CN108226967A - GNSS signal tracking and device - Google Patents
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- CN108226967A CN108226967A CN201611159780.XA CN201611159780A CN108226967A CN 108226967 A CN108226967 A CN 108226967A CN 201611159780 A CN201611159780 A CN 201611159780A CN 108226967 A CN108226967 A CN 108226967A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention provides a kind of GNSS signal tracking and device.The method includes：The in-phase component and quadrature component obtained after non-coherent accumulation to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively carries out further energy accumulation, obtains in-phase component accumulation results and quadrature component accumulation results；The in-phase component accumulation results and quadrature component accumulation results using discriminator are handled, obtain driscrimination error；Loop filtering is carried out using loop filter to the driscrimination error, obtains error signal；Unified update is carried out to each tracking channel using the error signal.The present invention can be by the signal energy of cumulative more different satellites, to further improve signal gain, so as to improve the sensitivity of GNSS signal tracking.
Description
Technical field
The present invention relates to technical field of satellite navigation more particularly to a kind of GNSS signal trackings and device.
Background technology
Most common GNSS (Global Navigation Satellite System, Global Navigation Satellite System) receives
Machine verification index includes TTFF (Time To First Fix, primary positioning time), receiver sensitivity and positional accuracy,
Sensitivity index is one of mostly important performance indicator of each GNSS receiver.For GNSS system, sensitivity index
Include the index under multiple scenes again, respectively：Tracking sensitivity, cold heat/startup temperature acquisition sensitivity.GNSS receiver is first
The capture to satellite-signal is first completed, completes GNSS receiver required lowest signal intensity under cold heat/startup temperature pattern
For cold heat/startup temperature acquisition sensitivity；It is able to maintain that after the acquisition and required lowest signal intensity is tracked to satellite-signal
For tracking sensitivity.
It is also higher and higher to the sensitivity requirement of GNSS receiver with the continuous extension of GNSS application ranges, it is highly sensitive
The receiver performance of degree can make receiver remain able to realize positioning and tracking in the case where satellite-signal is very weak.
The sensitivity of GNSS receiver is mainly limited by two parts：Receiver radio frequency front-end circuit includes antenna part
Design and receiver Baseband algorithms design.Wherein, receiver radio frequency front-end circuit determines that receiving signal reaches base band
Partial signal-to-noise ratio, and Baseband algorithms then determine the patient minimum signal-to-noise ratio of institute during signal demodulation, capture, tracking.
Fixed in the receiver radio frequency front end realized in the form of hardware circuit, Baseband algorithms performance is based on more
Flexible Software for Design and directly affect GNSS signal capture, the minimum requirements of tracking and demodulating process to carrier-to-noise ratio.With
For GPS (Global Position System, global positioning system) in GNSS system, GPS signal is a spread spectrum system
System, for GPS system, spreading code is the Gold codes of code length 1023, bit rate 1.023Mbps is one per 1ms
The C/A code periods.Therefore, when existing receiver design generally can be by lengthening local code and receiving the integration between signal
Between come improve receive signal signal-to-noise ratio.
Wherein, integral way is divided into coherent accumulation and non-coherent accumulation.Coherent accumulation refers to local code and reception directly
Signal step-by-step adds up again after being multiplied, and non-coherent accumulation is then that the result of coherent accumulation is directly added again.Coherent accumulation
As a result it can be calculated according to following formula：
Wherein, difference on the frequencies of the Δ f between local carrier and input signal carrier wave, unit are Hz (hertz)；T is relevant tired
The product time；CN0Carrier-to-noise ratio during base band is reached for signal, unit is dB ˙ Hz；R (τ) is the auto-correlation function of C/A codes；For
Initial phase difference；D is the navigation message symbol of signal modulation, and value is ± 1；ηIAnd ηQThe respectively noise on I roads and Q roads.
