CN108345013A - A kind of method and satellite navigation receiver improving satellite navigation signals receiving sensitivity - Google Patents
A kind of method and satellite navigation receiver improving satellite navigation signals receiving sensitivity Download PDFInfo
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- CN108345013A CN108345013A CN201810338382.7A CN201810338382A CN108345013A CN 108345013 A CN108345013 A CN 108345013A CN 201810338382 A CN201810338382 A CN 201810338382A CN 108345013 A CN108345013 A CN 108345013A
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of methods improving satellite navigation signals receiving sensitivity.The method comprising the steps of has：Indoor and outdoor intercommunication, frequency difference calculates and coherent integration, the receives frequency for the navigation neceiver being located outside and the receives frequency positioned at indoor navigation neceiver are carried out by frequency difference calculating by short-range communication mainly between two adjacent satellite navigation receivers, and frequency accuracy is estimated, to correct the frequency deviation of indoor navigation receiver and be segmented the time of coherent integration, and then the receiving sensitivity of indoor reception machine can be significantly improved.This method can effectively solve the problem that in indoor satellite positioning procedures the not high problem of receiving sensitivity caused by signal decaying is big, be the effective ways of indoor satellite positioning enhancing.In addition, the invention also discloses a kind of satellite navigation receivers.
Description
Technical field
The present invention relates to field of satellite navigation more particularly to it is a kind of improve satellite navigation signals receiving sensitivity method and
Satellite navigation receiver.
Background technology
Sensitivity is the core index of satellite navigation receiver, is had a major impact to the availability of the urban satellite navigation service.It is real
Reception satellite navigation signals are typically required in the application of border can obtain preferable reception in outdoor, but indoors especially
It is in basement, subway station, cavern tunnel etc., since satellite navigation signals are blocked, the attenuation of signal is larger, such as
Shallow interior satellite navigation signals decay to 5~10dB, and depth indoor signal decays to 20~30dB.Therefore, satellite is improved to lead
The sensitivity behaviour of boat receiver is of great significance to realizing the positioning service in above-mentioned zone.
Invention content
The invention mainly solves the technical problem of providing it is a kind of improve satellite navigation signals receiving sensitivity method and
Satellite navigation receiver solves the problems, such as insufficient to indoor reception satellite navigation signals receiving sensitivity in the prior art.
In order to solve the above technical problems, one aspect of the present invention is to provide a kind of raising satellite navigation signals
The method of receiving sensitivity, including step：Indoor and outdoor intercommunication, the first satellite navigation receiver are located outside and receive unobstructed
Satellite navigation signals are positioned, and the second satellite navigation receiver is located at indoor and receiving has the satellite navigation signals blocked to carry out
Positioning, short-range communication interconnection has been also set up between first satellite navigation receiver and the second satellite navigation receiver；Frequently
Difference calculates, and first satellite navigation receiver resolves the first communications reception of locally received unobstructed satellite navigation signals
Frequency, second satellite navigation receiver resolve locally received the second communications reception frequency for having the satellite navigation signals blocked
Rate, and obtain the first communications reception frequency by short-range communication interconnection further calculates to obtain described second logical
Believe communication frequency difference value of the receives frequency relative to the first communications reception frequency, and to the essence of the second communications reception frequency
Degree is estimated, the second communications reception frequence estimation precision is obtained；Coherent integration, second satellite navigation receiver utilize institute
It states communication frequency difference value and corrects the second communications reception frequency, using the second communications reception frequence estimation precision to spreading code
The segmentation coherent integration time of correlation intergal is modified, and is then added up to obtained multiple segmentation coherent integration results,
To realize to the capture identification and the acquisition and tracking that there are the satellite navigation signals blocked to carry out spreading code.
In another embodiment of method that the present invention improves satellite navigation signals receiving sensitivity, first satellite navigation
Receiver includes the first satellite navigation signals receiving module and the first proximity communication module, and first satellite navigation
Signal receiving module and the first proximity communication module share first frequency source；Second satellite navigation receiver includes
Two satellite navigation signals receiving modules and the second proximity communication module, and the second satellite navigation signals receiving module with
Second proximity communication module shares second frequency source, first proximity communication module and the second short-range communication mould
The short-range communication interconnection is established between block；The first satellite navigation signals receiving module is pressed from the first frequency source
Epoch reads phase valueIt is divided into Δ T between epoch, the first communications reception frequency f is calculatedcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication to carry out
Time synchronization, obtains the identical epoch and the epoch interval delta T, and the second satellite navigation signals receiving module is from described the
Phase value φ is read in two frequency sources0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is relative to the communication frequency difference value of the first communications reception frequency：
In another embodiment of method that the present invention improves satellite navigation signals receiving sensitivity, second satellite navigation
Also the second communications reception frequency accuracy is estimated in receiver, evaluation method includes：
First, the carrier observations precision σ of first satellite navigation receiver is estimatedDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation,
Further, the local frequency deviation accuracy of observation for obtaining first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, the geometric dilution of precision of TDOP expression satellite navigation reporting resolvings；
Then, the of the first communications reception frequency and the second proximity communication module of the first proximity communication module of estimation
Two communication receives frequencies frequency difference precision be：
σFHAS12It indicates phase difference accuracy of observation, is expressed as：
D indicates variance operation；
Thus it further obtains, the second communications reception frequence estimation precision of second satellite navigation receiverFor：
α indicates the ratio of the second communications reception frequency and satellite navigation signals nominal frequency
Value.
