CN108345013B - Method for improving satellite navigation signal receiving sensitivity - Google Patents
Method for improving satellite navigation signal receiving sensitivity Download PDFInfo
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- CN108345013B CN108345013B CN201810338382.7A CN201810338382A CN108345013B CN 108345013 B CN108345013 B CN 108345013B CN 201810338382 A CN201810338382 A CN 201810338382A CN 108345013 B CN108345013 B CN 108345013B
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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
Abstract
The invention discloses a method for improving satellite navigation signal receiving sensitivity. The method comprises the following steps: the indoor and outdoor intercommunication, frequency difference calculation and coherent integration are mainly characterized in that the frequency difference calculation is carried out on the receiving frequency of the outdoor navigation receiver and the receiving frequency of the indoor navigation receiver through near field communication between two adjacent satellite navigation receivers, and the frequency accuracy is estimated, so that the frequency deviation of the indoor navigation receiver and the time of the segmented coherent integration are corrected, and the receiving sensitivity of the indoor receiver can be obviously improved. The method can effectively solve the problem of low receiving sensitivity caused by large signal attenuation in the indoor satellite positioning process, and is an effective method for enhancing indoor satellite positioning. In addition, the invention also discloses a satellite navigation receiver.
Description
Technical Field
The invention relates to the field of satellite navigation, in particular to a method for improving satellite navigation signal receiving sensitivity and a satellite navigation receiver.
Background
Sensitivity is a core index of a satellite navigation receiver and has an important influence on the availability of satellite navigation services. In practical application, the satellite navigation signal is usually received outdoors, but in the indoor environment, particularly in basements, subway stations, mountain tunnels and the like, the satellite navigation signal is shielded, so that the attenuation of the satellite navigation signal in a shallow room is large, for example, the attenuation of the satellite navigation signal in the shallow room is 5-10 dB, and the attenuation of the satellite navigation signal in a deep room is 20-30 dB. Therefore, improving the sensitivity performance of the satellite navigation receiver is of great importance for realizing the positioning service in the above-mentioned area.
Disclosure of Invention
The invention mainly solves the technical problem of providing a method for improving the receiving sensitivity of satellite navigation signals and a satellite navigation receiver, and solves the problem of insufficient receiving sensitivity of indoor received satellite navigation signals in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is to provide a method for improving satellite navigation signal receiving sensitivity, which comprises the following steps: the indoor and outdoor intercommunication is realized, a first satellite navigation receiver is positioned outdoors and receives non-shielding satellite navigation signals for positioning, a second satellite navigation receiver is positioned indoors and receives shielding satellite navigation signals for positioning, and close-range communication interconnection is also established between the first satellite navigation receiver and the second satellite navigation receiver; the frequency difference calculation is carried out, the first satellite navigation receiver calculates a first communication receiving frequency of the non-shielding satellite navigation signals received by the first satellite navigation receiver, the second satellite navigation receiver calculates a second communication receiving frequency of the shielding satellite navigation signals received by the first satellite navigation receiver, the first communication receiving frequency is obtained through the short-range communication interconnection, the communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency is further calculated, the precision of the second communication receiving frequency is estimated, and the second communication receiving frequency estimation precision is obtained; and the second satellite navigation receiver corrects the second communication receiving frequency by using the communication frequency difference value, corrects the segmented coherent integration time of the spread spectrum code correlation integration by using the second communication receiving frequency estimation precision, and then accumulates a plurality of segmented coherent integration results, thereby realizing the acquisition, identification and acquisition tracking of the spread spectrum code of the satellite navigation signal with shielding.