In the implementation of the present invention, inventor has found at least to have the following technical problems in the prior art：
As shown from the above formula, coherent accumulation result and coherent accumulation duration are very related, and the coherent accumulation time is longer, right
The requirement for being input into signal-to-noise ratio is lower, and sensitivity is also higher, but accumulated time is long, due to being influenced by frequency deviation Δ f, above formula
In the first entry value it is also just smaller, and sensitivity can be reduced.Non-coherent accumulation result is Σ (Ii 2+Qi 2), may be used also by above-mentioned formula
To find out, when non-coherent accumulation, due to ηIAnd ηQPresence, signal-to-noise ratio can decrease than coherent accumulation.
Invention content
GNSS signal tracking and device provided by the invention can pass through the signal energy of cumulative more different satellites
Amount, to further improve signal gain, so as to improve the sensitivity of GNSS signal tracking.
In a first aspect, the present invention provides a kind of GNSS signal tracking, including：
Digital intermediate frequency signal caused by the different satellites of each tracking channel is obtained after non-coherent accumulation respectively
In-phase component and quadrature component carry out further energy accumulation, obtain in-phase component accumulation results and quadrature component accumulation knot
Fruit；
The in-phase component accumulation results and quadrature component accumulation results using discriminator are handled, obtains differentiating and miss
Difference；
Loop filtering is carried out using loop filter to the driscrimination error, obtains error signal；
Unified update is carried out to each tracking channel using the error signal.
Optionally, non-phase is passed through to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively described
Before the in-phase component and quadrature component obtained after dry accumulation carries out further energy accumulation, the method further includes：
For each tracking channel, by the digital intermediate frequency signal of the input cos with the local carrier of each tracking channel respectively
() is multiplied with sin () component, and multiplied result carries out related operation with local code respectively, and correlation result uses integrator respectively
Coherent accumulation and non-coherent accumulation are carried out, respectively obtains the in-phase component and quadrature component of each tracking channel.
Optionally, non-phase is passed through to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively described
Before the in-phase component and quadrature component obtained after dry accumulation carries out further energy accumulation, the method further includes：
Detect digital intermediate frequency signal energy caused by the different satellites of each tracking channel whether reach it is preset load make an uproar
Than thresholding, when digital intermediate frequency signal energy caused by the different satellites of each tracking channel reaches preset carrier-to-noise ratio thresholding
When, the same phase that is obtained after non-coherent accumulation to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively
Component and quadrature component carry out further energy accumulation.
Optionally, non-phase is passed through to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively described
Before the in-phase component and quadrature component obtained after dry accumulation carries out further energy accumulation, the method further includes：
The carrier doppler component and code phase component of each tracking channel are initialized.
Optionally, it is described that each tracking channel is carried out unifying to update including using the error signal：Using institute
It states error signal and unified update is carried out to the carrier doppler component and code phase component of each tracking channel.
Second aspect, the present invention provide a kind of GNSS signal tracks of device, including：
Energy accumulation unit, for passing through respectively to digital intermediate frequency signal caused by the different satellites of each tracking channel
The in-phase component and quadrature component obtained after non-coherent accumulation carries out further energy accumulation, obtains in-phase component accumulation results
With quadrature component accumulation results；
Discriminator, to the in-phase component accumulation results and quadrature component accumulation results using discriminator
Reason, obtains driscrimination error；
Loop filter for carrying out loop filtering using loop filter to the driscrimination error, obtains error signal；
Updating unit, for carrying out unified update to each tracking channel using the error signal.
Optionally, described device further includes：
Multiplier, for for each tracking channel, by the digital intermediate frequency signal of the input sheet with each tracking channel respectively
The cos () of ground carrier wave is multiplied with sin () component；
Correlator, for the multiplied result of the multiplier to be carried out related operation with local code respectively；
Coherent accumulation unit carries out coherent accumulation for the correlation result to the correlator with integrator；
Non-coherent accumulation unit, for carrying out non-coherent accumulation to the accumulation results of the coherent accumulation unit, respectively
To the in-phase component and quadrature component of each tracking channel.
