CN107907899A - It is a kind of that there is the car-mounted terminal of Tail gas measuring and its detection method - Google Patents
It is a kind of that there is the car-mounted terminal of Tail gas measuring and its detection method Download PDFInfo
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- CN107907899A CN107907899A CN201711353304.6A CN201711353304A CN107907899A CN 107907899 A CN107907899 A CN 107907899A CN 201711353304 A CN201711353304 A CN 201711353304A CN 107907899 A CN107907899 A CN 107907899A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/004—CO or CO2
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Abstract
There is the car-mounted terminal of Tail gas measuring and its detection method the present invention relates to a kind of, including host microprocessors, integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, Tail gas measuring module is installed on automobile exhaust pipe；Photographing module includes shooting microprocessor, LCD master control borads, shooting memory module and two video cameras, shooting microprocessor connects host microprocessors by USB data line, video camera obtains vehicle-surroundings image, and shooting microprocessor carries out image Compression and is stored in shooting memory module.The car-mounted terminal of the present invention has the function of video surveillance, data acquisition, space-time and athletic posture report, Tail gas measuring etc., improve the security of vehicle, and a large amount of authentic and valid data are provided for government, by the Tail gas measuring to vehicle, citywide tail gas distributed data is provided for government.
Description
Technical field
The present invention relates to technical field of vehicle safety, and in particular to it is a kind of have the function of the car-mounted terminal of Tail gas measuring and its
Detection method.
Background technology
With the development of society, in order to meet scientific dispatch and management, traffic and safety, vehicle use and maintaining,
Energy-saving and environment-friendly requirement is adapted to, meets the demands such as settlement of insurance claim, and carry for government decision and units concerned, personal respective service
For data support, the monitoring demand for vehicle is more and more stronger, but current monitoring system can not all meet it is growing
Demand.
The content of the invention
There is the car-mounted terminal of Tail gas measuring and its detection method it is an object of the invention to provide a kind of, to solve
Certainly existing vehicle monitoring system function is single, can not meet the problem of the needs of growing.
To achieve the above object, specifically, the car-mounted terminal should with Tail gas measuring includes host microprocessors, group
Close locating module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, the group
Close locating module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module and host
Microprocessor connects；
The Tail gas measuring module is installed on automobile exhaust pipe；
The photographing module includes shooting microprocessor, LCD master control borads, shooting memory module and two video cameras, takes the photograph
As microprocessor is equal by USB data line connection host microprocessors, LCD master control borads, shooting memory module and two video cameras
It is connected with shooting microprocessor, video camera obtains vehicle-surroundings image, and shooting microprocessor carries out image Compression and stores
In memory module is imaged.
The video camera is ultra wide-angle imaging machine.
The car-mounted terminal further includes alarm, outer memory module and OBD interfaces, alarm, outer memory module and
OBD interfaces are connected with host microprocessors；
The outer memory module is used for the data for storing Tail gas measuring module；
The host microprocessors are connected by OBD interfaces with automobile circuit, and data are read by OBD interfaces.
The wireless communication module is based on cellular arrowband Internet of Things (Narrow Band Internet of
Things,NB-IoT)。
The integrated positioning module includes satellite positioning navigation module and inertial navigation module.
The satellite positioning navigation module is BD/GPS compatible modules.
The shooting memory module is TF card.
The host microprocessors connect center monitoring platform by NB-IoT modules.
The integrated positioning module includes satellite positioning navigation module and inertial navigation module；
The detection method comprises the following steps：
The data that Tail gas measuring module and photographing module are detected are sent to by host microprocessors by NB-IoT modules
Center monitoring platform, while the position of the positioning vehicle-carried terminal of integrated positioning module and center monitoring is sent to by NB-IoT modules
Platform；
The position of the positioning vehicle-carried terminal of integrated positioning module specifically includes following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal noise
Carrier phase tracking loop bandwidth is reduced during than reducing, improving the anti-noise jamming ability of receiver；
S2, using based on fuzzy inference system measure the adaptive Kalman filtering Integrated Navigation Algorithm of noise model,
Description measures noise change, and adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.
The step S1 is comprised the following steps that：
S101, according to the transformed GPS digital signals of downconverted and digital-to-analogue calculate signal-to-noise ratio C/N0, and formula is as follows：
Wherein：
A is gps signal amplitude in upper two formula, MEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntDuring to integrate
Between.
