CN107167825A - A kind of satellite navigation intermediate-freuqncy signal carrier track device and method - Google Patents
A kind of satellite navigation intermediate-freuqncy signal carrier track device and method Download PDFInfo
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- CN107167825A CN107167825A CN201710258451.9A CN201710258451A CN107167825A CN 107167825 A CN107167825 A CN 107167825A CN 201710258451 A CN201710258451 A CN 201710258451A CN 107167825 A CN107167825 A CN 107167825A
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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Abstract
A kind of satellite navigation intermediate-freuqncy signal carrier track device and method.Device includes carrier wave digital controlled oscillator module, demodulation module, integration cleaning module, carrier phase discriminator module, wavelet de-noising module, signal dynamics monitoring modular, loop bandwidth setup module, loop filter module, loop determination module.Method includes：1st, initial local carrier replica signal is obtained；2nd, the intermediate-freuqncy signal to the stripping pseudo-code of reception is demodulated；3rd, integration cleaning；4th, phase demodulation difference signal is sought；5th, wavelet de-noising is carried out to phase demodulation difference signal；6th, dynamic characteristic estimation is carried out；7th, optimum bandwidth is sought；8th, the phase demodulation difference signal after noise reduction is filtered；9th, local carrier replica signal is regenerated；10th, judge whether that tracking is completed.The present invention has the signal trace being applied under high dynamic environment, dynamic range is big for tolerance, the accurate advantage of carrier track.
Description
Technical field
The invention belongs to communication technical field, phase-locked loop pll, navigation base band signal process technical field are further related to
In a kind of satellite navigation signals carrier track device and method.The present invention can be used for satellite navigation intermediate-freuqncy signal, be carried
The tracking of the frequency and phase of ripple.
Background technology
The carrier track of satellite navigation signals is the technology in navigation base band signal process field.There is the technology of maturation at present
To carry out carrier track to the intermediate-freuqncy signal of satellite navigation signals.And for the carrier track feelings under weak signal, high dynamic environment
Condition, still still there is many deficiencies.
Jiuzhou Electrical Appliance Group Co., Ltd., Sichuan is in its patent document applied " under a kind of receiver high dynamic environment
Adaptive tracking method " (application number：201410433179.X, the applying date：2014.08.28, grant number：CN104215981B,
Grant date：2017.03.15 a kind of satellite navigation carrier wave tracing method being applied under high dynamic environment is proposed in).This method
FLL in track loop, phaselocked loop are adjusted by detecting the dynamic characteristic and noise characteristic of receiver tracking signal in real time,
The bandwidth of its loop filter is set to keep optimal value；Also adjustment frequency locking changes the coefficient of auxiliary phaselocked loop simultaneously, improves track loop
Stability under high dynamic environment.Although the tracking error under high dynamic environment that this method can preferably solve receiver is big,
The problem of generation losing lock probability is big, still, the weak point that this method still has are that phase demodulation difference signal is due to the shadow of noise
Ring, it is not accurate enough when estimating carrier dynamic characteristic, cause the result of carrier track to there is jitter phenomenon.
Patent document " a kind of gps satellite signal carrier wave ring track side that An Kai microelectric techniques Co., Ltd applies at it
Method and device " (application number：201310314328.6, the applying date：2013.07.24, application publication number：CN 104345323 A)
In propose and a kind of can dynamically adjust the satellite signal carrier tracking and device of carrier wave ring mode of operation.The device is main
Auxiliary phase-locked loop module, Kalman filtering combination frequency locking, which are changed, including acquisition module, frequency locking changes auxiliary phase-locked loop module, acquisition module
Carrier-to-noise ratio for obtaining signal；Frequency locking, which changes auxiliary phase-locked loop module, to be used for when the carrier-to-noise ratio of the satellite-signal is more than or waited
When first threshold, carrier wave ring changes auxiliary phase-lock-loop algorithm using frequency locking and the satellite-signal is tracked；Kalman filtering
Changing auxiliary phase-locked loop module with reference to frequency locking is used for when the carrier-to-noise ratio of the satellite-signal is less than first threshold, and carrier wave ring is using card
Kalman Filtering algorithm combination frequency locking changes auxiliary phase-lock-loop algorithm and signal is tracked.The weak point that the device is present is to wrap
Containing different carrier operation patterns, hardware resource cost is big.The implementation steps of this method are：Firstth, satellite-signal is obtained
Carrier-to-noise ratio；Secondth, when the carrier-to-noise ratio of the satellite-signal is more than or equal to first threshold, carrier wave ring is aided in using FLL
The algorithm of phaselocked loop is tracked to the satellite-signal；3rd, when the carrier-to-noise ratio of the satellite-signal is less than first threshold,
Carrier wave ring aids in the algorithm of phaselocked loop to be tracked satellite-signal using Kalman filtering algorithm combination FLL.Though this method
Sensitivity and the dynamic of tracking are so improved, but the weak point still having is, does not solve noise bandwidth setting
Contradictory problems.