Optionally, described device further includes：
Detection unit, in the energy accumulation unit respectively to caused by the different satellites of each tracking channel in
Before the in-phase component and quadrature component that frequency digital signal obtains after non-coherent accumulation carry out further energy accumulation, inspection
Survey whether digital intermediate frequency signal energy caused by the different satellites of each tracking channel reaches preset carrier-to-noise ratio thresholding；
When the detection unit detects that digital intermediate frequency signal energy reaches caused by the different satellites of each tracking channel
During to preset carrier-to-noise ratio thresholding, the energy accumulation unit is respectively to intermediate frequency caused by the different satellites of each tracking channel
The in-phase component and quadrature component that digital signal obtains after non-coherent accumulation carry out further energy accumulation.
Optionally, described device further includes：
Initialization unit, in the energy accumulation unit respectively to caused by the different satellites of each tracking channel
Before the in-phase component and quadrature component that digital intermediate frequency signal obtains after non-coherent accumulation carry out further energy accumulation,
The carrier doppler component and code phase component of each tracking channel are initialized.
Optionally, the updating unit, for how general to the carrier wave of each tracking channel using the error signal
It strangles component and code phase component carries out unified update.
GNSS signal tracking and device provided in an embodiment of the present invention, respectively to the different satellites of each tracking channel
The in-phase component and quadrature component that generated digital intermediate frequency signal obtains after non-coherent accumulation carry out further energy
Accumulation, obtains in-phase component accumulation results and quadrature component accumulation results, to the in-phase component accumulation results and quadrature component
Accumulation results are handled using discriminator, obtain driscrimination error, and loop is carried out using loop filter to the driscrimination error
Filtering, obtains error signal, carries out unified update to each tracking channel using the error signal.With prior art phase
Than each satellite is no longer independently tracked, but the tracking channel of all satellites is integrated into a tracking channel and carries out unification
Update, by the signal energy of cumulative more different satellites, to further improve signal gain, so as to improve GNSS signal tracking
Sensitivity.
Description of the drawings
Fig. 1 is the track loop structure diagram of GNSS signal tracking in the prior art；
Fig. 2 is the flow chart of one embodiment of the invention GNSS signal tracking；
Fig. 3 is the track loop structure diagram of one embodiment of the invention GNSS signal tracking；
Fig. 4 is the structure diagram of one embodiment of the invention GNSS signal tracks of device.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
Only it is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, for a kind of existing track loop structure diagram of general GNSS signal tracking.Each is defended
Star respectively occupies a tracking channel and carries out respective track loop update.Wherein, for some tracking channel, base
Present treatment flow is：First, input digital intermediate frequency signal is multiplied respectively with the cos of local carrier () and sin () component, then
Signal carries out related operation with local code again, and correlated results carries out coherent accumulation and non-coherent accumulation with integrator and obtains with mutually dividing
I and quadrature component Q is measured, then handles in-phase component and quadrature component using discriminator, so as to obtain driscrimination error, discriminator misses
Difference gives loop filter as input, and obtained error signal feeds back to carrier wave NCO (Numerically respectively
Controlled Oscillator, numerically-controlled oscillator) and pseudo-code generator, complete the tracking tune to signal carrier and code
It is whole.
The present invention provides a kind of GNSS signal tracking, as shown in Fig. 2, the method includes：
S11, respectively to digital intermediate frequency signal caused by the different satellites of each tracking channel after non-coherent accumulation
Obtained in-phase component and quadrature component carries out further energy accumulation, obtains in-phase component accumulation results and quadrature component is tired out
Product result.
Wherein, before step S11, for each tracking channel, by the digital intermediate frequency signal of input respectively with each tracking
The cos () of the local carrier of channel is multiplied with sin () component, and multiplied result carries out related operation, correlation fortune with local code respectively
It calculates result and carries out coherent accumulation and non-coherent accumulation with integrator respectively, respectively obtain the in-phase component of each tracking channel and orthogonal
Component.