In another embodiment of method that the present invention improves satellite navigation signals receiving sensitivity, second satellite navigation
In receiver also specific energy loss is obtained using the second communications reception frequence estimation accuracy computationIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
In another embodiment of method that the present invention improves satellite navigation signals receiving sensitivity, second communications reception
Frequence estimation precisionFor 0.41Hz, the coherence time TcIt it is 200 milliseconds, the specific energy loss isIt is 1%.
Based on same design, the present invention also provides a kind of satellite navigation receivers, including satellite navigation signals to receive mould
Block further includes proximity communication module, and the proximity communication module includes communication frequency difference computational submodule and communication frequency essence
Degree estimation submodule, the satellite navigation signals receiving module further include segmentation coherent integration submodule, frequency deviation amendment submodule
It adds up submodule with coherent integration；The satellite navigation receiver is the second satellite navigation receiver, is had positioned at indoor and reception
The satellite navigation signals blocked are positioned, and the first satellite navigation receiver is located outside and receives unobstructed satellite navigation
Signal is positioned；First satellite navigation receiver is resolved locally received by its first satellite navigation signals receiving module
Unobstructed satellite navigation signals the first communications reception frequency and be transferred to the first proximity communication module, described second defends
Star guiding aircraft resolves locally received have the satellite navigation signals blocked by its second satellite navigation signals receiving module
Two communication receives frequencies are simultaneously transferred to the second proximity communication module, and second satellite navigation receiver passes through its second low coverage
Interconnection acquisition described first is communicated from communication module with the first proximity communication module of first satellite navigation receiver to lead to
Believe receives frequency, and the second communications reception frequency further is calculated relative to institute by communicating frequency difference computational submodule
The communication frequency difference value of the first communications reception frequency is stated, and also by communication frequency precision estimation submodule to second communication
The precision of receives frequency is estimated to obtain the second communications reception frequence estimation precision；The institute of second satellite navigation receiver
It states frequency deviation and corrects submodule according to communication frequency difference value amendment the second communications reception frequency, segmentation coherent integration
Module is described according to the segmentation coherent integration time of the second communications reception frequence estimation adjustment in accuracy spreading code coherently despreading
Coherent integration adds up submodule to carrying out accumulation calculating through the revised segmentation coherent integration results of overdeviation, to realize to institute
State capture identification and acquisition and tracking that the satellite navigation signals blocked carry out spreading code.
In another embodiment of satellite navigation receiver of the present invention, described the first of first satellite navigation receiver defends
Star navigation signal receiving module and the first proximity communication module share first frequency source；In second satellite navigation receiver
The second satellite navigation signals receiving module and the second proximity communication module share second frequency source；First satellite
Navigation signal receiving module reads phase value from the first frequency source by epochΔ is divided between epoch
The first communications reception frequency f is calculated in Tcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication to carry out
Time synchronization, obtains the identical epoch and the epoch interval delta T, and the second satellite navigation signals receiving module is from described the
Phase value φ is read in two frequency sources0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is calculated relative to first communication in second proximity communication module
The communication frequency difference value of receives frequency is：
In another embodiment of satellite navigation receiver of the present invention, the communication frequency precision estimation submodule is to described
The carrier observations precision σ of one satellite navigation receiverDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation；
Local frequency deviation accuracy of observation to first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, the geometric dilution of precision of TDOP expression satellite navigation reporting resolvings；
To the communications reception of the communications reception frequency and the second proximity communication module of first proximity communication module
The frequency difference precision of frequency is：
σFHAS12It indicates carrier phase difference accuracy of observation, is expressed as：
To the second communications reception frequence estimation precision of second satellite navigation receiverFor：
α indicates the second communications reception frequency and satellite navigation signals nominal reference frequency
Ratio.