In another embodiment of the method for improving satellite navigation signal receiving sensitivity of the present invention, the first satellite navigation receiver includes a first satellite navigation signal receiving module and a first near field communication module, and the first satellite navigation signal receiving module and the first near field communication module share a first frequency source; the second satellite navigation receiver comprises a second satellite navigation signalThe system comprises a number receiving module and a second near field communication module, wherein the second satellite navigation signal receiving module and the second near field communication module share a second frequency source, and the first near field communication module and the second near field communication module are connected through the near field communication network; the first satellite navigation signal receiving module reads out phase values from the first frequency source according to epochThe epoch interval is delta T, and the first communication receiving frequency f is calculated comm,d The method comprises the following steps:
the second near field communication module and the first near field communication module are in time synchronization through the near field communication interconnection to obtain the same epoch and epoch interval delta T, and the second satellite navigation signal receiving module reads out a phase value phi from the second frequency source 0 ,φ 1 ,φ 2 ,…,φ N Calculating to obtain a second communication receiving frequency f comm,a The method comprises the following steps:
the communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency is:
in another embodiment of the method for improving satellite navigation signal receiving sensitivity of the present invention, the second satellite navigation receiver further estimates the accuracy of the second communication receiving frequency, and the estimation method includes:
first, estimating the carrier observation accuracy sigma of the first satellite navigation receiver DOPP1 The method comprises the following steps:
σ PHAS1 representing the accuracy of the carrier phase observations,
further, the local frequency offset observation precision of the first satellite navigation receiver is obtained as follows:
σ CARR1 ＝TDOP·σ DOPP1 TDOP represents a geometric precision factor for satellite navigation time offset value resolution;
then, the frequency difference precision of the first communication receiving frequency of the first near field communication module and the second communication receiving frequency of the second near field communication module is estimated as follows:
σ FHAS12 the phase difference observation accuracy is expressed as:
d represents variance operation;
further therefrom, a second communication reception frequency estimation accuracy of the second satellite navigation receiverThe method comprises the following steps:
alpha represents the ratio of the second communication reception frequency to the nominal frequency of the satellite navigation signal.
In another embodiment of the method for improving satellite navigation signal receiving sensitivity of the present invention, the second satellite navigation receiver further calculates an energy loss rate by using the second communication receiving frequency estimation accuracyThe method comprises the following steps:
T c represents coherence time, +.>Representing the accuracy of the second communication reception frequency estimation.
In another embodiment of the method for improving satellite navigation signal receiving sensitivity of the present invention, the second communication receiving frequency estimation accuracyAt 0.41Hz, the coherence time T c 200 ms, said energy loss rate is +.>1%.
The beneficial effects of the invention are as follows: the method comprises the steps of indoor and outdoor intercommunication, frequency difference calculation and coherent integration, wherein the frequency difference calculation is carried out on the receiving frequency of an outdoor navigation receiver and the receiving frequency of an indoor navigation receiver through near field communication between two adjacent satellite navigation receivers, and the receiving frequency precision is estimated, so that the frequency deviation of the indoor navigation receiver and the time of segmented coherent integration are corrected, and the receiving sensitivity of the indoor receiver can be obviously improved. The method can effectively solve the problem of low receiving sensitivity caused by large signal attenuation in the indoor satellite positioning process, and is an effective method for enhancing indoor satellite positioning. In addition, the invention also discloses a satellite navigation receiver.
Drawings
FIG. 1 is a schematic diagram illustrating an embodiment of a method for improving satellite navigation signal reception sensitivity according to the present invention;
FIG. 2 is a flow chart of another embodiment of a method for improving satellite navigation signal reception sensitivity in accordance with the present invention;
fig. 3 is a block diagram of an embodiment of a satellite navigation signal receiver according to the present invention.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic diagram illustrating an embodiment of a method for improving satellite navigation signal receiving sensitivity according to the present invention. In fig. 1, satellite navigation signals emitted by the navigation satellites 11 are received by satellite navigation receivers on the ground, wherein a first satellite navigation receiver 12 is located outdoors and receives an unoccluded satellite navigation signal T01 for positioning, a second satellite navigation receiver 13 is located indoors and receives an occluded satellite navigation signal T02 for positioning, and a near field communication interconnection is also established between the first satellite navigation receiver 12 and the second satellite navigation receiver 13, as shown in fig. 1, through direct interconnection of near field radio signals T03, for example through bluetooth, UWB, zigbee, wifi, etc. The first satellite navigation receiver 12 and the second satellite navigation receiver 13 are interconnected through short-range communication, and can exchange and receive parameter information of satellite navigation signals, so that the sensitivity of the second satellite navigation receiver 13 for receiving the shielded satellite navigation signals T02 indoors is enhanced, and the second satellite navigation receiver can obtain accurate positioning results even indoors. It should be noted that, the first satellite navigation receiver 12 and the second satellite navigation receiver 13 have the same internal structure, and the numbers "first" and "second" are merely for convenience of description, and do not limit the present invention.