Further, before step S11, digital intermediate frequency signal caused by the different satellites of each tracking channel is detected
Whether energy reaches preset carrier-to-noise ratio thresholding, when digital intermediate frequency signal energy caused by the different satellites of each tracking channel
When reaching preset carrier-to-noise ratio thresholding, respectively to digital intermediate frequency signal caused by the different satellites of each tracking channel by non-
The in-phase component and quadrature component obtained after coherent accumulation carries out further energy accumulation.
Further, before step S11, to the carrier doppler component of each tracking channel and code phase component
It is initialized.
S12, the in-phase component accumulation results and quadrature component accumulation results using discriminator are handled, is reflected
Other error.
S13, loop filtering is carried out using loop filter to the driscrimination error, obtains error signal.
S14, unified update is carried out to each tracking channel using the error signal.
Specifically, using the error signal to the carrier doppler component of each tracking channel and code phase component
Carry out unified update.
GNSS signal tracking provided in an embodiment of the present invention, respectively to produced by the different satellites of each tracking channel
The in-phase component that is obtained after non-coherent accumulation of digital intermediate frequency signal and quadrature component carry out further energy accumulation, obtain
To in-phase component accumulation results and quadrature component accumulation results, to the in-phase component accumulation results and quadrature component accumulation results
It is handled using discriminator, obtains driscrimination error, loop filtering is carried out using loop filter to the driscrimination error, is obtained
Error signal carries out each tracking channel using the error signal unified update.Compared with prior art, it defends for each
Star is no longer independently tracked, but the tracking channel of all satellites is integrated into a tracking channel and carries out unified update, is passed through
The signal energy of cumulative more different satellites, to further improve signal gain, so as to improve the sensitivity of GNSS signal tracking.
As shown in figure 3, the track loop structure diagram of the GNSS signal tracking proposed for the embodiment of the present invention.With figure
The main distinction of conventional track loop shown in 2 is：Each at this time satellite be no longer respectively it is independently tracked, but use one with
Track loop carries out unified update.In the input of discriminator, the new track loop that the embodiment of the present invention proposes is to each channel
The non-coherent accumulation result of different satellites carries out further energy accumulation, input of the accumulation results as discriminator, Zhi Houjian
The output result of other device carries out all tracking channels unified update, be no longer in conventional loop each channel respectively into line trace
With update loop parameter.
Specifically, the idiographic flow that GNSS signal tracking is carried out using track loop shown in Fig. 3 is as follows：
(1) detect that receiver is in static schema, and position location is with a high credibility, the position of record location；
(2) CNR (Carrier Noise Ratio, a carrier-to-noise ratio) thresholding is set, when detecting that signal energy reaches this
During CNR thresholdings, into highly sensitive tracing mode；
(3) state of prediction each satellite-signal of current point in time includes carrier doppler, doppler changing rate, code phase
Position；
(4) FLL (Frequency Lock Loop, frequency locking ring) of initialization tracking carrier frequency, it is local brilliant including tracking
The carrier doppler information as caused by satellite motion of the clock drift information of vibrational state and each satellite；Initialize each channel DLL
The local code phase information of (Delay Lock Loop, delay phase-locked loop)；
(5) the non-coherent accumulation result of all tracking channels is accumulated again；
(6) previous step accumulation results enter FLL and DLL loop filters, carry out the unified loop update of all channels；
(7) the carrier doppler component and code phase component of each tracking channel are updated according to real-time predictive information；
Step (5) to (7) is repeated, carries out GNSS signal tracking.
The embodiment of the present invention also provides a kind of GNSS signal tracks of device, as shown in figure 4, described device includes：
Energy accumulation unit 11, for being passed through respectively to digital intermediate frequency signal caused by the different satellites of each tracking channel
It crosses the in-phase component obtained after non-coherent accumulation and quadrature component carries out further energy accumulation, obtain in-phase component accumulation knot
Fruit and quadrature component accumulation results；
Discriminator 12, to the in-phase component accumulation results and quadrature component accumulation results using discriminator
Reason, obtains driscrimination error；
Loop filter 13 for carrying out loop filtering using loop filter to the driscrimination error, obtains error letter
Number；
Updating unit 14, for carrying out unified update to each tracking channel using the error signal.
