CN106772479B - A kind of Inertia information secondary satellite signal trace loop circuit processing method - Google Patents
A kind of Inertia information secondary satellite signal trace loop circuit processing method Download PDFInfo
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- CN106772479B CN106772479B CN201611044065.1A CN201611044065A CN106772479B CN 106772479 B CN106772479 B CN 106772479B CN 201611044065 A CN201611044065 A CN 201611044065A CN 106772479 B CN106772479 B CN 106772479B
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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
Abstract
The invention belongs to satellite receiver base band signal process fields, are related to a kind of utilization Inertia information secondary satellite receiver tracking loop circuit processing method；The present invention utilizes the acceleration information secondary satellite receiver tracking loop circuit of inertial navigation output, to reduce the dynamic stress error of carrier tracking loop, so as to reduce track loop equivalent noise bandwidth, also prolonged coherent integration may be implemented, loop thermal noise error can be reduced, improves loop for the tracking performance of low carrier-to-noise ratio signal.Satellite-signal track loop way of realization under the present invention assists Inertia information is disclosed, the main switching application form that structure and loop filter are realized including the calculating of Inertia information loop auxiliary quantity, loop filter order, loop filter bandwidth, loop filter, while improving satellite receiver tracking dynamic property, receiver sensitivity is improved.
Description
Technical field
The invention belongs to satellite receiver base band signal process fields, are related to a kind of utilization Inertia information secondary satellite reception
Machine track loop processing method.
Background technique
Inertial navigation system is with autonomous, concealment is strong, round-the-clock, anti-interference, output information amount is big, output information real-time
Outstanding advantages of strong, it has also become the indispensable important composition in the fields such as Aeronautics and Astronautics, navigation, land navigation and geodesic survey
Part, but its high-precision can increase at any time and reduce.
Satellite navigation system (GPS, GLONASS, Beidou etc.) is a kind of high-precision navigation positioning system, can give user
The information such as longitude, latitude, height, speed and time are provided, are widely applied in military field and civil field.But by
It can all cause user equipment that can not normally obtain satellite letter vulnerable to the limitation of interference and carriers of high dynamic these two aspects in signal
Number, thus location information cannot be generated, this has largely limited to the application of satellite navigation system.
Integrated navigation is using two or more navigation system, the performance of formation is higher, safety and reliability more
Strong navigation mode.Inertial navigation system and satellite navigation system have very strong complementarity in performance, not by the two combination
Respective advantage can be only given full play to, and with the intensification of combined level, inertia/combinations of satellites system overall performance is wanted
Far superior to each autonomous system.Using the long-time stability and moderate precision of satellite navigation system, to make up inertial navigation system
Error the shortcomings that propagating or increase at any time, while the short-term of inertial navigation system being recycled to make up satellite navigation in high precision
Receiver error when being disturbed increase or when blocking lossing signal etc. disadvantage, improve the dynamic property of satellite navigation and anti-dry
The recapture ability of ability and satellite is disturbed, to realize complete high-precision, high reliability, high stability, high applicability, hold
Continue round-the-clock navigation, is widely used in sea, land and sky, each field in day, including guided missile, aircraft, steamer, vehicle, robot etc.
Navigation.Both loose at present, close integrated modes are using relatively broad.However, with high-speed aircraft, advanced cruising missile
Deng to high-precision, high reliability, high stability, the demand of high applicability navigation performance, deep combination is increasingly becoming inertia/satellite group
The technology most with prospects of collaboration system.
Summary of the invention
For the above-mentioned prior art, the purpose of the present invention is to provide it is a kind of using Inertia information secondary satellite receiver with
Track loop circuit processing method is realized tenacious tracking of the satellite receiver under high dynamic environment and under weak signal environment, is defended in raising
While star receiver tracking dynamic property, receiver sensitivity is improved.
In order to achieve the above object, the present invention uses following technical scheme.
Inertia information secondary satellite receiver tracking loop circuit processing method, packet are utilized the purpose of the present invention is to provide a kind of
Include following steps:
Step 1: under noninertia information aided case, using traditional track loop；
There are under Inertia information aided case, using inertia subcarrier track loop；Traditional track loop and inertia
The switching of subcarrier track loop, by whether there is or not Inertia informations to determine；
Step 2: acceleration information is scaled often using the carrier acceleration information of inertial navigation output as inertia auxiliary information
The sighting distance acceleration of one tracking satellite；
Step 3: each sighting distance acceleration information is used for carrier wave second order track loop as inertia auxiliary information；
Step 4: second order carrier tracking loop equivalent noise bandwidth is compressed under inertia supplementary form；
Step 5: second order carrier tracking loop uses long post detection integration under inertia supplementary form.