In another embodiment of satellite navigation receiver of the present invention, described second in second satellite navigation receiver
Proximity communication module further includes specific energy loss computing module, is obtained according to the second communications reception frequence estimation accuracy computation
To specific energy lossIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
In another embodiment of satellite navigation receiver of the present invention, the second communications reception frequence estimation precisionFor
0.41Hz, the coherence time TcIt it is 200 milliseconds, the specific energy loss isIt is 1%.
The beneficial effects of the invention are as follows：The method comprising the steps of indoor and outdoor intercommunication, frequency difference calculating and coherent integration, mainly
It is by short-range communication between two adjacent satellite navigation receivers by the reception of the navigation neceiver being located outside frequency
Rate carries out frequency difference calculating with the receives frequency positioned at indoor navigation neceiver, and estimates receiving frequency accuracy, to
The time of the frequency deviation and segmentation coherent integration of indoor navigation receiver is corrected, and then the reception of indoor reception machine can be significantly improved
Sensitivity.This method can effectively solve the problem that receiving sensitivity is not high caused by signal decaying is big in indoor satellite positioning procedures
The problem of, it is the effective ways of indoor satellite positioning enhancing.In addition, the invention also discloses a kind of satellite navigation receivers.
Description of the drawings
Fig. 1 is the composition schematic diagram for one embodiment of method that satellite navigation signals receiving sensitivity is improved according to the present invention；
Fig. 2 is the flow chart for another embodiment of method that satellite navigation signals receiving sensitivity is improved according to the present invention；
Fig. 3 is the composition frame chart according to one embodiment of satellite navigation signals receiver of the present invention according to the present invention.
Specific implementation mode
To facilitate the understanding of the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
The preferred embodiment of the present invention is given in attached drawing.But the present invention can realize in many different forms, and it is unlimited
In this specification described embodiment.Make to the disclosure on the contrary, purpose of providing these embodiments is
Understand more thorough and comprehensive.
It should be noted that unless otherwise defined, all technical and scientific terms used in this specification with belong to
The normally understood meaning of those skilled in the art of the present invention is identical.Used term in the description of the invention
It is to be not intended to the limitation present invention to describe the purpose of specific embodiment.Term "and/or" packet used in this specification
Include any and all combinations of one or more relevant Listed Items.
Fig. 1 is the composition schematic diagram for one embodiment of method that satellite navigation signals receiving sensitivity is improved according to the present invention.
In Fig. 1, it is received by the satellite navigation receiver on ground by the satellite navigation signals that navigation satellite 11 is sent out, wherein the first satellite
Navigation neceiver 12 is located outside and receives unobstructed satellite navigation signals T01 and positioned, the second satellite navigation receiver
13, which are located at indoor and reception, has the satellite navigation signals T02 blocked to be positioned, and in first satellite navigation receiver
12 and second have also set up short-range communication interconnection between satellite navigation receiver 13, as shown in Figure 1, passing through short-range radio
Signal T03 carries out direct intercommunication, such as passes through the short distances direct signal such as bluetooth, UWB, zigbee, wifi.First satellite navigation
Receiver 12 is interconnected with the second satellite navigation receiver 13 by short-range communication, and the two can exchange reception satellite navigation signals
Parameter information, and then enhance the second satellite navigation receiver 13 receive the spirit for having the satellite navigation signals T02 blocked indoors
Sensitivity, though indoors the second satellite navigation receiver if can obtain accurate positioning result.It should be noted that here
One satellite navigation receiver 12 and the second satellite navigation receiver 13 internal structure having the same form, serial number " first " and
" second " is intended merely to statement conveniently, is not construed as limiting the invention.
Due to the development of the short distance wireless communication technology and communication and navigation integration technology, defending in embodiment illustrated in fig. 1
Star navigation neceiver is equipped with GNSS and receives chip and wireless near field communication chip simultaneously, this is just that each satellite navigation receives
Various data informations are exchanged between machine and metrical information provides physical basis.Since the second satellite navigation receiver 13 is in room
Interior, arriving signal level is relatively low to be difficult to normally position, and in the first outdoor satellite navigation receiver 12 due to arriving signal
Quality is preferable, can normally complete positioning, obtains navigation message, from exact position and temporal frequency information etc..By between the two
Short-range communication means can give auxiliary information and observation data transfer to the second satellite navigation receiver 13, improve its detection spirit
Quick and realization indoor positioning.
Here, the first satellite navigation receiver is very similar to the error environment residing for the second satellite navigation receiver, that
This distance is also closer to, auxiliary information precision higher.In addition, short-range communication capacity is big, can provide abundanter auxiliary
Supplementary information.Based on above-mentioned advantage, embodiment illustrated in fig. 1 auxiliary can be provided than in the prior art by mobile base station and satellite
The mode of information transmission navigation message, general location temporal frequency between navigation neceiver, has higher receiving sensitivity.