Due to the development of the near-field wireless communication technology and the communication navigation fusion technology, the satellite navigation receiver in the embodiment shown in fig. 1 is simultaneously provided with a GNSS receiving chip and a near-field wireless communication chip, which provides a physical basis for exchanging various data information and measurement information between the satellite navigation receivers. Since the second satellite navigation receiver 13 is located indoors, the level of the arrival signal is low, and it is difficult to locate normally, while the first satellite navigation receiver 12 located outdoors can complete locating normally due to the good quality of the arrival signal, and obtain navigation messages, self-accurate position and time frequency information, etc. Auxiliary information and observation data can be transmitted to the second satellite navigation receiver 13 through the short-range communication means between the two, so that the detection sensitivity is improved and indoor positioning is realized.
Here, the error environment where the first satellite navigation receiver locates to the second satellite navigation receiver is very similar, and is closer to each other, and the auxiliary information precision is higher. In addition, the short-range communication capacity is large, and more abundant auxiliary information can be provided. Based on the above advantages, the embodiment assistance of fig. 1 can provide a higher receiving sensitivity than the prior art approach of transmitting navigation messages, approximate location time frequency, through information between a mobile base station and a satellite navigation receiver.
Fig. 2 is a flowchart of another embodiment of a method for improving satellite navigation signal receiving sensitivity according to the present invention based on fig. 1. The steps included in fig. 2 are:
step S101: the indoor and outdoor intercommunication is realized, a first satellite navigation receiver is positioned outdoors and receives non-shielding satellite navigation signals for positioning, a second satellite navigation receiver is positioned indoors and receives shielding satellite navigation signals for positioning, and close-range communication interconnection is also established between the first satellite navigation receiver and the second satellite navigation receiver.
Step S102: and calculating the frequency difference, wherein the first satellite navigation receiver calculates a first communication receiving frequency of the non-blocking satellite navigation signal received by the local machine, the second satellite navigation receiver calculates a second communication receiving frequency of the blocking satellite navigation signal received by the local machine, the first communication receiving frequency is obtained through the near field communication interconnection, the communication frequency difference of the second communication receiving frequency relative to the first communication receiving frequency is further calculated, and the accuracy of the second communication receiving frequency is estimated to obtain the estimation accuracy of the second communication receiving frequency.
Step S103: and the second satellite navigation receiver corrects the second communication receiving frequency by using the communication frequency difference value, corrects the segmented coherent integration time of the spread spectrum code correlation integration by using the second communication receiving frequency estimation precision, and then accumulates a plurality of segmented coherent integration results, thereby realizing the acquisition, identification and acquisition tracking of the spread spectrum code of the satellite navigation signal with shielding.
Further preferably, the first satellite navigation receiver includes a first satellite navigation signal receiving module and a first near field communication module, and the first satellite navigation signal receiving module and the first near field communication module share a first frequency source; the second satellite navigation receiver comprises a second satellite navigation signal receiving module and a second near field communication module, the second satellite navigation signal receiving module and the second near field communication module share a second frequency source, and the first near field communication module and the second near field communication module are connected through the near field communication link.
The first satellite navigation signal receiving module and the first near field communication module share the first frequency source, so that the first satellite navigation receiver can share the first frequency source, a unified system error can be formed in the first satellite navigation receiver, and a difference value between the first communication receiving frequency corresponding to the first satellite navigation receiver and the nominal frequency of the satellite navigation signal can be obtained through a mapping relationship (such as a frequency multiplication relationship). The second satellite navigation receiver has the same characteristics.
Preferably, the method for calculating the first communication reception frequency in step S102 is as follows: said firstA satellite navigation signal receiving module reads out phase values from the first frequency source according to epochThe epoch interval is delta T, and the first communication receiving frequency f is calculated comm,d The method comprises the following steps:
the second near field communication module and the first near field communication module are in time synchronization through the near field communication interconnection to obtain the same epoch and epoch interval delta T, and the second satellite navigation signal receiving module reads out a phase value phi from the second frequency source 0 ,φ 1 ,φ 2 ,…,φ N Calculating to obtain a second communication receiving frequency f comm,a The method comprises the following steps:
the communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency is:
here, for the first satellite navigation receiver, the first communication reception frequency is identical to the nominal frequency of the satellite navigation signal and changes synchronously after successful reception of the unobstructed satellite navigation signal. Since the satellite navigation system has a very accurate and stable frequency reference, the satellite navigation system frequency can be regarded as the nominal frequency. The first satellite navigation receiver can obtain the frequency generated when the first satellite navigation receiver is in crystal oscillation, namely the difference between the first communication receiving frequency and the nominal frequency, by receiving the satellite navigation signal. And because the first satellite navigation signal receiving module and the first near field communication module share the same frequency source, namely the first frequency source, the difference value between the first communication receiving frequency and the nominal frequency of the first satellite navigation receiver can be obtained through the calculation relation, and meanwhile, the difference value between the second communication receiving frequency and the nominal frequency of the second satellite navigation receiver, namely the frequency of the satellite navigation system can be obtained. And obtaining this frequency offset is of great importance for improving the spreading code acquisition sensitivity of the second satellite navigation receiver. Through the analysis, the second communication receiving frequency deviation value of the second satellite navigation receiver can be corrected in real time through the bridge effect of the first communication receiving frequency of the first satellite navigation receiver, so that the frequency of the second satellite navigation receiver is ensured to be stabilized in a proper range, and the frequency deviation can be tracked and adjusted in real time even under the condition that the received satellite navigation signal is weaker.