Further, the calculation formula of the sighting distance acceleration are as follows:
In formula:For satellite accelerations vector,For user's acceleration；F is signal frequency, and c is the light velocity；
Wherein:
In formula: xu、yu、zuIt is user's three-dimensional position, xs、ys、zsIt is satellite spatial three-dimensional position； It is to use
Family three-dimensional acceleration component,It is satellite three-dimensional acceleration component；
1)(xu、yu、zu) andIt is the auxiliary information that inertial navigation provides；
2)(xs、ys、zs) andIt is the calculating that receiver is completed in the machine；(xs、ys、zs) press satellite
Navigation system ICD file recommendation formula is calculated, and is hereafter utilized to satellite position (xs、ys、zs) second differential as a result, can
The acceleration of satellite is calculated
3) calculating of satellite position and acceleration can also be segmented Emmett interpolation method three times in 100~200s；
4) a is requireduAnd asIt samples simultaneously；asUsing interpolation calculation；
5) loop filter execution cycle is identical with the inertial reference calculation period, is 2ms.
Further, if every 100s calculates an a by ICD files, it is desirable that this time calculates and the inertial navigation 2ms sampling time pair
Together, the subsequent method that interpolation is used in 100s.
Further, phaselocked loop discriminator are as follows:
In formula: φ indicates phaselocked loop discriminator phase demodulation error；IPSIndicate the coherent integration results with mutually instant branch；QPS
Indicate the coherent integration results of orthogonal instant branch；
Inertia subcarrier track loop is that acceleration assists second-order PLL form；
Second-order PLL filter coefficient are as follows:
a0=1.414 ω2 (4)
In formula: ω2=1.6BLF, BLFFor equivalent loop noise bandwidth, T=1ms is loop filter sampling time interval,
Under inertia supplementary mode, it is taken as 2Hz, loop gain K=1；
K1, k2 are integrated acceleration link coefficients:
K1=T2/2×Kn (6)
K2=T2/6×Kn (7)
Kn=6 × fc/ c is loop gain, wherein fcIt is carrier frequency, c is the light velocity.
Further, conventional carrier track loop is the form that second order frequency locking ring assists third order pll；
Frequency locking ring frequency discriminator realizes accurate frequency-tracking, calculation formula using cross product discriminator are as follows:
Cross=Qps[k]·Ips[k-1]-Ips[k]·Qps[k-1] (8)
Then normalize cross product discriminator device output efkAre as follows:
In formula: TID=1ms, for the integration interval time for integrating remover；
Phaselocked loop discriminator are as follows:
In formula: φ indicates phaselocked loop discriminator phase demodulation error；IPSIndicate the coherent integration results with mutually instant branch；QPS
Indicate the coherent integration results of orthogonal instant branch；
Second order carrier loop filter coefficient are as follows:
b0=1.414 ω1T (10)
In formula: T is filter input sample time interval, T=1ms；ω1=1.6BLFFor the natural frequency of loop, BLF=
2Hz is the bandwidth of loop equivalent noise；
Third order pll loop filter coefficients are as follows:
a0=2.4 ω0(12)
In formula: ω0=1.2BLF, BLF=10Hz is track loop equivalent noise bandwidth, and T=1ms is loop filter sampling
Time interval.
Technical solution provided in an embodiment of the present invention has the benefit that
The present invention it is a kind of utilize Inertia information secondary satellite receiver tracking loop circuit processing method, make full use of inertia defend
Star Information Fusion for Integrated Navigation Application improves system high dynamic tracking performance and tracking sensitivity, is suitable for missile-borne, airborne etc.
High dynamic application environment.Satellite receiver exists simultaneously two kinds of track loops, under traditional track loop and Inertia information assist
Seamless switching may be implemented in track loop, it is ensured that the stabilization of satellite receiver signal tracking；Inertia satellite combined guidance system
In, during the system startup process, inertial navigation is aligned first, at this time noninertia information output or Inertia information output error compared with
Greatly, at this time using traditional track loop；After inertial navigation alignment, satellite receiver can use Inertia information and be assisted,
Receiver has higher performance for high dynamic tracking and weak signal tracking at this time.
The present invention is a kind of to utilize Inertia information secondary satellite receiver tracking loop circuit processing method, in traditional track loop
On the basis of increase acceleration information auxiliary quantity, algorithm application is simple, no complicated or the huge formula of operand, real-time and operation
Amount aspect all can guarantee that the arithmetic programming on DSP or FPGA hardware platform is realized, that is, be easy to Project Realization.
Detailed description of the invention
Fig. 1 is the carrier tracking loop form schematic diagram under Inertia information auxiliary；
Fig. 2 is Inertia information auxiliary tracking loop filter form schematic diagram；
Fig. 3 is traditional tracking loop filter form schematic diagram.