On the basis of Fig. 1, Fig. 2 is another implementation of method that satellite navigation signals receiving sensitivity is improved according to the present invention
The flow chart of example.Fig. 2 includes step：
Step S101：Indoor and outdoor intercommunication, the first satellite navigation receiver are located outside and receive unobstructed satellite navigation
Signal is positioned, and the second satellite navigation receiver is located at indoor and receiving has the satellite navigation signals blocked to be positioned, institute
It states and has also set up short-range communication interconnection between the first satellite navigation receiver and the second satellite navigation receiver.
Step S102：Frequency difference calculates, and first satellite navigation receiver resolves locally received unobstructed satellite and leads
It navigates the first communications reception frequency of signal, second satellite navigation receiver, which resolves, locally received has the satellite navigation blocked
Second communications reception frequency of signal, and the first communications reception frequency is obtained by short-range communication interconnection, into one
Communication frequency difference value of the second communications reception frequency relative to the first communications reception frequency is calculated in step, and to described
The precision of second communications reception frequency is estimated, the second communications reception frequence estimation precision is obtained.
Step S103：Coherent integration, second satellite navigation receiver utilize communication frequency difference value amendment described the
Two communication receives frequencies, using the second communications reception frequence estimation precision to the segmentation coherent integration of spreading code correlation intergal
Time is modified, then add up to obtained multiple segmentation coherent integration results, to realize to it is described have block
Satellite navigation signals carry out capture identification and the acquisition and tracking of spreading code.
It is further preferred that first satellite navigation receiver includes the first satellite navigation signals receiving module and
One proximity communication module, and the first satellite navigation signals receiving module and the first proximity communication module share first
Frequency source；Second satellite navigation receiver includes the second satellite navigation signals receiving module and the second short-range communication mould
Block, and the second satellite navigation signals receiving module and the second proximity communication module share second frequency source, described the
The short-range communication interconnection is established between one proximity communication module and second proximity communication module.
Here, first frequency source is shared by the first satellite navigation signals receiving module and the first proximity communication module,
It can make the inside common source of the first satellite navigation receiver, it in this way can be to have unification inside the first satellite navigation receiver
Systematic error can be obtained corresponding first communications reception of the first satellite navigation receiver by mapping relations (such as frequency multiplication relationship)
The difference of frequency and satellite navigation signals nominal frequency.Second satellite navigation receiver characteristic having the same.
Preferably, it is for the calculation method of the first communications reception frequency in step S102：The first satellite navigation letter
Number receiving module reads phase value from the first frequency source by epochIt is divided into Δ T between epoch, calculates
Obtain the first communications reception frequency fcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication to carry out
Time synchronization, obtains the identical epoch and the epoch interval delta T, and the second satellite navigation signals receiving module is from described the
Phase value φ is read in two frequency sources0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is relative to the communication frequency difference value of the first communications reception frequency：
Here, for the first satellite navigation receiver, the first communications reception frequency is led in the unobstructed satellite of reception
It is exactly consistent with the nominal frequency of satellite navigation signals and synchronous variation after boat signal success.Due to satellite navigation system possess it is non-
Often precise and stable frequency reference, therefore satellite navigation system frequency can be considered as nominal frequency.First satellite navigation receives
Machine can obtain the frequency that the first satellite navigation receiver crystal oscillator generates in real time, i.e., first is logical by receiving satellite navigation signals
Believe the difference of receives frequency and nominal frequency.And due to the first satellite navigation signals receiving module and the first short-range communication mould
Block shares the same frequency source, i.e. first frequency source, can be obtained the first satellite navigation receiver by above-mentioned calculated relationship
The difference of first communications reception frequency and nominal frequency, while the second communications reception of the second satellite navigation receiver can be obtained
Frequency and nominal frequency, that is, satellite navigation system frequency difference.And it obtains this frequency difference and is led for improving the second satellite
The spread spectrum code acquisition sensitivity of boat receiver is of great significance.It can be seen that by analysis above and led by the first satellite
The function served as bridge of first communications reception frequency of boat receiver, can be to the second communications reception frequency of the second satellite navigation receiver
Rate deviation is corrected in real time, ensures that the second satellite navigation receiver frequency stabilization in a suitable range, exists immediately
It also can tracking adjustment frequency deviation in real time under conditions of the satellite navigation signals of reception are weaker.
It is further preferred that also estimating to the precision of the second communications reception frequency in second satellite navigation receiver
It calculates, evaluation method includes：
First, the carrier observations precision σ of first satellite navigation receiver is estimatedDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation,
Further, the local frequency deviation accuracy of observation for obtaining first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, TDOP indicate satellite navigation reporting resolve geometric dilution of precision, reflect
Ratio relation between reporting and accuracy of observation；The two accuracies of observation can be carried out by the first satellite navigation receiver
Estimation, is then transferred to the second satellite navigation receiver by short-range communication.The accuracy of observation reflects the first satellite navigation
The precision of the corresponding first communications reception frequency of receiver, the accuracy value are determined by first frequency source.