Further preferably, the second satellite navigation receiver further estimates the accuracy of the second communication receiving frequency, and the estimation method includes:
first, estimating the carrier observation accuracy sigma of the first satellite navigation receiver DOPP1 The method comprises the following steps:
σ PHAS1 representing the accuracy of the carrier phase observations,
further, the local frequency offset observation precision of the first satellite navigation receiver is obtained as follows:
σ CARR1 ＝TDOP·σ DOPP1 TDOP represents a geometric precision factor for satellite navigation time deviation value calculation, and reflects the ratio relation between the time deviation value and the observation precision; these two observations can be estimated by a first satellite navigation receiver and then transmitted to a second satellite navigation receiver via near field communication. The accuracy of the observation reflects the accuracy of the first communication reception frequency corresponding to the first satellite navigation receiver, the accuracy value being determined by the first frequency source.
Preferably, the tracking precision of the phase-locked tracking loop PLL of the first satellite navigation signal receiving module of the first satellite navigation receiver may reach 0.02 weeks, and when the observation interval is 200 ms, the local frequency offset observation precision of the first satellite navigation receiver may reach 0.14Hz. The TDOP value is usually between 1 and 2, the estimated absolute precision of the clock frequency can reach 0.21Hz by taking the median value of 1.5, and the relative frequency precision can reach 1.3e-10.
Then, the communication frequency difference precision of the first communication receiving frequency of the first near field communication module and the second communication receiving frequency of the second near field communication module is estimated as follows:
σ FHAS12 the phase difference observation accuracy is expressed as:
d represents variance operation;
the communication frequency difference accuracy reflects a frequency difference accuracy between a first frequency source of the first satellite navigation receiver and a second frequency source of the second satellite navigation receiver.
In order to realize high-speed reliable communication, the close-range communication module also realizes high-precision tracking of carrier phase, the tracking precision is usually better than 0.05 week, the observation interval is 200 milliseconds, and when bidirectional measurement is performed between the first close-range communication module and the second close-range communication module to perform frequency difference calculation, the communication frequency difference precision which can be achieved is 0.35Hz.
Further therefrom, the estimation accuracy sigma of the second communication reception frequency of the second satellite navigation receiver f2 The method comprises the following steps:
alpha represents the ratio of the second communication reception frequency to the nominal reference frequency of the satellite navigation signal. The estimation accuracy->The combination of the two precision values actually reflects the second communication receptionAccuracy of frequency relative to nominal frequency of satellite navigation signals.
The two estimation accuracies are combined, so that the frequency accuracy of the second satellite navigation receiver can reach 0.41Hz, namely, the second communication receiving frequency of the second satellite navigation receiver can obtain frequency assistance with the stability of 0.41Hz through every 200 milliseconds.
Therefore, based on the near field communication mode, when the first satellite navigation receiver obtains high frequency offset estimation precision, the frequency offset estimation precision between the first satellite navigation receiver and the second satellite navigation receiver can also obtain high precision, so that the precision of the receiving frequency of the second satellite navigation receiver can be assisted and obviously improved.
Further, the second satellite navigation receiver calculates an energy loss rate by using the second communication receiving frequency estimation accuracyThe method comprises the following steps:
T c represents coherence time, +.>Representing the accuracy of the second communication reception frequency estimation.
Preferably, the second communication receiving frequency estimation accuracyAt 0.41Hz, the coherence time T c 200 ms, said energy loss rate is +.>1%.