S102, establish Fuzzy control system, using C/N0 as input, using GPS tracking loops bandwidth as output, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realize carrier loop band
Wide adaptive adjustment, improves GPS or triones navigation system noise antijamming capability.
Wherein, the S2 is comprised the following steps that：
S201, the new breath for calculating Thalmann filter, such as formula (4)
Wherein, zkFor actual measurement, HkFor measurement matrix,For the once estimation of system mode.
S202, calculate the theoretical variance of new breath, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease, it can be calculated by new breath vector N number of recently, be represented with formula (6)：
S204, calculate new breath realized variance and the ratio of theoretical variance.Due toWithDiagonal matrix both is set to, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, fuzzy inference system is used as newly to cease realized variance and the ratio of theoretical variance
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model diminishes；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance become higher, the correction factor for measuring noise model becomes larger.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
Further, the Tail gas measuring module is detected by the sensor on automobile exhaust pipe, detection
The pernicious gases such as the CO gone out, transfer data to host microprocessors, host microprocessors carry out data storage by CAN2.0
Backup, then data are passed to by center monitoring platform by wireless communication module.
The invention has the advantages that：
1st, car-mounted terminal of the invention has the function of Tail gas measuring, and by the Tail gas measuring to vehicle, one is provided for government
The distribution of a citywide tail gas, gives government to provide a large amount of authentic and valid data, in this manner it is possible to by the historical data to car and
The operation data of users carry out behavioural analysis to each user, reduce the generation of accident, reduce wrong report, deceive the behavior of report,
And provide authentic data for governance traffic, formulation road administration planning.
2nd, there is video surveillance, when accident occurs, system and vehicle all can automatic alarm, by the accurate of vehicle
Positioning, provides a large amount of authentic and valid data, traffic balanced can be utilized to government；By the monitoring camera-shooting to the scene of the accident, go back
The former scene of the accident, the foundation of identification is provided for insurance company.
3rd, the present invention also has the function of video surveillance, data acquisition, athletic posture report etc., improves the security of vehicle.
4th, satellite navigation and inertial navigation system carry out entirely autonomous fusion, realize integrated positioning, complement one another, greatly
Raising positioning reliability.
5th, detection method of the invention is accurately positioned using integrated positioning module, so as to provide more accurate tail gas
Distributed data.
Brief description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention 1.
Fig. 2 is the method schematic diagram of the position of the positioning vehicle-carried terminal of integrated positioning module of the present invention.
Fig. 3 for receiver make an uproar than with bandwidth relationship.
Fig. 4 is conventional method and novel method noise model comparing result.
Fig. 5 is conventional method and novel method navigation accuracy comparing result.
Fig. 6 is the structure diagram of the embodiment of the present invention 2.
Embodiment
Following embodiments are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment 1
Referring to Fig. 1, the car-mounted terminal should with Tail gas measuring includes host microprocessors, integrated positioning module, nothing
Line communication module, data memory module, power module, Tail gas measuring module and photographing module, the integrated positioning module, nothing
Line communication module, data memory module, power module, Tail gas measuring module and photographing module are connected with host microprocessors；
Tail gas measuring module is installed on automobile exhaust pipe.
The shooting microprocessor connects host microprocessors by USB data line, and photographing module includes shooting microprocessor
Device, LCD master control borads, shooting memory module and two ultra wide-angle imaging machines, LCD master control borads, shooting memory module and two are super
Wide angle cameras is connected with shooting microprocessor, and ultra wide-angle imaging machine obtains vehicle-surroundings image, and shooting microprocessor carries out
Image Compression stores.
Wireless communication module in the present embodiment can with but be not limited to the digital networks such as 2G, 3G, 4G, be more highly preferred to
Wireless communication module is used as based on cellular arrowband Internet of Things (Narrow Band Internet of Things, NB-
IoT)。
The integrated positioning module is satellite positioning module and inertial navigation module.Satellite navigation and inertial navigation system into
The entirely autonomous fusion of row, realizes integrated positioning, complements one another, and greatly improves the reliability of positioning.Satellite positioning module is excellent
Elect BD/GPS compatible modules as.
Car-mounted terminal upload the data to center monitoring platform by wireless communication module, and center monitoring platform receives terminal
After the information such as positioning, speed, posture, tail gas, the position of real-time display vehicle and tail gas distribution situation, and store the operation of vehicle
Track and the playback for carrying out historical track.For the vehicle of emphasis, such as in danger or alarm vehicle can be in centrally disposed, progress
Real-time tracking.