The content of the invention
It is an object of the invention to overcome the shortcomings of that above-mentioned prior art is filled there is provided a kind of satellite navigation signals carrier track
Put and method, to solve carrying out carrier track in the prior art to satellite navigation signals, how preferably to be believed according to satellite
Number dynamic characteristic adjust the noise bandwidth of carrier wave ring, and when dynamic stress is larger, it is impossible to accurately intermediate-freuqncy signal is entered
There is jitter phenomenon, the problem of noise bandwidth sets contradiction in row carrier track, the carrier result of tracking.
Realizing the concrete thought of the object of the invention is：Demodulated first according to satellite intermediate frequency signal and local carrier replica signal
In-phase branch signal and quadrature branch signal are generated, cleaning then is integrated to in-phase branch signal and quadrature branch signal,
Phase demodulation is carried out to the in-phase branch signal after cleaning and quadrature branch signal, the phase demodulation difference signal after phase demodulation is subjected to small echo drop
Make an uproar, the dynamic characteristic of intermediate-freuqncy signal is estimated using the phase demodulation difference signal after noise reduction, optimum noise bandwidth is next calculated, it is then sharp
HFS and noise are filtered out to the phase demodulation difference signal after noise reduction with loop filter, filtered phase demodulation difference signal is finally utilized
Local carrier replica signal is regenerated, the tracking to intermediate frequency signal carrier is reached.
Realizing the device of the object of the invention includes carrier wave digital controlled oscillator module, demodulation module, integration cleaning module, carrier wave
Phase-shift discriminator module, loop filter module, loop determination module；The output end of described carrier wave digital controlled oscillator module and
The satellite intermediate frequency signal of currently received stripping pseudo-code is connected with the input of demodulation module, the output end of demodulation module and
The input for integrating cleaning module is connected, and integrates the input phase of the output end and carrier phase discriminator module of cleaning module
Even, the output end of carrier phase discriminator module is connected with the input of loop filter module, loop filter module it is defeated
Go out end with the input of carrier wave digital controlled oscillator module to be connected, the output end of loop determination module and the input phase of demodulation module
Even, it is characterised in that also including wavelet de-noising module, signal dynamics monitoring modular, loop bandwidth setup module, carrier phase mirror
The output end of other device module is connected with the input of wavelet de-noising module, and the output end of wavelet de-noising module is supervised with signal dynamics
The input for surveying module is connected with the input of loop filter module, the output end and loop bandwidth of signal dynamics monitoring modular
The input of setup module is connected, and the output end of loop bandwidth setup module is connected with the input of loop filter module；Its
In,
Described carrier wave digital controlled oscillator module, is respectively used to generate local carrier by the initiation parameter of digital controlled oscillator
Replica signal and for as feedback quantity, filtered phase demodulation difference signal to be regenerated into local carrier replica signal；
Described demodulation module, for carrying out multiplication operations to satellite intermediate frequency signal and local carrier replica signal, is obtained
In-phase branch signal and quadrature branch signal after demodulation；
Described integration cleaning module, for being integrated cleaning behaviour respectively to in-phase branch signal and quadrature branch signal
Make, obtain the in-phase branch integration cumulative signal after integration cleaning and quadrature branch integration cumulative signal；
Described carrier phase discriminator module, including by way of discrete sampling, calculate quadrature branch integration cumulative
The phase demodulation of signal and in-phase branch integration cumulative signal is poor；Discrete phase demodulation is poor, synthesize phase demodulation difference signal；
Described wavelet de-noising module, using the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number,
The selection western small echo of many shellfishes of Daubechies is used as wavelet basis function；Phase demodulation difference signal is decomposed into 10 layers；Wavelet basis function is to mirror
Phase difference signal does 10 layers of wavelet decomposition, obtains low frequency coefficient and high frequency coefficient after 10 layers of decomposition；Obtained using wavelet threshold
Function ddencmp, obtains threshold value thr；High frequency coefficient after being decomposed to each layer does the soft-threshold that threshold value is thr and quantified, and obtains