It can be seen that the second satellite navigation receiver determines the time length of coherent integration according to the estimation accuracy of the second communication receiving frequency, and performs segmented coherent integration of the spreading code on the received satellite navigation signal with shielding in the time length of the coherent integration (this is because the spreading code needs to be segmented when the code sequence length of the spreading code is long, otherwise, the relevant despreading of one code sequence period length cannot be completed in the coherent integration time), and the second satellite navigation receiver also performs frequency offset correction, that is, corrects the frequency offset of the second communication receiving frequency according to the communication frequency difference value, and then adds up the results of the segmented coherent integration after the segmented coherent integration is corrected by the frequency offset, so as to implement capturing identification and capturing tracking of the spreading code on the satellite navigation signal with shielding.
In the prior art, in the weak signal detection process, the local spreading code signal and the received input signal are coherently integrated, and because the local clock (corresponding to the first frequency source and the second frequency source) usually adopts TCXO, the short-term stability is only 1e-9, and there is a large frequency drift, long-time coherent integration cannot be performed, and the coherent integration time is usually set to 20 milliseconds. In an embodiment of the present invention, the local frequency drift is compensated for the segment-by-segment coherent integration result, so that the coherent integration process of each segment can be maintained at a stable frequency, thereby effectively expanding the coherent integration time. When the coherent integration time is extended to 2 seconds, the detection sensitivity can be improved by 20dB compared with that of the original 20 millisecond coherent integration. From the spreading code capturing theory, it can be known that when the false alarm rate is 0.001 and the success rate is 0.95, the requirement on the detection signal to noise ratio is 11.7dB, so that after 2 seconds of coherent integration is adopted, the capturing sensitivity of the second satellite navigation receiver can reach 8.7 dB-Hz; after the coherent integration time is extended to 20 seconds, the detection sensitivity can be even lower than 0 dB-Hz.
Based on the same conception, the invention also provides an embodiment of the satellite navigation receiver. As shown in fig. 3, the satellite navigation receiver 2 includes a satellite navigation signal receiving module 21, and further includes a near field communication module 22, through which the first satellite navigation receiver of the same type can be interconnected for near field communication. To facilitate distinguishing between two identical types of the satellite navigation receivers, the satellite navigation receiver is defined herein as a second satellite navigation receiver, where the satellite navigation signal receiving module 21 further includes a piecewise coherent integration sub-module 211, a frequency offset correction sub-module 212, and a coherent integration accumulation sub-module 213;
the second satellite navigation receiver is positioned indoors and receives the satellite navigation signals with shielding for positioning, and the first satellite navigation receiver is positioned outdoors and receives the satellite navigation signals without shielding for positioning;
the first satellite navigation receiver calculates a first communication receiving frequency of an unobstructed satellite navigation signal received by the first satellite navigation receiver through a first satellite navigation signal receiving module of the first satellite navigation receiver and transmits the first communication receiving frequency to a first near field communication module, the second satellite navigation receiver calculates a second communication receiving frequency of the obstructed satellite navigation signal received by the first satellite navigation receiver through a second satellite navigation signal receiving module of the second satellite navigation receiver and transmits the second communication receiving frequency to a second near field communication module, the second satellite navigation receiver is in communication interconnection with the first near field communication module of the first satellite navigation receiver through the second near field communication module of the second satellite navigation receiver to obtain the first communication receiving frequency, and further a communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency is calculated through a communication frequency difference calculation sub-module 221, and the accuracy of the second communication receiving frequency is estimated through a second communication receiving frequency estimation accuracy estimation sub-module 222 to obtain frequency estimation accuracy;
the frequency offset correction sub-module 212 of the second satellite navigation receiver corrects the second communication receiving frequency according to the communication frequency difference value, the segmented coherent integration sub-module 211 corrects the segmented coherent integration time of the spreading code correlation despreading according to the frequency estimation precision, and the coherent integration accumulation sub-module 213 performs accumulation calculation on the segmented coherent integration result after the frequency offset correction, thereby realizing capturing identification and capturing tracking of the spreading code for the occluded satellite navigation signal.
In fig. 3, the frequency offset correction sub-module 212 completes the calculation of the second communication receiving frequency and transmits the second communication receiving frequency to the communication frequency difference calculation sub-module 221, and after the communication frequency difference calculation sub-module 221 obtains the first communication receiving frequency through close range communication, the difference between the first communication receiving frequency and the second communication receiving frequency, that is, the communication frequency difference is transmitted to the frequency offset correction sub-module 212, so that the second communication receiving frequency is corrected, and meanwhile, the first communication receiving frequency and the communication frequency difference are transmitted to the communication frequency precision estimation sub-module 222 to perform frequency precision estimation.