GNSS signal tracks of device provided in an embodiment of the present invention, respectively to produced by the different satellites of each tracking channel
The in-phase component that is obtained after non-coherent accumulation of digital intermediate frequency signal and quadrature component carry out further energy accumulation, obtain
To in-phase component accumulation results and quadrature component accumulation results, to the in-phase component accumulation results and quadrature component accumulation results
It is handled using discriminator, obtains driscrimination error, loop filtering is carried out using loop filter to the driscrimination error, is obtained
Error signal carries out each tracking channel using the error signal unified update.Compared with prior art, it defends for each
Star is no longer independently tracked, but the tracking channel of all satellites is integrated into a tracking channel and carries out unified update, is passed through
The signal energy of cumulative more different satellites, to further improve signal gain, so as to improve the sensitivity of GNSS signal tracking.
Optionally, described device further includes：
Multiplier, for for each tracking channel, by the digital intermediate frequency signal of the input sheet with each tracking channel respectively
The cos () of ground carrier wave is multiplied with sin () component；
Correlator, for the multiplied result of the multiplier to be carried out related operation with local code respectively；
Coherent accumulation unit carries out coherent accumulation for the correlation result to the correlator with integrator；
Non-coherent accumulation unit, for carrying out non-coherent accumulation to the accumulation results of the coherent accumulation unit, respectively
To the in-phase component and quadrature component of each tracking channel.
Optionally, described device further includes：
Detection unit, in the energy accumulation unit respectively to caused by the different satellites of each tracking channel in
Before the in-phase component and quadrature component that frequency digital signal obtains after non-coherent accumulation carry out further energy accumulation, inspection
Survey whether digital intermediate frequency signal energy caused by the different satellites of each tracking channel reaches preset carrier-to-noise ratio thresholding；
When the detection unit detects that digital intermediate frequency signal energy reaches caused by the different satellites of each tracking channel
During to preset carrier-to-noise ratio thresholding, the energy accumulation unit is respectively to intermediate frequency caused by the different satellites of each tracking channel
The in-phase component and quadrature component that digital signal obtains after non-coherent accumulation carry out further energy accumulation.
Optionally, described device further includes：
Initialization unit, in the energy accumulation unit respectively to caused by the different satellites of each tracking channel
Before the in-phase component and quadrature component that digital intermediate frequency signal obtains after non-coherent accumulation carry out further energy accumulation,
The carrier doppler component and code phase component of each tracking channel are initialized.
Optionally, the updating unit, for how general to the carrier wave of each tracking channel using the error signal
It strangles component and code phase component carries out unified update.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all should by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of GNSS signal tracking, which is characterized in that including：
Digital intermediate frequency signal caused by the different satellites of each tracking channel is obtained after non-coherent accumulation respectively same
Phase component and quadrature component carry out further energy accumulation, obtain in-phase component accumulation results and quadrature component accumulation results；
The in-phase component accumulation results and quadrature component accumulation results using discriminator are handled, obtain driscrimination error；
Loop filtering is carried out using loop filter to the driscrimination error, obtains error signal；
Unified update is carried out to each tracking channel using the error signal.
2. according to the method described in claim 1, it is characterized in that, described respectively to the different satellite institutes of each tracking channel
The in-phase component and quadrature component that the digital intermediate frequency signal of generation obtains after non-coherent accumulation carry out further energy and tire out
Before product, the method further includes：
For each tracking channel, by the digital intermediate frequency signal of input respectively with the cos of the local carrier of each tracking channel () and
Sin () component is multiplied, and multiplied result carries out related operation with local code respectively, and correlation result is carried out respectively with integrator
Coherent accumulation and non-coherent accumulation respectively obtain the in-phase component and quadrature component of each tracking channel.
