CN106842250A - A kind of method for designing of the multipaths restraint code ring based on genetic particle filtering - Google Patents
A kind of method for designing of the multipaths restraint code ring based on genetic particle filtering Download PDFInfo
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Classifications
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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
- G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
-
- 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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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
Abstract
The invention discloses a kind of method for designing of the multipaths restraint code ring based on genetic particle filtering, it is intended to solve the problems, such as the multipath effect that satellite navigation receiver causes under complex environment.This method is mainly with modules such as frequency mixer, correlator, adjuster, integration accumulator, code ring discriminator, pseudo- code generators.After carrier wave stripping, the present invention estimates multipath signal parameter by the adjuster based on genetic particle filtering, by Kalman filtering, multipath signal amplitude Estimation mean square deviation is reduced into 0.0168；At the same time, by genetic particle filtering, estimate to improve 0.0367 chip, about 11 meters compared with conventional particle filtering multipath signal time delay；The present invention corrects reception signal and the distortion phenomenon of local pseudo-code correlation function caused by multipath effect, weakens influence of the multipath signal to code phase measuring value, contributes to a yard ring tenacious tracking pseudo-code, further increases receiver positioning precision.
Description
Technical field
The invention belongs to satellite navigation positioning technical field, specifically a kind of multipaths restraint code based on genetic particle filtering
The method for designing of ring.
Background technology
Global positioning system is a kind of satellite navigation system based on spread spectrum communication, with global, round-the-clock, continuity
And real time characteristic, may provide the user with positioning, test the speed and time service etc. is serviced.Pseudo-random code ranging be navigation neceiver obtain with it is each
The important technology of satellite distance, range accuracy directly influences the positioning precision of receiver.In this process, during signal transmission
Between accurate acquisition be crucial.Navigation neceiver obtains signal delay by obtaining pseudo-code signal with reference to local clock, and acquisition connects
The pseudorange of receipts machine and visible satellite, so that positioning solution calculates customer location.
In pseudo-code signal transmitting procedure, factors can bring error to the accurate acquisition of signal time delay.Such as：Ionization
Layer delay, tropospheric delay, thermal noise and multipath effect etc..Wherein for ionosphere and tropospheric delay and noise error
Deng, we can typically take corresponding model to be modified and compensate, and due to causing the diversity of multipath factors and many
The uncertainty of footpath signal, it is impossible to gone to describe geometrical relationship and the transmission of multipath signal and direct signal with a fixed model
Characteristic；Multipath error is one of main error source of influence receiver positioning precision.In traditional standard-track loop, multipath
The multi-path jamming that effect is brought may be up to tens of rice；Meanwhile, the introducing of multipath signal, cause pseudo-code sequence produce distortion and
Correlation function is distorted, severe patient, it is possible to cause the losing lock of track loop, and this just brings very big dry to high accuracy positioning
Disturb.So, it is the key for improving navigation neceiver positioning precision to carry out effective multipaths restraint.
For the error that multipath transmisstion brings to signal time delay, scholars have been also carried out substantial amounts of research, from current
From the point of view of technical scheme, can substantially be divided into following several：First, radio-frequency front-end uses particular antenna, such as choke coil antenna and
Right-handed polarized antenna combination aerial array suppresses multipath, and this method has certain inhibitory action to ground multipath signal, but
Be difficult to play good effect for the multipath signal above antenna, at the same the erection of antenna also bring along it is certain it is extra into
This；2nd, baseband processing portion algorithm, at present more ripe such as narrow correlation technique, strobe correlator technologies, these technologies
By shortening the spacing of early correlator late, can effectively suppress multipath long, but narrow correlation technique needs larger bandwidth, so
So that noise is mixed into passband signal, receiver is set to be easier to be interfered, while it needs sampling rate higher and faster
Digital Signal Processing, increased the expense of processor.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art, and a kind of multipath suppression based on genetic particle filtering is provided
The method for designing of code ring processed, the method effectively corrects the pseudo-code correlation function aberration problems that multipath effect is brought, accurate to differentiate
Go out multipath signal, weaken influence of the multipath effect to code phase observed quantity.So that tracking ring can be tracked to signal stabilization,
Improve receiver positioning precision；Make receiver be difficult to be disturbed simultaneously, reduce the production cost of reception.