Specific embodiment
It is a kind of to the present invention With reference to embodiment to utilize at Inertia information secondary satellite receiver tracking loop circuit
Reason method elaborates.
The present invention is a kind of to utilize Inertia information secondary satellite receiver tracking loop circuit processing method, comprising the following steps:
Step 1: under noninertia information aided case, using traditional track loop；There are Inertia information aided cases
Under, using the track loop of inertia supplementary form；The switching of two kinds of loops, by whether there is or not Inertia informations to determine；
Step 2: the carrier acceleration information of inertial navigation output is as inertia auxiliary information, acceleration information is scaled each
The sighting distance acceleration information of tracking satellite；
Step 3: each sighting distance acceleration information is used for carrier wave second order track loop as inertia auxiliary quantity；
Step 4: second order carrier tracking loop equivalent noise bandwidth is compressed under inertia supplementary form, as 5Hz with
Under；
Step 5: under inertia supplementary form, second order carrier tracking loop uses long post detection integration, such as
5ms, 10ms time of integration can be used in GPS；
(1) sighting distance acceleration calculation:
The calculation formula of sighting distance acceleration are as follows:
In formula:For satellite accelerations vector,For user's acceleration；F is signal frequency, and c is the light velocity；
Wherein:
In formula: xu、yu、zuIt is user's three-dimensional position, xs、ys、zsIt is satellite spatial three-dimensional position； It is to use
Family three-dimensional acceleration component,It is satellite three-dimensional acceleration component；
1)(xu、yu、zu) andIt is the auxiliary information that inertial navigation provides；
2)(xs、ys、zs) andIt is the calculating that receiver is completed in the machine；(xs、ys、zs) led by satellite
Boat system ICD file recommendation formula is calculated, and is hereafter utilized to satellite position (xs、ys、zs) second differential as a result, can count
Calculation obtains the acceleration of satellite
3) calculating of satellite position and acceleration can also be segmented Emmett interpolation method three times in 100~200s, to save
Operand；
4) a is requireduAnd asIt samples simultaneously, if inertial navigation is for auIt is 2ms sampling, then satellite asIt is also that 2ms is calculated；But as
It is calculated every time by ICD file recommendation formula, it is suitable using interpolation algorithm that operand can be very big；If every 100s is by ICD text
Part calculates an as, it is desirable that this time calculates and the inertial navigation 2ms sampling time is aligned, the subsequent method that interpolation is used in 100s；
5) loop filter execution cycle is identical with the inertial reference calculation period, is 2ms；
(2) inertia auxiliary phaselocked loop discriminator design；
Phaselocked loop discriminator are as follows:
In formula: φ indicates phaselocked loop discriminator phase demodulation error；IPSIndicate the coherent integration results with mutually instant branch；QPS
Indicate the coherent integration results of orthogonal instant branch；In low signal-to-noise ratio close to best, slope and signal amplitude square at just
Than operand requires moderate；
(3) inertia subcarrier track loop designs；
Inertia subcarrier track loop assists second-order PLL form using acceleration, as shown in Figure 2；
Second-order PLL filter coefficient are as follows:
a0=1.414 ω2 (4)
In formula: ω2=1.6BLF, BLFFor equivalent loop noise bandwidth, T=1ms is loop filter sampling time interval,
Under inertia supplementary mode, it is taken as 2Hz, loop gain K=1；
In Fig. 2, k1, k2 are integrated acceleration link coefficients:
K1=T2/2×Kn (6)
K2=T2/6×Kn (7)
Kn=6 × fc/ c is loop gain, wherein fcIt is carrier frequency, c is the light velocity；
(4) conventional carrier track loop designs；
Conventional carrier track loop assists the form of third order pll using second order frequency locking ring, as shown in Figure 3；
Frequency locking ring frequency discriminator realizes accurate frequency-tracking, calculation formula using cross product discriminator are as follows:
Cross=Qps[k]·Ips[k-1]-Ips[k]·Qps[k-1] (8)
Then normalize cross product discriminator device output efkAre as follows:
In formula: TID=1ms, for the integration interval time for integrating remover；Relative to other methods, this method is in low noise
Than when performance close to optimal, have medium operand requirement.
In Fig. 3, second order carrier loop filter coefficient are as follows:
b0=1.414 ω1T (10)
In formula: T is filter input sample time interval, T=1ms；ω1=1.6BLFFor the natural frequency of loop, BLF=
2Hz is the bandwidth of loop equivalent noise；
In Fig. 3, third order pll loop filter coefficients are as follows:
a0=2.4 ω0 (12)
In formula: ω0=1.2BLF, BLF=10Hz is track loop equivalent noise bandwidth, and T=1ms is loop filter sampling
Time interval.