High frequency coefficient after quantization；Wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, obtains
Phase demodulation difference signal after to noise reduction；
Described signal dynamics monitoring modular, for satellite intermediate frequency signal, carrying out acceleration or acceleration characteristic value
Estimation；
Described loop bandwidth setup module, using overall error thresholding formula, calculates the optimal of loop filter and makes an uproar
Vocal cords are wide；With the optimum noise bandwidth of loop filter, the noise bandwidth of loop filter is updated；
Described loop filter module, for filtering out high fdrequency component and noise after noise reduction in phase demodulation difference signal respectively,
Filtered phase demodulation difference signal is obtained, filtered phase demodulation difference signal is transferred to carrier wave digital controlled oscillator module；
Whether described loop determination module, the satellite intermediate frequency signal for judging to receive has been handled, if so, then completing to carry
Ripple is tracked, otherwise, and the behaviour that is multiplied is carried out with the local carrier replica signal regenerated to satellite intermediate frequency signal using demodulation module
Make；
The method for realizing the object of the invention, comprises the following steps：
(1) initial local carrier replica signal is obtained：
The initiation parameter for the digital controlled oscillator that carrier wave digital controlled oscillator module is set according to system, generates the duplication of this earthwave
Signal；
(2) intermediate-freuqncy signal to the stripping pseudo-code of reception is demodulated：
Demodulation module carries out multiplication operations, the same phase after being demodulated to satellite intermediate frequency signal and local carrier replica signal
Tributary signal and quadrature branch signal；
(3) integration cleaning：
Integration cleaning module is integrated cleaning operation respectively to in-phase branch signal and quadrature branch signal simultaneously, obtains
In-phase branch integration cumulative signal and quadrature branch integration cumulative signal after integration cleaning；
(4) phase demodulation difference signal is sought：
(4a) calculates quadrature branch integration cumulative signal and in-phase branch integration cumulative signal by way of discrete sampling
Phase demodulation it is poor；
(4b) is poor by discrete phase demodulation, synthesizes phase demodulation difference signal；
(5) wavelet de-noising is carried out to phase demodulation difference signal：
(5a) wavelet de-noising module utilizes the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number, selection
The western small echo of many shellfishes of Daubechies is used as wavelet basis function；
Phase demodulation difference signal is decomposed into 10 layers by (5b) wavelet de-noising module；
(5c) wavelet basis function does 10 layers of wavelet decomposition to phase demodulation difference signal, obtain 10 layers decompose after low frequency coefficient and
High frequency coefficient；
(5d) wavelet de-noising module obtains function ddencmp using wavelet threshold, obtains threshold value thr；
High frequency coefficient after (5e) wavelet de-noising module is decomposed to each layer does the soft-threshold quantization that threshold value is thr, obtains
High frequency coefficient after quantization；
(5f) wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, obtains noise reduction
Phase demodulation difference signal afterwards；
(6) dynamic characteristic estimation is carried out to intermediate-freuqncy signal：
Signal dynamics monitoring modular carries out the estimation of acceleration or acceleration characteristic value to satellite intermediate frequency signal；
(7) loop bandwidth is updated：
(7a) loop bandwidth setup module, using overall error thresholding formula, calculates the optimum noise bandwidth of loop filter；
(7b) loop bandwidth setup module, with the optimum noise bandwidth of loop filter, updates the noise of loop filter
Bandwidth；
(8) the phase demodulation difference signal after noise reduction is filtered：
(8a) loop filter module, filters out high fdrequency component and noise in phase demodulation difference signal after noise reduction, is filtered respectively
Phase demodulation difference signal after ripple；
Filtered phase demodulation difference signal is transferred to carrier wave digital controlled oscillator module by (8b) loop filter module；
(9) local carrier replica signal is regenerated：
Carrier wave digital controlled oscillator module, using filtered phase demodulation difference signal as feedback quantity, regenerates local carrier and answers
Signal processed；
(10) loop determination module judges whether the satellite intermediate frequency signal received has been handled, if so, step (11) is performed, it is no
Then, step (2) is performed；
(11) carrier track is completed.