Further, Tail gas measuring module is detected by the sensor on automobile exhaust pipe, is detected
The pernicious gases such as CO, host microprocessors are transferred data to by CAN2.0, and host microprocessors carry out data backup memory,
Data are passed to by center monitoring platform by mobile communications network again.
The detection method of car owner's terminal comprises the following steps：
The data that Tail gas measuring module and photographing module are detected are sent to by host microprocessors by NB-IoT modules
Center monitoring platform, while the position of the positioning vehicle-carried terminal of integrated positioning module and center monitoring is sent to by NB-IoT modules
Platform；
Referring to Fig. 2, the method for the position of the positioning vehicle-carried terminal of integrated positioning module specifically includes following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal noise
Carrier phase tracking loop bandwidth is reduced during than reducing, improving the anti-noise jamming ability of receiver；To satellite signal receiver
Bandwidth self-adaption adjusts, and is realized by fuzzy inference system of the signal-to-noise ratio (i.e. C/N0) with satellite-signal for input.If
Signal-to-noise ratio reduces, and illustrates that noise becomes larger, to obtain more preferable filter effect, i.e., more the bandwidth of phase lock loop of satellite receiver should reduce
Strong anti-noise jamming ability；If signal-to-noise ratio raises, illustrate that noise diminishes, to obtain more preferable dynamic property, satellite receiver
Bandwidth of phase lock loop should accordingly improve.Due to there is no clear and definite mathematical relationship, and different noises, difference between signal-to-noise ratio and bandwidth
Bandwidth of phase lock loop does not have unique optimal value under dynamic condition, therefore from simplifying Adjustment principle, improving robustness angle, is suitable for
Receiver bandwidth of phase lock loop is adjusted using fuzzy inference system.Comprise the following steps that：
S201, according to the transformed GPS digital signals of downconverted and digital-to-analogue calculate signal-to-noise ratio C/N0, and formula is as follows：
Wherein：
A is gps signal amplitude in upper two formula, MEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntDuring to integrate
Between.
S202, establish Fuzzy control system, using C/N0 as input, using GPS tracking loops bandwidth as output, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realize carrier loop band
Wide adaptive adjustment, improves GPS or triones navigation system noise antijamming capability.
The input C/N0 of fuzzy inference system is tracking result (the same phase produced according to receiver " integration-clearing " process
Signal and orthogonal signalling), it is calculated using " variance summation algorithm (VSM) ".
S2, using based on fuzzy inference system measure the adaptive Kalman filtering Integrated Navigation Algorithm of noise model,
Description measures noise change, and adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.Measurement is made an uproar
The basic principle of acoustic model adjustment is so that the new breath variance of the theory of Kalman filter is consistent with actual new breath variance.Specific step
It is rapid as follows：
S201, the new breath for calculating Thalmann filter, newly cease and refer to predict measurement and actual measurement in Kalman filter
The difference of amount, such as formula (4)
Wherein, zkFor actual measurement, HkFor measurement matrix,For the once estimation of system mode.
S202, new breath show Kalman filtering algorithm state：If system mode models and measurement matrix is correct, and is
System noise and measurement noise model are accurate, and Kalman filtering is normal, then new breath should be the white noise of zero-mean, and calculating is new to cease reason
By variance, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease, it can be calculated by new breath vector N number of recently, be represented with formula (6)：
S204, calculate new breath realized variance and the ratio of theoretical variance.Due toWithDiagonal matrix both is set to, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, fuzzy inference system is used as newly to cease realized variance and the ratio of theoretical variance
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model diminishes；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance become higher, the correction factor for measuring noise model becomes larger.
If Kalman filter is working properly, then new breath should be consistent with realized variance with theoretical variance.If
Deviation occurs for theoretical variance and realized variance, then illustrates that there are errors in computation for theoretical variance, its reason be probably system model mistake or
Noise model is inaccurate.