Preferably, the phase locked track ring PLL of the first satellite navigation signals receiving module of the first satellite navigation receiver
Tracking accuracy can reach 0.02 week, and when observation interval is 200 milliseconds, then the local frequency deviation of the first satellite navigation receiver is seen
0.14Hz can be reached by surveying precision.TDOP values take intermediate value 1.5 usually between 1~2, then the estimation absolute precision of clock frequency
0.21Hz can be reached, then relative frequency precision can reach 1.3e-10.
Then, the of the first communications reception frequency and the second proximity communication module of the first proximity communication module of estimation
Two communication receives frequencies communication frequency difference precision be：
σFHAS12It indicates phase difference accuracy of observation, is expressed as：
D indicates variance operation；
The communication frequency difference precision reflects the first frequency source of the first satellite navigation receiver and the second satellite navigation receives
Frequency difference precision between the second frequency source of machine.
In order to realize that high speed reliable communication, proximity communication module will also realize the high precision tracking to carrier phase, lead to
Normal tracking accuracy is better than 0.05 week, and observation interval is also 200 milliseconds, when being carried out between the first and second proximity communication modules
When bidirectional measurement carries out frequency difference calculating, the communication frequency difference precision that can reach is 0.35Hz.
Thus it further obtains, the estimation precision of the second communications reception frequency of second satellite navigation receiver
For：
α indicates the second communications reception frequency and satellite navigation signals nominal reference frequency
Ratio.The estimation precisionAbove-mentioned two accuracy value is combined, actually reflects the second communications reception frequency relative to defending
The precision of star navigation signal nominal frequency.
In summary two kinds of estimated accuracies can allow the frequency accuracy of the second satellite navigation receiver to reach 0.41Hz, i.e.,
By every 200 milliseconds, the second communications reception frequency of the second satellite navigation receiver can obtain the frequency that stability is 0.41Hz
Rate assists.
It can be seen that being based on above-mentioned short-range communication pattern, the very high estimation of frequency deviation is obtained in the first satellite navigation receiver
When precision, the frequency difference estimation precision between the first satellite navigation receiver and the second satellite navigation receiver can also obtain very high
Precision, therefore the precision of the receives frequency of the second satellite navigation receiver can be assisted and be significantly improved.
Further, the second communications reception frequence estimation precision meter is also utilized in second satellite navigation receiver
Calculation obtains specific energy lossIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
Preferably, the second communications reception frequence estimation precisionFor 0.41Hz, the coherence time TcFor 200 millis
Second, the specific energy loss isIt is 1%.
As can be seen that second satellite navigation receiver determines phase according to the second communications reception frequence estimation precision
The time span of dry integral, and there are the satellite navigation signals blocked to carry out reception in the time span of the coherent integration
The segmentation coherent integration of spreading code (this is because the code sequence length of spreading code needs to be segmented spreading code when longer, otherwise exists
The coherently despreading of a code sequence period length cannot be completed in coherent integration time), second satellite navigation receiver is also
Frequency deviation amendment is carried out, i.e., corrects the frequency deviation of the second communications reception frequency according to the communication frequency difference value, the segmentation is relevant
Integral adds up after frequency deviation amendment, then to the result of multiple segmentation coherent integrations, to realize to described
There are the satellite navigation signals blocked to carry out capture identification and the acquisition and tracking of spreading code.
In the prior art, during Testing of Feeble Signals, local spread-spectrum code signals and the input signal of reception carry out phase
Dry integral, due to local clock (corresponding first frequency source and second frequency source) generally use TCXO, short-term stability is only 1e-
9, there are larger frequency drifts, therefore can not carry out long-time coherent integration, usually set coherent integration time to 20 millis
Second.And in an embodiment of the present invention, by the way that piecewise coherent integration results are carried out with the compensation of local frequency drift, can allow each
The coherent integration process of section maintains in a stable frequency, to effectively expand coherent integration time.When coherent integration
Between when expanding to 2 seconds, detection sensitivity when can be than original 20 milliseconds of coherent integrations improves 20dB.From spread spectrum code acquisition theory
It is recognised that when false alarm rate is 0.001, when success rate is 0.95, the requirement to detection signal-to-noise ratio is 11.7dB, therefore uses 2
After second coherent integration, the acquisition sensitivity of the second satellite navigation receiver is up to 8.7dBHz；When coherent integration time is expanded
To after 20 seconds, detection is sensitive or even can be less than 0dBHz.