The present invention has advantages below compared with prior art：
First, due to including wavelet de-noising module in the device of the present invention, signal dynamics monitoring modular, loop bandwidth is set
Put module, it is possible to achieve wavelet de-noising is carried out to phase demodulation difference signal, and the noise bandwidth of loop filter is updated to most preferably
Noise bandwidth, realizes the carrier track under high dynamic environment, overcomes and of the prior art includes different carrier operation moulds
Formula, the big deficiency of hardware resource cost so that device of the invention can save hardware resource.
Second, due to, when obtaining phase demodulation difference signal, continuing phase demodulation difference signal carrying out small echo drop in the method for the present invention
Make an uproar, obtain purer phase demodulation difference signal, can appropriate expanded noise bandwidth, overcome and do not solve noise in the prior art
Bandwidth sets the deficiency of contradiction.Allow using the method for the present invention on the premise of excessive noise is not introduced, appropriate extension
The noise bandwidth of loop filter, to tolerate bigger dynamic range, reaches the purpose of tracking high dynamic signal.
3rd, because the dynamic characteristic for carrying out signal using the phase demodulation difference signal after noise reduction in the method for the present invention is estimated,
The optimum noise bandwidth estimated, the dynamic characteristic than directly carrying out signal using phase demodulation difference signal estimates that what is estimated is optimal
Noise bandwidth is more accurate, overcomes and uses same adaptive bandwidth method in the prior art, phase demodulation difference signal is due to noise
Influence, it is not accurate enough when estimating carrier dynamic characteristic, cause the problem of result of carrier track has jitter phenomenon so that adopt
With the present invention method can more accurately track dynamic stress it is larger when signal.
Brief description of the drawings
Fig. 1 is the block diagram of apparatus of the present invention；
Fig. 2 is the flow chart of the inventive method.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to the drawings 1, device of the invention includes nine modules：Carrier wave digital controlled oscillator module, demodulation module, integration are clear
Mold cleaning block, carrier phase discriminator module, wavelet de-noising module, signal dynamics monitoring modular, loop bandwidth setup module, loop
Filter module, loop determination module.Wherein, carrier wave digital controlled oscillator module, demodulation module, integration cleaning module, carrier wave phase
Position discriminator module, loop filter module, loop determination module are shared modules；Wavelet de-noising module, signal dynamics monitoring
Module, loop bandwidth setup module belong to private module of the invention.
Carrier wave digital controlled oscillator module, is respectively used to replicate letter by the initiation parameter generation local carrier of digital controlled oscillator
Number and for as feedback quantity, filtered phase demodulation difference signal to be regenerated into local carrier replica signal.
Demodulation module, for carrying out multiplication operations to satellite intermediate frequency signal and local carrier replica signal, is obtained after demodulation
In-phase branch signal and quadrature branch signal.
Cleaning module is integrated, for being integrated cleaning behaviour respectively to in-phase branch signal and quadrature branch signal simultaneously
Make, obtain the in-phase branch integration cumulative signal after integration cleaning and quadrature branch integration cumulative signal.
Carrier phase discriminator module, including for by way of discrete sampling, calculating the cumulative letter of quadrature branch integration
Number and in-phase branch integrate cumulative signal phase demodulation it is poor；Discrete phase demodulation is poor, synthesize phase demodulation difference signal.
Wavelet de-noising module, using the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number, selection
The western small echo of many shellfishes of Daubechies is used as wavelet basis function；Phase demodulation difference signal is decomposed into 10 layers；Wavelet basis function is poor to phase demodulation
Signal does 10 layers of wavelet decomposition, obtains low frequency coefficient and high frequency coefficient after 10 layers of decomposition；Function is obtained using wavelet threshold
Ddencmp, obtains threshold value thr；High frequency coefficient after being decomposed to each layer does the soft-threshold that threshold value is thr and quantified, and is quantified
High frequency coefficient afterwards；Wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, is dropped
Phase demodulation difference signal after making an uproar.