In general, Fk/k-1、Pk-1And Qk-1All be readily available or measure and accuracy is higher, and measures noise battle array Rk-1
It is then to change with noise change is measured, may changes in varied situations more violent.To satellite and inertia combined navigation system
For system, measurement can be the pseudorange and pseudorange rates of all visible satellites, and wherein pseudorange rates are obtained by phaselocked loop, if satellite is believed
Number noise changes greatly, and pseudorange rates noise can also change, and will correct measure noise battle array R at this timek-1。
When pseudorange rates noise changes, the realized variance newly ceased understands respective change, thus can be according to theoretical variance
Difference amendment with realized variance measures noise model Rk-1, so as to fulfill adaptive Kalman filter algorithm, i.e. real-time online is repaiied
It is positive to measure noise model.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
Referring to Fig. 3, it is proof scheme validity, noise was artificially added at the 20th second so that signal-to-noise ratio becomes from 45dB-Hz
For 25dB-Hz, when 30s, slowly gos up again, until 45dB-Hz.It will be seen from figure 1 that bandwidth of phase lock loop when signal-to-noise ratio reduces
It is rapid to reduce, so as to enhance receiver noise antijamming capability.
Referring to Fig. 4, upper figure is to measure noise criteria difference contrast, and figure below is theoretical new breath variance and actual new breath variance ratio
Comparing result.It can be seen from the figure that system schema proposed by the present invention can carry out on-line tuning to measuring noise model,
So that theoretical new breath variance is always 1 (i.e. 0dB) with actual new breath variance ratio, and legacy system can not then adjust measurement noise
Model, changing in noise, stylish breath variance and reality are new to cease the reachable 20dB of variance ratio change.
Referring to Fig. 5, from the graph, it is apparent that (the 20s- when satellite-signal signal-to-noise ratio is relatively low obvious with noise change
35s), the navigation accuracy of integrated navigation module is substantially better than conventional combination navigation system.
The present invention is combined by fuzzy self-adaption bandwidth of phase lock loop with Fuzzy Adaptive Kalman Filtering algorithm so that group
Close navigation system noise resisting ability to be remarkably reinforced, remain to protect in the case where satellite-signal signal-to-noise ratio is relatively low and noise changes greatly
Hold the navigation output of degree of precision, the visible Figure of description 3~5 of comparing result figure.
Embodiment 2
It is a kind of structure diagram of the car-mounted terminal embodiment 2 with Tail gas measuring of the present invention referring to Fig. 6, this
Invent it is a kind of there is the car-mounted terminal of Tail gas measuring on the basis of Fig. 1, terminal device further can also include alarm
Device, outer memory module, OBD interfaces.Alarm, outer memory module and OBD interfaces are connected with host microprocessors.
The outer memory module is used for the data for storing Tail gas measuring module.
The car-mounted terminal leaves OBD (On-Board Diagnostic " onboard diagnostic system ") interface, host microprocessor
Device is connected by OBD interfaces with automobile circuit, and data are read by OBD.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the scope of protection of present invention.
Claims (10)
1. a kind of have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The car-mounted terminal include host microprocessors,
Integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, it is described
Integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module with master
Machine microprocessor connects；
The Tail gas measuring module is installed on automobile exhaust pipe；
The photographing module includes shooting microprocessor, LCD master control borads, shooting memory module and two video cameras, and shooting is micro-
Processor connects host microprocessors by USB data line, and LCD master control borads, shooting memory module and two video cameras are with taking the photograph
As microprocessor connection, video camera obtains vehicle-surroundings image, and shooting microprocessor carries out image Compression and be stored in take the photograph
As in memory module.
2. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The video camera is super
Wide angle cameras.
3. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The car-mounted terminal is also
Including alarm, outer memory module and OBD interfaces, alarm, outer memory module and OBD interfaces are and host microprocessors
Connection；
The outer memory module is used for the data for storing Tail gas measuring module；
The host microprocessors are connected by OBD interfaces with automobile circuit, and data are read by OBD interfaces.
4. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The radio communication mold
Block is based on cellular arrowband Internet of Things.
5. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The integrated positioning mould
Block includes satellite positioning navigation module and inertial navigation module.
6. according to claim 5 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The satellite positioning is led
Model plane block is BD/GPS compatible modules.
7. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The shooting storage mould
Block is TF card.
8. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The host microprocessor
Device connects center monitoring platform by NB-IoT modules.