Realizing the technical scheme of the object of the invention is：
A kind of method for designing of the multipaths restraint code ring based on genetic particle filtering, specifically includes following steps：
1) radio-frequency front-end of navigation neceiver receives satellite-signal, and digital medium-frequency signal is obtained after quantifying through AD；
2) by step 1) digital medium-frequency signal that obtains enters frequency mixer, and digital medium-frequency signal passes through multiple with I roads sinusoidal carrier
Signal processed and the mixing of Q roads cosine carriers replica signal, respectively obtain the I roads for peeling off IF carrier in-phase branch and Q roads just
Hand over branch road two paths of signals；
3) by step 2) in the I roads that obtain and Q roads mixing results exist with advanced, instant, the delayed code of local replica respectively
Correlation is done in the correlator of baseband signal, six road correlation function values are obtained；
4) by step 3) correlation function value that obtains is by based on genetic particle filtering (Genetic Algorithm
Particle Filter, GAPF) adjuster carry out multipath signal parameter Estimation, at the same time, correcting distorted related letter
Number, obtains correlated results；
5) by step 4) in correlated results by integrating-understand device, filter out the signal HFS in correlated results
And noise, so as to improve signal carrier-to-noise ratio, obtain coherent integration results；
6) by step 5) the correlation intergal result that obtains input code ring discriminator, judge whether the amplitude of correlated results reaches
Maximum, estimates receiver and replicates phase difference between C/A yards and C/A yards of reception；
7) by step 6) in the relevant difference result that obtains input pseudo-code digital controlled oscillator, adjustment C/A code generators institute is defeated
The frequency and phase of C/A yards of the duplication for going out, make duplication C/A yards to be alignd with C/A yards of holding is received；
By above-mentioned steps, after obtaining being processed through genetic particle filtering adjuster, multipath signal amplitude Estimation mean square deviation subtracts
It is small to 0.0168；Multipath signal time delay is estimated to improve 0.0367 chip, and about 11 meters, distortion pseudo-code correlation function is corrected, and is had
What is imitated improves multipath signal estimated accuracy, reduces influence of the distortion correlation function to code phase measuring value.
The step 1) in, digital medium-frequency signal is represented by：
Locally generated sine and cosine carrier wave is represented by：
Wherein a is signal amplitude；D (n) is numeric data code；ωiIt is signal carrier angular frequency；θiIt is signal original carrier phase.
Described step 2) in, the mixing results of frequency mixer output are represented by：
Wherein we(n)、θeCarrier wave angular frequency between the digital medium-frequency signal and the carrier signal of local replica that are respectively input into
Rate difference and initial phase difference.
The step 5) in, correlation intergal result is：
Wherein：A is signal amplitude；R () is code auto-correlation function that maximum is 1；ΔτkFor instant replica code with connect
Receive the phase difference between code；D be it is advanced, immediately with the spacing between delayed code；feIt is frequency difference；TcohIt is correlation intergal
Time；It is carrier phase difference.
Beneficial effect：When satellite navigation receiver is under complex environment, multipath effect can give receiver positioning accurate
Degree brings up to tens meters of influence, and more severe patient may cause receiver to satellite-signal losing lock.The present invention is by multipath
The pseudo-code correlation function of effect of signals carries out genetic particle filtering treatment, estimates multipath signal parameter so that multipath signal width
Degree estimates that mean square deviation is reduced to 0.0168；Multipath signal time delay is estimated to improve 0.0367 chip, about 11 meters, effectively weakens multipath
Influence of the signal to pseudo-code measured value, is easy to receiver tenacious tracking satellite-signal, improves receiver positioning precision.
Brief description of the drawings
Fig. 1 is multipath signal model；
Fig. 2 is that anti-phase multipath signal influences on pseudo-code correlation function；
Fig. 3 is that anti-phase multipath signal influences on pseudo-code correlation function；
Fig. 4 is multipaths restraint code ring FB(flow block) of the present invention based on genetic particle filtering；
Fig. 5 is the flow chart of pseudo-code correlation function adjuster；
Fig. 6 is influence of the multipath signal to pseudo-code correlation function and filtered result；
Fig. 7 is the direct signal and multipath signal Amplitude Ration of Kalman filtering treatment；
Fig. 8 is that the multipath signal time delay of GAPF treatment is estimated；
Fig. 9 is the variation diagram of correlation function after GAPF before processings.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention.