Signal dynamics monitoring modular, for satellite intermediate frequency signal, carrying out the estimation of acceleration or acceleration characteristic value.
Loop bandwidth setup module, using overall error thresholding formula, calculates the optimum noise bandwidth of loop filter；
With the optimum noise bandwidth of loop filter, the noise bandwidth of loop filter is updated.
Loop filter module, for filtering out high fdrequency component and noise after noise reduction in phase demodulation difference signal respectively, is filtered
Phase demodulation difference signal after ripple, carrier wave digital controlled oscillator module is transferred to by filtered phase demodulation difference signal.
Loop determination module, for judge receive satellite intermediate frequency signal whether handled, if so, then complete carrier wave with
Track, otherwise, multiplication operations is carried out using demodulation module to satellite intermediate frequency signal and the local carrier replica signal regenerated.
Below in conjunction with the accompanying drawings 2, the method to the present invention is further described through.
Step 1, initial local carrier replica signal is obtained.
The initiation parameter for the digital controlled oscillator that carrier wave digital controlled oscillator module is set according to system, generates the duplication of this earthwave
Signal.
Step 2, the intermediate-freuqncy signal to the stripping pseudo-code of reception is demodulated.
Demodulation module carries out multiplication operations, the same phase after being demodulated to satellite intermediate frequency signal and local carrier replica signal
Tributary signal and quadrature branch signal.
Step 3, integration cleaning.
Integration cleaning module is integrated cleaning operation respectively to in-phase branch signal and quadrature branch signal, is integrated
In-phase branch integration cumulative signal and quadrature branch integration cumulative signal after cleaning.
Step 4, phase demodulation difference signal is sought：
By way of discrete sampling, calculate quadrature branch integration cumulative signal and in-phase branch integrates the mirror of cumulative signal
Difference.
Quadrature branch integrates cumulative signal and the phase demodulation of in-phase branch integration cumulative signal is poor, is to be calculated to obtain by following formula
's：
Wherein, represent that quadrature branch integration cumulative signal and in-phase branch integrate the phase demodulation difference signal of cumulative signal,
Arctan represents that arc tangent is operated, QPRepresent quadrature branch integration cumulative signal, IPRepresent in-phase branch integration cumulative signal.
Discrete phase demodulation is poor, synthesize phase demodulation difference signal.
Step 5, wavelet de-noising is carried out to phase demodulation difference signal.
Wavelet de-noising module utilizes the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number, selection
The western small echo of many shellfishes of Daubechies is used as wavelet basis function.
Phase demodulation difference signal is decomposed into 10 layers by wavelet de-noising module.
Wavelet basis function does 10 layers of wavelet decomposition to phase demodulation difference signal, obtains low frequency coefficient and high frequency after 10 layers of decomposition
Coefficient.
Wavelet de-noising module obtains function ddencmp using wavelet threshold, obtains threshold value thr.
High frequency coefficient after wavelet de-noising module is decomposed to each layer does the soft-threshold quantization that threshold value is thr, is quantified
High frequency coefficient afterwards.
Wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, obtains after noise reduction
Phase demodulation difference signal.
Step 6, dynamic characteristic estimation is carried out to intermediate-freuqncy signal.
Signal dynamics monitoring modular carries out the estimation of acceleration or acceleration characteristic value to satellite intermediate frequency signal.
The estimation of the acceleration or acceleration characteristic value of satellite intermediate frequency signal is calculated by following formula and obtained：
Wherein, represent that the acceleration characteristic value of satellite intermediate frequency signal works as carrier wave ring when carrier loop exponent number value is 2
When road exponent number value is 3, the acceleration characteristic value of satellite intermediate frequency signal represents the in-phase branch integration cumulative signal after noise reduction
The phase demodulation difference signal of cumulative signal is integrated with quadrature branch, the proportionality coefficient changed with carrier loop exponent number is represented, when loop rank
Proportionality coefficient value is 0.2809 when number value is 2, and when carrier loop exponent number value is 3, proportionality coefficient value is 0.4828,
The constant value of the power of carrier loop exponent number is done in expression to filter noise bandwidth.