Based on same design, the present invention also provides a kind of satellite navigation receiver embodiments.As shown in figure 3, the satellite
Navigation neceiver 2 includes satellite navigation signals receiving module 21, further includes proximity communication module 22, logical by the short distance
Believe that module can carry out short-range communication interconnection with the first satellite navigation receiver of same type.It is identical for the ease of distinguishing two
The satellite navigation receiver of type, is first defined as the second satellite navigation receiver by the satellite navigation receiver here,
Wherein satellite navigation signals receiving module 21 further includes segmentation coherent integration submodule 211, frequency deviation amendment submodule 212 and is concerned with
Integrate the submodule 213 that adds up；
Second satellite navigation receiver is located at indoor and receiving has the satellite navigation signals blocked to be positioned, and institute
It states the first satellite navigation receiver and is located outside and receives unobstructed satellite navigation signals and positioned；
First satellite navigation receiver resolves locally received nothing by its first satellite navigation signals receiving module
First communications reception frequency of the satellite navigation signals blocked is simultaneously transferred to the first proximity communication module, and second satellite is led
Plane resolves locally received have the satellite navigation signals blocked second by its second satellite navigation signals receiving module and leads to
Letter receives frequency is simultaneously transferred to the second proximity communication module, and second satellite navigation receiver is logical by its second short distance
Letter module communicates interconnection acquisition first communication with the first proximity communication module of first satellite navigation receiver and connects
Frequency is received, and the second communications reception frequency further is calculated relative to institute by communicating frequency difference computational submodule 221
The communication frequency difference value of the first communications reception frequency is stated, and also passes through the second communications reception frequence estimation precision estimation submodule
The precision of 222 pairs of the second communications reception frequencies is estimated to obtain frequence estimation precision；
The frequency deviation of second satellite navigation receiver corrects submodule 212 and corrects institute according to the communication frequency difference value
The second communications reception frequency is stated, the segmentation coherent integration submodule 211 is according to the frequence estimation adjustment in accuracy spreading code phase
The segmentation coherent integration time of despreading is closed, the coherent integration adds up submodule 213 to relevant through the revised segmentation of overdeviation
Integral result carries out accumulation calculating, to realizing to the capture for thering are the satellite navigation signals that block the to carry out spreading code identification and
Acquisition and tracking.
In figure 3, resolving of the completion of submodule 212 to the second communications reception frequency is corrected by frequency deviation, and be transferred to logical
Believe frequency difference computational submodule 221, and communicates frequency difference computational submodule 221 and first communications reception frequency is obtained by short-range communication
Afterwards, it by the difference of the first communications reception frequency and the second communications reception frequency, that is, communicates frequency difference value and is transmitted further to frequency deviation amendment
Thus module 212 just rectifies a deviation to the second communications reception frequency, while also passing the first communications reception frequency, communication frequency difference value
It is defeated by communication frequency precision estimation submodule 222 and carries out frequency accuracy estimation.
It is further preferred that the first satellite navigation signals receiving module of first satellite navigation receiver and
One proximity communication module shares first frequency source；Second satellite navigation signals in second satellite navigation receiver
Receiving module and the second proximity communication module share second frequency source；
The first satellite navigation signals receiving module reads phase value from the first frequency source by epoch
It is divided into Δ T between epoch, the first communications reception frequency f is calculatedcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication to carry out
Time synchronization, obtains the identical epoch and the epoch interval delta T, and the second satellite navigation signals receiving module is from institute
It states and reads phase value φ in second frequency source0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is calculated relative to first communication in second proximity communication module
The communication frequency difference value of receives frequency is：
Preferably, second proximity communication module in second satellite navigation receiver further includes to described
The communication frequency precision estimation submodule that the precision of two communication receives frequencies is estimated, communication frequency precision estimation submodule pair
The carrier observations precision σ of first satellite navigation receiverDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation；
Local frequency deviation accuracy of observation to first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, the geometric dilution of precision of TDOP expression satellite navigation reporting resolvings.
The two accuracies of observation can be carried out by the communication frequency precision estimation submodule in the first satellite navigation receiver
Estimation, the communication frequency precision estimation submodule being then transferred to by short-range communication in the second satellite navigation receiver.
To the first communications reception frequency and the second of the second proximity communication module of first proximity communication module
The frequency difference precision of communications reception frequency is：
σFHAS12It indicates carrier phase difference accuracy of observation, is expressed as：
To the second communications reception frequence estimation precision of second satellite navigation receiverFor：
α indicates the second communications reception frequency and satellite navigation signals nominal reference frequency
Ratio.