9. the detection method of the car-mounted terminal described in claim 1, it is characterised in that：The integrated positioning module includes satellite
Position navigation module and inertial navigation module；
The detection method comprises the following steps：
The data that Tail gas measuring module and photographing module are detected are sent to center by host microprocessors by NB-IoT modules
Monitor supervision platform, while the position of the positioning vehicle-carried terminal of integrated positioning module and center monitoring is sent to by NB-IoT modules puts down
Platform；
The position of the positioning vehicle-carried terminal of integrated positioning module specifically includes following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal signal-to-noise ratio drops
Carrier phase tracking loop bandwidth is reduced when low, improves the anti-noise jamming ability of receiver；
S2, using based on fuzzy inference system measure the adaptive Kalman filtering Integrated Navigation Algorithm of noise model, description
Noise change is measured, adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.
10. detection method according to claim 9, it is characterised in that：The step S1 is comprised the following steps that：
S101, according to the transformed GPS digital signals of downconverted and digital-to-analogue calculate signal-to-noise ratio C/N0, and formula is as follows：
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<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：
<mrow>
<mover>
<mi>z</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>AM</mi>
<mi>E</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>/</mo>
<mn>2</mn>
<mo>+</mo>
<mn>2</mn>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>i</mi>
<mi>q</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msubsup>
<mi>&delta;</mi>
<mi>z</mi>
<mn>2</mn>
</msubsup>
<mo>=</mo>
<mn>2</mn>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>AM</mi>
<mi>E</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>i</mi>
<mi>q</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<mn>4</mn>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>i</mi>
<mi>q</mi>
</mrow>
<mn>4</mn>
</msubsup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
A is gps signal amplitude in upper two formula, MEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntFor the time of integration；
S102, establish Fuzzy control system, using C/N0 as input, using GPS tracking loops bandwidth as output, is pushed away using following obscure
Reason rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realize carrier loop bandwidth
Adaptive adjustment, improves GPS or triones navigation system noise antijamming capability；
The step S2 is comprised the following steps that：
S201, the new breath for calculating Thalmann filter, such as formula (4)
<mrow>
<msub>
<mi>e</mi>
<mi>k</mi>
</msub>
<mo>=</mo>
<msub>
<mi>z</mi>
<mi>k</mi>
</msub>
<mo>-</mo>
<msub>
<mi>H</mi>
<mi>k</mi>
</msub>
<msubsup>
<mi>x</mi>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, zkFor actual measurement, HkFor measurement matrix,For the once estimation of system mode.
S202, calculate the theoretical variance of new breath, can be calculated by formula (5)：
<mrow>
<msub>
<mi>C</mi>
<msub>
<mi>e</mi>
<mi>k</mi>
</msub>
</msub>
<mo>=</mo>
<msub>
<mi>H</mi>
<mi>k</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>k</mi>
<mo>/</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
<msub>
<mi>P</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
<msubsup>
<mi>F</mi>
<mrow>
<mi>k</mi>
<mo>/</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mi>T</mi>
</msubsup>
<mo>+</mo>
<msub>
<mi>Q</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<msubsup>
<mi>H</mi>
<mi>k</mi>
<mi>T</mi>
</msubsup>
<mo>+</mo>
<msub>
<mi>R</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1To measure
Noise battle array；
The realized variance that S203, calculating newly cease, it can be calculated by new breath vector N number of recently, be represented with formula (6)：
<mrow>
<msub>
<mi>T</mi>
<msub>
<mi>e</mi>
<mi>k</mi>
</msub>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>N</mi>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<msub>
<mi>i</mi>
<mn>0</mn>
</msub>
</mrow>
<mi>k</mi>
</munderover>
<msub>
<mi>e</mi>
<mi>i</mi>
</msub>
<mo>&CenterDot;</mo>
<msubsup>
<mi>e</mi>
<mi>i</mi>
<mi>T</mi>
</msubsup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
S204, calculate new breath realized variance and the ratio of theoretical variance；Due toWithDiagonal matrix both is set to, therefore is compared
Value is also diagonal matrix：
<mrow>
<mi>R</mi>
<mi>a</mi>
<mo>=</mo>
<msub>
<mi>C</mi>
<msub>
<mi>e</mi>
<mi>k</mi>
</msub>
</msub>
<mo>/</mo>
<msub>
<mi>T</mi>
<msub>
<mi>e</mi>
<mi>k</mi>
</msub>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
S205, design fuzzy inference system, the defeated of fuzzy inference system is used as newly to cease realized variance and the ratio of theoretical variance
Enter, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule there are following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model diminishes；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor for measuring noise model is constant
(for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance become higher, the correction factor for measuring noise model becomes larger.
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