Step 7, loop bandwidth is updated.
Loop bandwidth setup module, using overall error thresholding formula, calculates the optimum noise bandwidth of loop filter.
Overall error thresholding formula is as follows：
Wherein, represent that the acceleration characteristic value of satellite intermediate frequency signal works as carrier wave ring when carrier loop exponent number value is 2
When road exponent number value is 3, the acceleration characteristic value of satellite intermediate frequency signal represents to do the optimum noise bandwidth of loop filter
The constant value of the power of carrier loop exponent number, represents pi, represents sqrt operation, represents that the optimal of loop filter is made an uproar
Vocal cords are wide, represent the carrier-to-noise ratio for the satellite intermediate frequency signal that system is received, and represent integration scavenging period, represent satellite intermediate frequency signal
Carrier wavelength, can be obtained by implementing the interior national standard used, represent the proportionality coefficient changed with carrier loop exponent number, work as ring
Proportionality coefficient value is 0.2809 when road exponent number value is 2, and when carrier loop exponent number value is 3, proportionality coefficient value is
0.4828。
Loop bandwidth setup module, with the optimum noise bandwidth of loop filter, updates the noise bandwidth of loop filter.
Step 8, the phase demodulation difference signal after noise reduction is filtered.
Loop filter module, filters out high fdrequency component and noise in phase demodulation difference signal after noise reduction, obtains after filtering respectively
Phase demodulation difference signal.
Filtered phase demodulation difference signal is transferred to carrier wave digital controlled oscillator module by loop filter module.
Step 9, local carrier replica signal is regenerated.
Carrier wave digital controlled oscillator module, using filtered phase demodulation difference signal as feedback quantity, regenerates local carrier and answers
Signal processed.
Step 10, loop determination module judges whether the satellite intermediate frequency signal received has been handled, if so, step 11 is performed,
Otherwise, step 2 is performed.
Step 11, carrier track is completed.
Claims (5)
1. a kind of satellite navigation intermediate-freuqncy signal carrier track device, including carrier wave digital controlled oscillator module, demodulation module, integration are clear
Mold cleaning block, carrier phase discriminator module, loop filter module, loop determination module；Described carrier wave digital controlled oscillator mould
The satellite intermediate frequency signal of the output end of block and currently received stripping pseudo-code is connected with the input of demodulation module, solves mode transfer
The output end of block is connected with the input of integration cleaning module, integrates the output end and carrier phase discriminator module of cleaning module
Input be connected, the output end of carrier phase discriminator module is connected with the input of loop filter module, loop filtering
The output end of device module is connected with the input of carrier wave digital controlled oscillator module, the output end and demodulation module of loop determination module
Input be connected, it is characterised in that also including wavelet de-noising module, signal dynamics monitoring modular, loop bandwidth setup module,
The output end of carrier phase discriminator module is connected with the input of wavelet de-noising module, the output end of wavelet de-noising module with
The input of signal dynamics monitoring modular is connected with the input of loop filter module, the output end of signal dynamics monitoring modular
It is connected with the input of loop bandwidth setup module, the output end of loop bandwidth setup module and the input of loop filter module
End is connected；Wherein,
Described carrier wave digital controlled oscillator module, is respectively used to the initiation parameter of digital controlled oscillator set according to system, raw
Cost earthwave replica signal and for filtered phase demodulation difference signal, as feedback quantity, is regenerated local carrier replicate letter
Number；
Described demodulation module, for carrying out multiplication operations to satellite intermediate frequency signal and local carrier replica signal, is demodulated
In-phase branch signal and quadrature branch signal afterwards；
Described integration cleaning module, for being integrated cleaning operation respectively to in-phase branch signal and quadrature branch signal,
Obtain the in-phase branch integration cumulative signal after integration cleaning and quadrature branch integration cumulative signal；
Described carrier phase discriminator module, including by way of discrete sampling, calculate quadrature branch integration cumulative signal
The phase demodulation for integrating cumulative signal with in-phase branch is poor；Discrete phase demodulation is poor, synthesize phase demodulation difference signal；
Described wavelet de-noising module, using the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number, selection
The western small echo of many shellfishes of Daubechies is used as wavelet basis function；Phase demodulation difference signal is decomposed into 10 layers；Wavelet basis function is poor to phase demodulation