3. according to the method described in claim 2, it is characterized in that, described respectively to the different satellite institutes of each tracking channel
The in-phase component and quadrature component that the digital intermediate frequency signal of generation obtains after non-coherent accumulation carry out further energy and tire out
Before product, the method further includes：
Detect whether digital intermediate frequency signal energy caused by the different satellites of each tracking channel reaches preset carrier-to-noise ratio door
Limit, when digital intermediate frequency signal energy reaches preset carrier-to-noise ratio thresholding caused by the different satellites of each tracking channel, point
The in-phase component that digital intermediate frequency signal caused by the other different satellites to each tracking channel obtains after non-coherent accumulation
Further energy accumulation is carried out with quadrature component.
4. according to the method described in claim 3, it is characterized in that, described respectively to the different satellite institutes of each tracking channel
The in-phase component and quadrature component that the digital intermediate frequency signal of generation obtains after non-coherent accumulation carry out further energy and tire out
Before product, the method further includes：
The carrier doppler component and code phase component of each tracking channel are initialized.
It is 5. according to the method described in claim 4, it is characterized in that, described logical to each tracking using the error signal
Road carries out unified update and includes：Using the error signal to the carrier doppler component and code phase of each tracking channel
Component carries out unified update.
6. a kind of GNSS signal tracks of device, which is characterized in that including：
Energy accumulation unit, for passing through non-phase to digital intermediate frequency signal caused by the different satellites of each tracking channel respectively
The in-phase component and quadrature component obtained after dry accumulation carries out further energy accumulation, obtains in-phase component accumulation results and just
Hand over component accumulation results；
Discriminator for being handled using discriminator the in-phase component accumulation results and quadrature component accumulation results, is obtained
To driscrimination error；
Loop filter for carrying out loop filtering using loop filter to the driscrimination error, obtains error signal；
Updating unit, for carrying out unified update to each tracking channel using the error signal.
7. device according to claim 6, which is characterized in that described device further includes：
Multiplier, for for each tracking channel, the digital intermediate frequency signal of input to be carried respectively with the local of each tracking channel
The cos () of wave is multiplied with sin () component；
Correlator, for the multiplied result of the multiplier to be carried out related operation with local code respectively；
Coherent accumulation unit carries out coherent accumulation for the correlation result to the correlator with integrator；
Non-coherent accumulation unit for carrying out non-coherent accumulation to the accumulation results of the coherent accumulation unit, respectively obtains each
The in-phase component and quadrature component of tracking channel.
8. device according to claim 7, which is characterized in that described device further includes：
Detection unit, in the energy accumulation unit respectively to frequency middle caused by the different satellites of each tracking channel
Before the in-phase component and quadrature component that word signal obtains after non-coherent accumulation carry out further energy accumulation, detection is each
Whether digital intermediate frequency signal energy caused by the different satellites of a tracking channel reaches preset carrier-to-noise ratio thresholding；
When the detection unit detects that digital intermediate frequency signal energy reaches pre- caused by the different satellites of each tracking channel
If carrier-to-noise ratio thresholding when, the energy accumulation unit is respectively to intermediate frequency digital caused by the different satellites of each tracking channel
The in-phase component and quadrature component that signal obtains after non-coherent accumulation carry out further energy accumulation.
9. device according to claim 8, which is characterized in that described device further includes：
Initialization unit, in the energy accumulation unit respectively to intermediate frequency caused by the different satellites of each tracking channel
Before the in-phase component and quadrature component that digital signal obtains after non-coherent accumulation carry out further energy accumulation, to institute
The carrier doppler component and code phase component for stating each tracking channel are initialized.
10. device according to claim 9, which is characterized in that the updating unit, for utilizing the error signal pair
The carrier doppler component and code phase component of each tracking channel carry out unified update.
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| CN114499693A (en) * | 2021-11-29 | 2022-05-13 | 军事科学院系统工程研究院网络信息研究所 | Multi-physical-field quantum measurement networking method based on coherent accumulation |
| CN114697170A (en) * | 2020-12-30 | 2022-07-01 | 千寻位置网络有限公司 | Frequency offset incoherent estimation method, device, equipment and storage medium |
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