When navigation signal enters receiver radio frequency front end, because ground complex environment causes the refraction of direct signal and anti-
Penetrate, the signal that radio-frequency front-end is received is direct signal and the mixing of multipath signal, Fig. 1 gives multipath signal illustraton of model, its number
Model is learned to be expressed as follows：
Wherein S (t) is the composite signal that radio-frequency front-end is received；M representation signal numbers；C (t) represents pseudo-code sequence；ai、ti、
θiSignal amplitude, code delay, phase delay are represented respectively；N (t) represents Gaussian noise；As i=0, direct signal is represented.Work as i
When ≠ 0, it is generally the case that
|a0| ＞ | ai|, | t0| ＜ | ti|
Composite signal S (t) is peeled off through carrier wave, and the correlation function after related operation is carried out with local pseudo-code can be expressed as：
During wherein i=0, R (t) is pseudo-code auto-correlation function, and Fig. 2 and Fig. 3 sets forth anti-phase and positive phase signals to puppet
The influence of code correlation function.It can be seen that because multipath signal is added on direct signal so that correlation function is abnormal
Become, certain error brought to receiver pseudo-random code ranging, so as to influence receiver positioning precision, even result in loop can not effectively with
Track navigation signal, causes receiver signal losing lock and can not be accurately positioned.
To solve the correlation function aberration problems that multipath signal causes, genetic particle filtering is based on the invention provides one kind
Multipaths restraint code ring method for designing.
Embodiment：
As shown in figure 4, a kind of method for designing of the multipaths restraint code ring based on genetic particle filtering, specifically includes following step
Suddenly：
1) radio-frequency front-end of navigation neceiver receives satellite-signal, and digital medium-frequency signal is obtained after quantifying through AD；In numeral
Frequency signal is represented by：
Locally generated sine and cosine carrier wave is represented by：
Wherein a is signal amplitude；D (n) is numeric data code；ωiIt is signal carrier angular frequency；θiIt is signal original carrier phase.
2) by step 1) digital medium-frequency signal that obtains enters frequency mixer, and digital medium-frequency signal passes through multiple with I roads sinusoidal carrier
Signal processed and the mixing of Q roads cosine carriers replica signal, respectively obtain the I roads for peeling off IF carrier in-phase branch and Q roads just
Hand over branch road two paths of signals；The mixing results of frequency mixer output are represented by：
Wherein we(n)、θeCarrier wave angular frequency between the digital medium-frequency signal and the carrier signal of local replica that are respectively input into
Rate difference and initial phase difference.
3) by step 2) in the I roads that obtain and Q roads mixing results exist with advanced, instant, the delayed code of local replica respectively
Correlation is done in the correlator of baseband signal, six road correlation function values are obtained；
4) by step 3) correlation function value that obtains is by based on genetic particle filtering (Genetic Algorithm
Particle Filter, GAPF) adjuster carry out multipath signal parameter Estimation, at the same time, correcting distorted related letter
Number, obtains correlated results；
5) by step 4) in correlated results by integrating-understand device, filter out the signal HFS in correlated results
And noise, so as to improve signal carrier-to-noise ratio, obtain coherent integration results；Correlation intergal result is：
Wherein a is signal amplitude；R () is code auto-correlation function that maximum is 1；ΔτkIt is instant replica code and reception
Phase difference between code；D be it is advanced, immediately with the spacing between delayed code；feIt is frequency difference；TcohDuring for correlation intergal
Between；It is carrier phase difference.
6) by step 5) the correlation intergal result that obtains input agate ring discriminator, judge whether the amplitude of correlated results reaches
Maximum, estimates receiver and replicates phase difference between C/A yards and C/A yards of reception；
7) by step 6) in the relevant difference result that obtains input pseudo-code digital controlled oscillator, adjustment C/A code generators institute is defeated
The frequency and phase of C/A yards of the duplication for going out, make duplication C/A be alignd with C/A yards of holding is received；
With reference to Fig. 5, to step 4) in genetic particle filtering correlation function adjuster be further described.