Signal does 10 layers of wavelet decomposition, obtains low frequency coefficient and high frequency coefficient after 10 layers of decomposition；Function is obtained using wavelet threshold
Ddencmp, obtains threshold value thr；High frequency coefficient after being decomposed to each layer does the soft-threshold that threshold value is thr and quantified, and is quantified
High frequency coefficient afterwards；Wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, is dropped
Phase demodulation difference signal after making an uproar；
Described signal dynamics monitoring modular, for satellite intermediate frequency signal, carrying out estimating for acceleration or acceleration characteristic value
Meter；
Described loop bandwidth setup module, using overall error thresholding formula, calculates the optimum noise band of loop filter
It is wide；With the optimum noise bandwidth of loop filter, the noise bandwidth of loop filter is updated；
Described loop filter module, for filtering out high fdrequency component and noise after noise reduction in phase demodulation difference signal respectively, is obtained
Filtered phase demodulation difference signal, carrier wave digital controlled oscillator module is transferred to by filtered phase demodulation difference signal；
Described loop determination module, for judge receive satellite intermediate frequency signal whether handled, if so, then complete carrier wave with
Track, otherwise, multiplication operations is carried out using demodulation module to satellite intermediate frequency signal and the local carrier replica signal regenerated.
2. a kind of satellite navigation intermediate-freuqncy signal carrier wave tracing method, comprises the following steps：
(1) initial local carrier replica signal is obtained：
The initiation parameter for the digital controlled oscillator that carrier wave digital controlled oscillator module is set according to system, generates this earthwave and replicates letter
Number；
(2) intermediate-freuqncy signal to the stripping pseudo-code of reception is demodulated：
Demodulation module carries out multiplication operations, the in-phase branch after being demodulated to satellite intermediate frequency signal and local carrier replica signal
Signal and quadrature branch signal；
(3) integration cleaning：
Integration cleaning module is integrated cleaning operation to in-phase branch signal and quadrature branch signal simultaneously, obtains integration cleaning
In-phase branch integration cumulative signal and quadrature branch integration cumulative signal afterwards；
(4) phase demodulation difference signal is sought：
(4a) calculates quadrature branch integration cumulative signal and in-phase branch integrates the mirror of cumulative signal by way of discrete sampling
Difference；
(4b) is poor by discrete phase demodulation, synthesizes phase demodulation difference signal；
(5) wavelet de-noising is carried out to phase demodulation difference signal：
(5a) wavelet de-noising module utilizes the orthogonality of wavelet function, supported collection, regularity, vanishing moment exponent number, selection
The western small echo of many shellfishes of Daubechies is used as wavelet basis function；
Phase demodulation difference signal is decomposed into 10 layers by (5b) wavelet de-noising module；
(5c) wavelet basis function does 10 layers of wavelet decomposition to phase demodulation difference signal, obtains low frequency coefficient and high frequency after 10 layers of decomposition
Coefficient；
(5d) wavelet de-noising module obtains function ddencmp using wavelet threshold, obtains threshold value thr；
High frequency coefficient after (5e) wavelet de-noising module is decomposed to each layer does the soft-threshold quantization that threshold value is thr, is quantified
High frequency coefficient afterwards；
(5f) wavelet basis function does wavelet reconstruction to the high frequency coefficient after each layer of low frequency coefficient and quantization, obtains after noise reduction
Phase demodulation difference signal；
(6) dynamic characteristic estimation is carried out to intermediate-freuqncy signal：
Signal dynamics monitoring modular carries out the estimation of acceleration or acceleration characteristic value to satellite intermediate frequency signal；
(7) loop bandwidth is updated：
(7a) loop bandwidth setup module, using overall error thresholding formula, calculates the optimum noise bandwidth of loop filter；
(7b) loop bandwidth setup module, with the optimum noise bandwidth of loop filter, updates the noise bandwidth of loop filter；
(8) the phase demodulation difference signal after noise reduction is filtered：
(8a) loop filter module, filters out high fdrequency component and noise in phase demodulation difference signal after noise reduction, obtains after filtering respectively
Phase demodulation difference signal；
Filtered phase demodulation difference signal is transferred to carrier wave digital controlled oscillator module by (8b) loop filter module；
(9) local carrier replica signal is regenerated：
Carrier wave digital controlled oscillator module, using filtered phase demodulation difference signal as feedback quantity, regenerates local carrier and replicates letter
Number；
(10) loop determination module judges whether the satellite intermediate frequency signal received has been handled, if so, step (11) is performed, otherwise,
Perform step (2)；
(11) carrier track is completed.
