.0452+0.0510i,-0.0464+0.0755i,-0.0524+0.0104i,-
0.0127-0.0698i,
0.0379-0.1280i,0.0486-0.1042i,0.0107-0.0391i,-0.0457+0.0048i,-0.0554+
0.0027i,
0.0045-0.0226i,0.0992-0.0224i,1.0000,0.0992+0.0224i,0.0045+0.0226i,
-0.0554-0.0027i,-0.0457-0.0048i,0.0107+0.0391i,0.0486+0.1042i,0.0379+
0.1280i,
-0.0127+0.0698i,-0.0524-0.0104i,-0.0464-0.0755i,-0.0452-0.0510i,-
0.0447+0.0094i]；
Related peak-to-peak amplitude after enabling normalization is 1, then the related peak amplitude not comprising noise estimated are as follows: 0.8222；
Then revised signal relevant peaks main lobeAre as follows:
Although in conclusion the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention, any
Those of ordinary skill in the art, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore this hair
Bright protection scope is subject to the range defined depending on claims.
Claims (4)
1. being based on the modified measurement zero non-error tracking system of relevant peaks under a kind of non-ideal communication channel, it is characterised in that: including anti-
Interference filter, correlator, local pseudo- code generator, long-time statistical average module, amplitude Estimation module, relevant peaks correct mould
Block and code tracking loop,
Anti-interference filter uses time domain two-tap transverse direction anti-interference filter, dry by narrowband in the baseband signal of estimation input
Signal is disturbed, the narrow-band interference signal removed in the baseband signal of input retains the broadband GNSS useful signal；
The signal of anti-interference filter output inputs correlator, the local pseudo-code signal that correlator generates local pseudo- code generator
Related operation is carried out with the baseband signal of anti-interference filter output, obtains the relevant peaks main lobe R (τ) comprising white Gaussian noise；
Phase comprising white Gaussian noise of the long-time statistical average module before system starts by being obtained to correlator
It closes peak main lobe and carries out long-time statistical average, the benchmark relevant peaks main lobe after obtaining the normalization for not including noise
Amplitude Estimation module does not include the related peak amplitude of noise by the estimation of maximal possibility estimation criterion
Relevant peaks correction module utilizes the related peak amplitude not comprising noise of amplitude Estimation module estimationTo relevant peaks main lobe R
(τ) is modified and by revised relevant peaks main lobeIt is sent into code tracking loop；
The pseudo-code phase of code tracking loop tracking input GNSS signal, obtains input GNSS signal and local pseudo- code generator generates
Pseudo-code signal amount of phase error Δ τ；
The amount of phase error Δ τ for the pseudo-code signal that local puppet code generator is fed back according to code tracking loop is generated and the input broadband GNSS
The consistent local pseudo-code signal of useful signal pseudo-code phase.
2. the modified measurement zero non-error tracking system of relevant peaks is based under non-ideal communication channel according to claim 1,
Be characterized in that: the time domain two-tap transverse direction anti-interference filter is by 2M by transversely arranged delay cell Z-1And tap coefficient
H (i) is constituted, and tap interval is equal to sampling interval Ts, after the postpones signal of each tap is multiplied with corresponding tap coefficient h (i)
It is exported after being sent into an adder circuit.
3. under a kind of non-ideal communication channel be based on the modified measurement zero non-error tracking method of relevant peaks, which is characterized in that including with
Lower step:
S1. the GNSS baseband signal x (n) inputted first passes around time domain two-tap transverse direction anti-interference filter, the time domain black soy sauce
The lateral anti-interference filter of head presses transversely arranged delay cell Z by 2M-1And tap coefficient h (i) is constituted, tap interval is equal to
Sampling interval Ts, it is defeated after one adder circuit of feeding after the postpones signal of each tap is multiplied with corresponding tap coefficient h (i)
Out；
Signal y (n) after anti-interference filter are as follows:
Wherein: h (i) is the coefficient of i-th of tap of time domain two-tap transverse direction anti-interference filter, TsFor the sampling period；
S2. the signal y (n) of anti-interference filter output and local pseudo-code are subjected to related operation and obtain the relevant peaks comprising noise
Main lobe R (τ) are as follows:
Wherein:
L=ceil (2Tc/Ts)
Ceil () is to round up function, relevant peaks r (τ) original after being input signal x (n) related with local pseudo-code, and n is
White Gaussian noise, TcFor chip period, TsFor the sampling period；
S3. relevant peaks main lobe R (τ) passes through relevant peaks correction module, revised relevant peaks main lobeAre as follows:
WhereinFor normalization after benchmark relevant peaks main lobe, by the way that the coefficient of anti-interference filter is set to: h (i)=0, i
≠ 0, h (0)=1 carry out long-time statistical average to the relevant peaks main lobe comprising white Gaussian noise, obtain and do not include returning for noise
Benchmark relevant peaks main lobe after one change, the processing can be realized offline；For the related peak amplitude not comprising noise of estimation；
S4. revised relevant peaks main lobeIt is sent into code tracking loop, code tracking loop is calculate by the following formula amount of phase error
Δ τ:
Wherein: d is early interval late, usually Tc/ 2, k are proportionality coefficient.
4. the modified measurement zero non-error tracking method of relevant peaks is based under non-ideal communication channel according to claim 3,
It is characterized in that, in step S3, the amplitude of correlation function is obtained by amplitude Estimation module, and amplitude Estimation module uses maximum likelihood
The related peak amplitude not comprising noise that estimation criterion is estimated
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| CN107255824B (en) * | 2017-06-22 | 2020-01-14 | 北京航空航天大学 | High-dynamic GNSS vector tracking method combining error modeling and non-error modeling |
| CN108828634A (en) * | 2018-04-26 | 2018-11-16 | 北京理工雷科雷达技术研究院有限公司 | A method of the tracking mistake of code ring caused by overcoming narrowband anti-interference |
| CN108961210B (en) * | 2018-05-24 | 2021-08-31 | 上海集成电路研发中心有限公司 | Method for judging whether image is processed by algorithm |
| CN113552601B (en) * | 2021-06-29 | 2022-06-21 | 中国人民解放军国防科技大学 | Delayed autocorrelation capturing method, device and system for low-earth-orbit satellite navigation signals |
| CN114665896A (en) * | 2022-03-23 | 2022-06-24 | 江苏稻源科技集团有限公司 | Average value noise filtering circuit suitable for radio frequency receiver |
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