For linear problems such as signal amplitudes, Kalman filtering shows good performance, and it is empty using signal and noise
Between model, state variable is updated by the estimate of previous moment and the observation at current time and is estimated, it is current so as to obtain
The estimate at moment.The course of work that Kalman filtering carries out multipath signal Amplitude Estimation can generally be divided into two aspects：
Time prediction updates and measurement correction updates.Specific workflow is as follows：
Time prediction updates：
Step 1：Status predication variable
Step 2：Predicting covariance matrix
Measurement correction updates：
Step 1：Calculate Kalman filtering gain：
Step 2：State variable is updated using measured value
Step 3：Update error co-variance matrix
In above-mentioned (7), (8), (9), (10) and (11) formula, XkIt is state variable, ΦkIt is state-transition matrix, QkIt is mistake
Journey noise WkCovariance matrix,It is predicted estimate,It is estimate, HkIt is observing matrix, ZkIt is tkMoment observation vector,
PkIt is error co-variance matrix, RkIt is measurement noise VkCovariance matrix.
It is presented above the course of work of the Kalman filtering to multipath signal Amplitude Estimation.Fig. 7 is calculated for genetic particle filtering
The effect that method is estimated multipath signal time delay.Genetic particle filtering estimates the detailed for the treatment of to signal time delay during this programme is given below
Describe in detail bright.
Particle filter is the filtering algorithm with Bayesian Estimation and monte carlo method as theoretical foundation.In simple terms, grain
Sub- filter method refers to probability density function to be carried out approximately, with sample by finding one group of random sample propagated in state space
Average replaces integral operation, so as to obtain the process of state minimum variance distribution.And genetic particle filtering is that genetic operator is embedding
Enter in particle filter, solve the problems, such as the particle fading problem during sample degeneracy and resampling.Genetic particle filtering is big
Cause is divided into three steps：Selection, intersection, variation.
Step one：Selection opertor；The process of selection is exactly individual with certain probability selection high-quality in sample space, mould
The process selected the superior and eliminated the inferior in science of heredity is intended., it is necessary to obtain the fitness value of particle before selecting particle.Obtain grain
After sub- fitness value, particle is selected using random ergodic sampling.Algorithm substantially flow is：The particle of acquisition is fitted
Answer angle value to normalize, and normalized value is compared with the weights for randomly generating, when random weights are less than particle fitness value
When, the particle is selected, conversely, carrying out the comparing of next particle.
Step 2：Crossover operator；Crossover operator is by extracting two individualities point from the population that selection algorithm is obtained
Not as male parent and female parent, both intercourse information, so as to obtain new individuality.This new individuality is obtained better than male parent
With maternal characteristic, crossover process simulates the genetic recombination process in science of heredity.Particle is carried out using arithmetic crossover method herein
Intersect, so-called arithmetic crossover is to produce new individuality by two linear combinations of particle.Algorithm idiographic flow is：Setting intersects
Probability threshold value, when random crossover probability is less than threshold value, carries out crossover operation；
Wherein, the random number between rand is [0 1], Y is the new individual produced after intersecting；X is the particle that selection intersects.
Step 3：Mutation operator；Mutation process similar to new individual in science of heredity generation process, by by individual UVR exposure
So as to obtain mutated individual, mutation process increased the diversity of population to reverse turn operation, it is therefore prevented that individual withered of population
Exhaust.Mutation algorithm process is as follows：
Particle is chosen according to probability P, when random variation probability is less than according to probability P, mutation operation is carried out, new particle is obtained Between a random number, when random variation probability be more than according to probability P when, then skip mutation algorithm.
In the algorithm flow processed multipath signal, fitness function determines whether particle needs genetic algorithm to seeing
Surveying variable carries out resampling, and algorithm flow is as shown in Figure 5.Fitness function is the embodiment of the individual quality degree of population.The letter
Several selection determines whether population into genetic algorithm resampling and prevents particle from losing a multifarious important step.
It is directly connected to the quality and validity problem of particle.Fitness function and particle joint probability density are distributed letter by the present invention
Number is closely connected together, and fitness function is constructed by particle joint probability density distribution function.
Particle joint probability density distribution function is：
Wherein, zkIt is k moment systematic perspective measured values, skIt is k moment system estimation values, N is observation vector dimension.
Make EfFitness function value is characterized, joint density is normalized, as shown in formula (14), so that fitness value is obtained, such as
Shown in formula (15),
Work as E in the present inventionf<During 3N/4 (N is population), into genetic algorithm resampling；Otherwise be directly observed to
Amount updates.