Further, the proximity communication module in the satellite navigation receiver further includes that specific energy loss calculates
Submodule 223 obtains specific energy loss using the second communications reception frequence estimation accuracy computationIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
Preferably, the second communications reception frequence estimation precisionFor 0.41Hz, the coherence time TcFor 200 millis
Second, the specific energy loss isIt is 1%.
Due to satellite navigation receiver embodiment and the raising satellite navigation signals receiving sensitivity above-mentioned in the present invention
Method belong to same design, related content can refer to aforementioned, and which is not described herein again.
It can be seen that the present invention improve satellite navigation signals receiving sensitivity method include step have indoor and outdoor intercommunication,
Frequency difference calculates and coherent integration, will be located at room by short-range communication mainly between two adjacent satellite navigation receivers
The receives frequency of outer navigation neceiver carries out frequency difference calculating with the receives frequency positioned at indoor navigation neceiver, and to frequency difference
Precision is estimated, to correct the frequency deviation of indoor navigation receiver and be segmented the time of coherent integration, and then can obviously be carried
The receiving sensitivity of high indoor reception machine.This method can effectively solve the problem that in indoor satellite positioning procedures because signal decaying is made greatly
At the not high problem of receiving sensitivity, be the effective ways of indoor satellite positioning enhancing.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure transformation made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant technical fields,
Similarly it is included within the scope of the present invention.
Claims (10)
1. a kind of method improving satellite navigation signals receiving sensitivity, it is characterised in that：
Indoor and outdoor intercommunication, the first satellite navigation receiver are located outside and receive unobstructed satellite navigation signals and positioned,
Second satellite navigation receiver is located at indoor and receiving has the satellite navigation signals blocked to be positioned, first satellite navigation
Short-range communication interconnection has been also set up between receiver and the second satellite navigation receiver；
Frequency difference calculates, and it is first logical to resolve locally received unobstructed satellite navigation signals for first satellite navigation receiver
Believe that receives frequency, second satellite navigation receiver resolve locally received the second communication for there are the satellite navigation signals blocked
Receives frequency, and the first communications reception frequency is obtained by short-range communication interconnection, it further calculates to obtain described
Communication frequency difference value of the second communications reception frequency relative to the first communications reception frequency, and to second communications reception frequency
The precision of rate is estimated, the second communications reception frequence estimation precision is obtained；
Coherent integration, second satellite navigation receiver correct the second communications reception frequency using the communication frequency difference value
Rate repaiies the segmentation coherent integration time of spreading code correlation intergal using the second communications reception frequence estimation precision
Just, it then adds up to obtained multiple segmentation coherent integration results, there is the satellite navigation blocked to believe to described to realize
Number carry out spreading code capture identification and acquisition and tracking.
2. the method according to claim 1 for improving satellite navigation signals receiving sensitivity, which is characterized in that described first
Satellite navigation receiver includes the first satellite navigation signals receiving module and the first proximity communication module, and described first
Satellite navigation signals receiving module and the first proximity communication module share first frequency source；Second satellite navigation receiver
Include the second satellite navigation signals receiving module and the second proximity communication module, and second satellite navigation signals connect
It receives module and shares second frequency source, first proximity communication module and second low coverage with the second proximity communication module
It is interconnected from the short-range communication is established between communication module；
The first satellite navigation signals receiving module reads phase value from the first frequency source by epoch
It is divided into Δ T between epoch, the first communications reception frequency f is calculatedcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication carries out the time
It is synchronous, obtain the identical epoch and the epoch interval delta T, the second satellite navigation signals receiving module is from second frequency
Phase value φ is read in rate source0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is relative to the communication frequency difference DELTA f of the first communications reception frequency：
3. the method according to claim 2 for improving satellite navigation signals receiving sensitivity, which is characterized in that described second
Also the second communications reception frequency accuracy is estimated in satellite navigation receiver, evaluation method includes：
First, the carrier observations precision σ of first satellite navigation receiver is estimatedDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation,
Further, the local frequency deviation accuracy of observation for obtaining first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, the geometric dilution of precision of TDOP expression satellite navigation reporting resolvings；
Then, the first communications reception frequency of the first proximity communication module of estimation is led to the second of the second proximity communication module
Believe that the frequency difference precision of receives frequency is：
σFHAS12It indicates phase difference accuracy of observation, is expressed as：
D indicates variance operation；
Thus it further obtains, the second communications reception frequence estimation precision of second satellite navigation receiverFor：
α indicates the ratio of the second communications reception frequency and satellite navigation signals nominal frequency.