3. a kind of satellite navigation signals carrier wave tracing method according to claim 2, it is characterised in that step (4a) is described
Quadrature branch integrates cumulative signal and the phase demodulation of in-phase branch integration cumulative signal is poor, is calculated and obtained by following formula：
<mrow>
<msub>
<mi>&phi;</mi>
<mi>e</mi>
</msub>
<mo>=</mo>
<mi>arctan</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>Q</mi>
<mi>P</mi>
</msub>
<msub>
<mi>I</mi>
<mi>p</mi>
</msub>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
2
Wherein, φeRepresent that quadrature branch integration cumulative signal and in-phase branch integrate the phase demodulation difference signal of cumulative signal, arctan
Represent arc tangent operation, QPRepresent quadrature branch integration cumulative signal, IPRepresent in-phase branch integration cumulative signal.
4. a kind of satellite navigation signals carrier wave tracing method according to claim 2, it is characterised in that institute in step (6)
The estimation for the acceleration or acceleration characteristic value to satellite intermediate frequency signal stated is calculated by following formula and obtained：
D=φe·Pn·3·B(n)
Wherein, d is represented when carrier loop exponent number value is 2, the acceleration characteristic value of satellite intermediate frequency signal, when carrier loop rank
When number value is 3, the acceleration characteristic value of satellite intermediate frequency signal, φeRepresent the in-phase branch integration cumulative signal after noise reduction
The phase demodulation difference signal of cumulative signal, P are integrated with quadrature branchnThe proportionality coefficient changed with carrier loop exponent number is represented, works as loop
Proportionality coefficient value is 0.2809 when exponent number value is 2, and when carrier loop exponent number value is 3, proportionality coefficient value is
0.4828, B(n)The constant value of the power of carrier loop exponent number is done in expression to filter noise bandwidth.
5. a kind of satellite navigation signals carrier wave tracing method according to claim 2, it is characterised in that institute in step (7a)
The overall error thresholding formula stated is as follows：
<mrow>
<mi>d</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mo>&CenterDot;</mo>
<msup>
<mi>B</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
</msup>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mn>15</mn>
<mo>-</mo>
<mfrac>
<mn>180</mn>
<mi>&pi;</mi>
</mfrac>
<msqrt>
<mrow>
<mfrac>
<mi>B</mi>
<mi>Z</mi>
</mfrac>
<mrow>
<mo>(</mo>
<mrow>
<mn>1</mn>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>2</mn>
<mo>&CenterDot;</mo>
<mi>T</mi>
<mo>&CenterDot;</mo>
<mi>Z</mi>
</mrow>
</mfrac>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
</msqrt>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<mi>&lambda;</mi>
</mrow>
<mrow>
<mi>P</mi>
<mo>&CenterDot;</mo>
<mn>360</mn>
<mo>&CenterDot;</mo>
<mn>9.8</mn>
</mrow>
</mfrac>
</mrow>
Wherein, d is represented when carrier loop exponent number value is 2, the acceleration characteristic value of satellite intermediate frequency signal, when carrier loop rank
When number value is 3, the acceleration characteristic value of satellite intermediate frequency signal, B(n)Represent to do the optimum noise bandwidth of loop filter
The constant value of the power of carrier loop exponent number, π represents pi,Sqrt operation is represented, B represents loop filter
Optimum noise bandwidth, Z represents the carrier-to-noise ratio for the satellite intermediate frequency signal that system is received, and T represents to integrate scavenging period, and λ represents satellite
The carrier wavelength of intermediate-freuqncy signal, P represents the proportionality coefficient changed with carrier loop exponent number, the ratio when loop exponent number value is 2
Coefficient value is 0.2809, and when carrier loop exponent number value is 3, proportionality coefficient value is 0.4828.
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