During joint probability density is calculated, the observation vector of high latitude considerably increases computation complexity.This hair
It is bright to obtain condensation matrix by carrying out unusual decomposition to pseudo-code sequence, dimension is reduced to a certain extent, reduce amount of calculation.
The present invention program checking signal uses intermediate frequency f=4.092M, sample frequency fc=20.96M, bit rate is 1.023M
Intermediate-freuqncy signal.Multipath signal is introduced in emulation signal, multipath signal is 0.5 with direct signal Amplitude Ration, emulates data time
About 40s, meets receiver positioning requirements first；Fig. 6 is the multipath signal and direct signal Amplitude Ration of Kalman filtering treatment；By
In Kalman filtering convergence process, in preceding 5s, Amplitude Ration fluctuation is larger, after 5s, filtering convergence, and signal amplitude is than convergence
To 0.5, and around its fluctuation, mean square deviation is 0.0168.Fig. 7 gives genetic particle filtering algorithm and multipath signal time delay is estimated
Effect.Fig. 8 is the effect that particle filter algorithm is estimated multipath signal time delay.Can be obtained by analyzing time delay evaluated error,
GAPF algorithms reduce 11m than the time delay evaluated error of PF algorithm.After algorithm is to multipath signal treatment, pseudo-code is related
The situation of change of function is as shown in Figure 9.Be can be seen that before and after through GAPF filtering from the result of Fig. 9, the correlation function of distortion is obtained
To repair, code phase measuring error that correlation function causes substantially is solved to a certain extent larger and then cause receiver to position
The problem of low precision.
After the correction of pseudo-code correlation function calibrated device, into the integration-unit is understood, to filter high frequency letter of low pass filter
Number and noise, improve signal carrier-to-noise ratio；Integration understands result by code ring discriminator, through judging that code-phase closes whether function amplitude reaches
To maximum, the code phase difference for receiving pseudo-code with replicating pseudo-code is identified；Code phase difference enters pseudo-code through loop filter
Generator, pseudo-code output frequency and phase are replicated to adjust so that received pseudo-code and kept aliging with pseudo-code is replicated, to ensure a yard ring
Tenacious tracking.
Claims (4)
1. a kind of method for designing of the multipaths restraint code ring based on genetic particle filtering, it is characterised in that specifically include following step
Suddenly：
1) radio-frequency front-end of navigation neceiver receives satellite-signal, and digital medium-frequency signal is obtained after quantifying through AD；
2) by step 1) digital medium-frequency signal that obtains enters frequency mixer, and digital medium-frequency signal is passed through and I roads sinusoidal carrier replicates letter
Number and the mixing of Q roads cosine carriers replica signal, respectively obtain the in-phase branch and the orthogonal branch on Q roads on the I roads for peeling off IF carrier
Road two paths of signals；
3) by step 2) in the I roads that obtain and Q roads mixing results respectively with advanced, instant, the delayed code of local replica in base band
Correlation is done in the correlator of signal, six road correlation function values are obtained；
4) by step 3) correlation function value that obtains is by based on genetic particle filtering (Genetic Algorithm Particle
Filter, GAPF) adjuster carry out multipath signal parameter Estimation, at the same time, correcting distorted correlation function obtains correlation
As a result；
5) by step 4) in correlated results by integrating-understand device, filter out the signal HFS in correlated results and make an uproar
Sound, so as to improve signal carrier-to-noise ratio, obtains coherent integration results；
6) by step 5) the correlation intergal result that obtains input code ring discriminator, judge whether the amplitude of correlated results reaches most
Greatly, estimate receiver and replicate phase difference between C/A yards and C/A yards of reception；
7) by step 6) in the relevant difference result that obtains input pseudo-code digital controlled oscillator, adjustment C/A code generators are exported
C/A yards of frequency and phase is replicated, makes duplication C/A yards to be alignd with C/A yards of holding is received；
By above-mentioned steps, after obtaining being processed through genetic particle filtering adjuster, multipath signal amplitude Estimation mean square deviation is reduced to
0.0168；Multipath signal time delay is estimated to improve 0.0367 chip, and about 11 meters, distortion pseudo-code correlation function is corrected, effectively
Multipath signal estimated accuracy is improve, influence of the distortion correlation function to code phase measuring value is reduced.