4. the method according to claim 3 for improving satellite navigation signals receiving sensitivity, which is characterized in that described second
In satellite navigation receiver also specific energy loss is obtained using the second communications reception frequence estimation accuracy computationIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
5. the method according to claim 4 for improving satellite navigation signals receiving sensitivity, which is characterized in that described second
Communications reception frequence estimation precisionFor 0.41Hz, the coherence time TcIt it is 200 milliseconds, the specific energy loss is
It is 1%.
6. a kind of satellite navigation receiver, including satellite navigation signals receiving module, it is characterised in that：It further include short-range communication
Module, the proximity communication module includes communicating frequency difference computational submodule and communication frequency precision estimation submodule, described to defend
Star navigation signal receiving module further includes segmentation coherent integration submodule, frequency deviation amendment submodule and the cumulative submodule of coherent integration
Block；
It is positioned when the satellite navigation receiver is located outside and receives unobstructed satellite navigation signals, referred to as first defends
Star navigation neceiver has the satellite navigation signals blocked to be determined when another satellite navigation receiver is located at indoor and reception
Position, referred to as the second satellite navigation receiver；
First satellite navigation receiver is resolved locally received unobstructed by its first satellite navigation signals receiving module
Satellite navigation signals the first communications reception frequency, and be transferred to the first proximity communication module, second satellite navigation
Machine resolves locally received the second communication for having the satellite navigation signals blocked by its second satellite navigation signals receiving module
Receives frequency, and it is transferred to the second proximity communication module, second satellite navigation receiver is logical by its second short distance
Letter module communicates interconnection acquisition first communication with the first proximity communication module of first satellite navigation receiver and connects
Frequency is received, and the second communications reception frequency further is calculated relative to described the by communicating frequency difference computational submodule
The communication frequency difference value of one communications reception frequency, and also by communication frequency precision estimation submodule to second communications reception
The precision of frequency is estimated to obtain the second communications reception frequence estimation precision；
The frequency deviation of second satellite navigation receiver corrects submodule and corrects described second according to the communication frequency difference value
Communications reception frequency, the segmentation coherent integration submodule is according to the second communications reception frequence estimation adjustment in accuracy spreading code
The segmentation coherent integration time of coherently despreading, the coherent integration add up submodule to through the relevant product of the revised segmentation of overdeviation
Result is divided to carry out accumulation calculating, to realize to the capture for there are the satellite navigation signals blocked the to carry out spreading code identification and catch
Obtain tracking.
7. satellite navigation receiver according to claim 6, which is characterized in that the institute of first satellite navigation receiver
It states the first satellite navigation signals receiving module and the first proximity communication module shares first frequency source；Second satellite navigation
The second satellite navigation signals receiving module and the second proximity communication module in receiver share second frequency source；
The first satellite navigation signals receiving module reads phase value from the first frequency source by epoch
It is divided into Δ T between epoch, the first communications reception frequency f is calculatedcomm,dFor：
Second proximity communication module and the first proximity communication module are interconnected by the short-range communication carries out the time
It is synchronous, obtain the identical epoch and the epoch interval delta T, the second satellite navigation signals receiving module is from second frequency
Phase value φ is read in rate source0,φ1,φ2,…,φN, the second communications reception frequency f is calculatedcomm,aFor：
The second communications reception frequency is calculated relative to first communications reception in second proximity communication module
The communication frequency difference value of frequency is：
8. satellite navigation receiver according to claim 7, which is characterized in that the communication frequency precision estimation submodule
To the carrier observations precision σ of first satellite navigation receiverDOPP1For：
σPHAS1Indicate carrier phase accuracy of observation；
Local frequency deviation accuracy of observation to first satellite navigation receiver is：
σCARR1=TDOP σDOPP1, the geometric dilution of precision of TDOP expression satellite navigation reporting resolvings；
To the communications reception frequency of the communications reception frequency and the second proximity communication module of first proximity communication module
Frequency difference precision be：
σFHAS12It indicates carrier phase difference accuracy of observation, is expressed as：
To the second communications reception frequence estimation precision of second satellite navigation receiverFor：
α indicates the ratio of the second communications reception frequency and satellite navigation signals nominal reference frequency
Value.
9. satellite navigation receiver according to claim 8, which is characterized in that in second satellite navigation receiver
Second proximity communication module further includes specific energy loss computing module, according to the second communications reception frequence estimation essence
Specific energy loss is calculated in degreeIt is：
TcIndicate coherence time,Indicate the second communications reception frequence estimation precision.
10. satellite navigation receiver according to claim 9, which is characterized in that the second communications reception frequence estimation
PrecisionFor 0.41Hz, the coherence time TcIt it is 200 milliseconds, the specific energy loss isIt is 1%.
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| CN114967418A (en) * | 2022-05-13 | 2022-08-30 | 南京尤尼泰信息科技有限公司 | Frequency signal measuring method and device based on satellite navigation signal |
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