Claims (3)
1. it is a kind of utilize Inertia information secondary satellite receiver tracking loop circuit processing method, it is characterised in that: this method include with
Lower step:
Step 1: under noninertia information aided case, using traditional track loop；
There are under Inertia information aided case, using inertia subcarrier track loop；Traditional track loop and inertia auxiliary
The switching of carrier tracking loop, by whether there is or not Inertia informations to determine；
Step 2: acceleration information is scaled each using the carrier acceleration information of inertial navigation output as inertia auxiliary information
The sighting distance acceleration of tracking satellite；
Step 3: each sighting distance acceleration information is used for carrier wave second order track loop as inertia auxiliary information；
Step 4: second order carrier tracking loop equivalent noise bandwidth is compressed under inertia supplementary form；
Step 5: second order carrier tracking loop uses long post detection integration under inertia supplementary form；
The calculation formula of the sighting distance acceleration are as follows:
In formula:For satellite accelerations vector,For user's acceleration；F is signal frequency, and c is the light velocity；
Wherein:
In formula: xu、yu、zuIt is user's three-dimensional position, xs、ys、zsIt is satellite spatial three-dimensional position； It is user's three-dimensional
Component of acceleration,It is satellite three-dimensional acceleration component；
1)(xu、yu、zu) andIt is the auxiliary information that inertial navigation provides；
2)(xs、ys、zs) andIt is the calculating that receiver is completed in the machine；(xs、ys、zs) press satellite navigation system
System ICD file recommendation formula is calculated, and is hereafter utilized to satellite position (xs、ys、zs) second differential as a result, can calculate
To the acceleration of satellite
3) calculating of satellite position and acceleration is segmented Emmett interpolation method three times in 100~200s；
4) a is requireduAnd asIt samples simultaneously；asUsing interpolation calculation；
5) loop filter execution cycle is identical with the inertial reference calculation period, is 2ms；
Conventional carrier track loop is the form that second order frequency locking ring assists third order pll；
Frequency locking ring frequency discriminator realizes accurate frequency-tracking, calculation formula using cross product discriminator are as follows:
Cross=Qps[k]·Ips[k-1]-Ips[k]·Qps[k-1] (8)
Then normalize cross product discriminator device output efkAre as follows:
In formula: TID=1ms, for the integration interval time for integrating remover；
Phaselocked loop discriminator are as follows:
In formula: φ indicates phaselocked loop discriminator phase demodulation error；IPSIndicate the coherent integration results with mutually instant branch；QPSIt indicates just
Hand over the coherent integration results of instant branch；
Second order carrier loop filter coefficient are as follows:
b0=1.414 ω1T (10)
In formula: T is filter input sample time interval, T=1ms；ω1=1.6BLFFor the natural frequency of loop, BLF=2Hz
For the bandwidth of loop equivalent noise；
Third order pll loop filter coefficients are as follows:
a0=2.4 ω0 (12)
In formula: ω0=1.2BLF, BLF=2Hz is track loop equivalent noise bandwidth, and T=1ms is the loop filter sampling time
Interval.
2. it is according to claim 1 a kind of using Inertia information secondary satellite receiver tracking loop circuit processing method, it is special
Sign is: if every 100s calculates an a by ICD files, it is desirable that this time calculate and the inertial navigation 2ms sampling time is aligned, it is subsequent
Using the method for interpolation in 100s.
3. it is according to claim 1 a kind of using Inertia information secondary satellite receiver tracking loop circuit processing method, it is special
Sign is:
Phaselocked loop discriminator are as follows:
In formula: φ indicates phaselocked loop discriminator phase demodulation error；IPSIndicate the coherent integration results with mutually instant branch；QPSIt indicates just
Hand over the coherent integration results of instant branch；
Inertia subcarrier track loop is that acceleration assists second-order PLL form；
Second-order PLL filter coefficient are as follows:
a0=1.414 ω2 (4)
In formula: ω2=1.6BLF, BLFFor equivalent loop noise bandwidth, T=1ms is loop filter sampling time interval, used
Under property supplementary mode, it is taken as 2Hz, loop gain K=1；
K1, k2 are integrated acceleration link coefficients:
K1=T2/2×Kn (6)
K2=T2/6×Kn (7)
Kn=6 × fc/ c is loop gain, wherein fcIt is carrier frequency, c is the light velocity.
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| CN111431557B (en) * | 2020-06-12 | 2020-09-11 | 长沙北斗产业安全技术研究院有限公司 | Signal tracking method and signal tracking system suitable for multi-mode modulation system |
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| CN103995269B (en) * | 2014-05-26 | 2016-05-18 | 南京理工大学 | A kind of inertia information assisted GNSS track loop method |
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| CN106019326A (en) * | 2016-04-28 | 2016-10-12 | 中国船舶重工集团公司第七0七研究所 | Inertial navigation speed auxiliary receiver tracking loop algorithm |
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