2. it is according to claim 1 it is a kind of based on genetic particle filtering multipaths restraint code ring method for designing, its feature
It is, the step 1) in, digital medium-frequency signal is represented by：
Locally generated sine and cosine carrier wave is represented by：
Wherein a is signal amplitude；D (n) is numeric data code；ωiIt is signal carrier angular frequency；θiIt is signal original carrier phase.
3. it is according to claim 1 it is a kind of based on genetic particle filtering multipaths restraint code ring method for designing, its feature
It is, described step 2) in, the mixing results of frequency mixer output are represented by：
Wherein we(n)、θeCarrier angular frequencies between the digital medium-frequency signal and the carrier signal of local replica that are respectively input into are poor
Different and initial phase difference.
4. it is according to claim 1 it is a kind of based on genetic particle filtering multipaths restraint code ring method for designing, its feature
It is, the step 5) in, correlation intergal result is：
Wherein：A is signal amplitude；R () is code auto-correlation function that maximum is 1；ΔτkFor instant replica code with receive code it
Between phase difference；D be it is advanced, immediately with the spacing between delayed code；feIt is frequency difference；TcohIt is coherent integration time；It is carrier phase difference.
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| CN107843904A (en) * | 2017-10-31 | 2018-03-27 | 桂林电子科技大学 | A kind of code tracking loop and method for suppressing multi-path jamming |
| CN109633697A (en) * | 2018-11-27 | 2019-04-16 | 中国科学院光电研究院 | A kind of multipaths restraint method based on multi-carrier signal |
| CN110690911A (en) * | 2019-10-12 | 2020-01-14 | 上海无线电设备研究所 | Self-adaptive threshold method for effectively coping with pulse type interference |
| CN111308521A (en) * | 2018-12-12 | 2020-06-19 | 北京展讯高科通信技术有限公司 | Code phase estimation and pseudo-range measurement method and device of GNSS (Global navigation satellite System), and terminal |
| CN112364528A (en) * | 2020-12-09 | 2021-02-12 | 南京长峰航天电子科技有限公司 | Microwave darkroom multipath effect evaluation algorithm based on genetic algorithm |
| CN117289256A (en) * | 2023-11-24 | 2023-12-26 | 成都本原星通科技有限公司 | Target long-distance high-precision tracking method based on low-orbit communication satellite |
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| CN107843904A (en) * | 2017-10-31 | 2018-03-27 | 桂林电子科技大学 | A kind of code tracking loop and method for suppressing multi-path jamming |
| CN109633697A (en) * | 2018-11-27 | 2019-04-16 | 中国科学院光电研究院 | A kind of multipaths restraint method based on multi-carrier signal |
| CN111308521A (en) * | 2018-12-12 | 2020-06-19 | 北京展讯高科通信技术有限公司 | Code phase estimation and pseudo-range measurement method and device of GNSS (Global navigation satellite System), and terminal |
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| CN110690911A (en) * | 2019-10-12 | 2020-01-14 | 上海无线电设备研究所 | Self-adaptive threshold method for effectively coping with pulse type interference |
| CN110690911B (en) * | 2019-10-12 | 2021-07-20 | 上海无线电设备研究所 | Self-adaptive threshold method for effectively coping with pulse type interference |
| CN112364528A (en) * | 2020-12-09 | 2021-02-12 | 南京长峰航天电子科技有限公司 | Microwave darkroom multipath effect evaluation algorithm based on genetic algorithm |
| CN112364528B (en) * | 2020-12-09 | 2024-02-13 | 南京长峰航天电子科技有限公司 | Genetic algorithm-based microwave darkroom multipath effect influence assessment method |
| CN117289256A (en) * | 2023-11-24 | 2023-12-26 | 成都本原星通科技有限公司 | Target long-distance high-precision tracking method based on low-orbit communication satellite |
| CN117289256B (en) * | 2023-11-24 | 2024-01-30 | 成都本原星通科技有限公司 | Target long-distance high-precision tracking method based on low-orbit communication satellite |
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Application publication date: 20170613 Assignee: Guangxi Yunyi Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2022450000519 Denomination of invention: A design method of multipath suppression code loop based on genetic particle filter Granted publication date: 20190215 License type: Common License Record date: 20221229 |
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