Further preferably, the first satellite navigation signal receiving module of the first satellite navigation receiver shares a first frequency source with a first near field communication module; the second satellite navigation signal receiving module in the second satellite navigation receiver shares a second frequency source with a second near field communication module;
the first satellite navigation signal receiving module reads out phase values from the first frequency source according to epochThe epoch interval is delta T, and the first communication receiving frequency f is calculated comm,d The method comprises the following steps:
the second near field communication module and the first near field communication module are in time synchronization through the near field communication interconnection to obtain the same epoch and epoch interval delta T, and the second satellite navigation signal receiving module reads out a phase value phi from the second frequency source 0 ,φ 1 ,φ 2 ,…,φ N Calculating to obtain a second communication receiving frequency f comm,a The method comprises the following steps:
the second close range communication module calculates a communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency as follows:
preferably, the second near field communication module in the second satellite navigation receiver further includes a communication frequency accuracy estimation submodule for estimating accuracy of the second communication reception frequency, and the communication frequency accuracy estimation submodule observes accuracy σ of the carrier wave of the first satellite navigation receiver DOPP1 The method comprises the following steps:
σ PHAS1 representing carrier phase observation accuracy;
the local frequency offset observation precision of the first satellite navigation receiver is as follows:
σ CARR1 ＝TDOP·σ DOPP1 TDOP represents a geometric precision factor for satellite navigation time offset value resolution.
The two observation accuracies may be estimated by a communication frequency accuracy estimation submodule in the first satellite navigation receiver and then transmitted to a communication frequency accuracy estimation submodule in the second satellite navigation receiver by near field communication.
The frequency difference precision of the first communication receiving frequency of the first near field communication module and the second communication receiving frequency of the second near field communication module is as follows:
σ FHAS12 the carrier phase difference observation accuracy is expressed as:
accuracy sigma of second communication reception frequency estimation for said second satellite navigation receiver f2 The method comprises the following steps:
alpha represents the ratio of the second communication reception frequency to the nominal reference frequency of the satellite navigation signal.
Further, the near field communication module in the satellite navigation receiver further includes an energy loss rate calculation submodule 223 for calculating an energy loss rate by using the second communication receiving frequency estimation accuracyThe method comprises the following steps:
T c represents coherence time, +.>Representing the accuracy of the second communication reception frequency estimation.
Preferably, the second communication receiving frequency estimation accuracyAt 0.41Hz, the coherence time T c 200 ms, said energy loss rate is +.>1%.
Since the embodiment of the satellite navigation receiver in the present invention and the method for improving the receiving sensitivity of the satellite navigation signal belong to the same concept, the related content can refer to the foregoing, and the description is omitted herein.
Therefore, the method for improving the satellite navigation signal receiving sensitivity comprises the steps of indoor and outdoor intercommunication, frequency offset calculation and coherent integration, wherein the frequency offset calculation is carried out on the receiving frequency of the outdoor navigation receiver and the receiving frequency of the indoor navigation receiver through near-field communication between two adjacent satellite navigation receivers, and the frequency offset precision is estimated, so that the frequency offset of the indoor navigation receiver and the time of the segmented coherent integration are corrected, and the receiving sensitivity of the indoor receiver can be obviously improved. The method can effectively solve the problem of low receiving sensitivity caused by large signal attenuation in the indoor satellite positioning process, and is an effective method for enhancing indoor satellite positioning.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (3)
1. A method for improving satellite navigation signal receiving sensitivity is characterized in that:
the indoor and outdoor intercommunication is realized, a first satellite navigation receiver is positioned outdoors and receives non-shielding satellite navigation signals for positioning, a second satellite navigation receiver is positioned indoors and receives shielding satellite navigation signals for positioning, and close-range communication interconnection is also established between the first satellite navigation receiver and the second satellite navigation receiver;
the frequency difference calculation is carried out, the first satellite navigation receiver calculates a first communication receiving frequency of the non-shielding satellite navigation signals received by the first satellite navigation receiver, the second satellite navigation receiver calculates a second communication receiving frequency of the shielding satellite navigation signals received by the first satellite navigation receiver, the first communication receiving frequency is obtained through the short-range communication interconnection, the communication frequency difference value of the second communication receiving frequency relative to the first communication receiving frequency is obtained through calculation, and the accuracy of the second communication receiving frequency is estimated to obtain the second communication receiving frequency estimation accuracy;
the first satellite navigation receiver comprises a first satellite navigation signal receiving module and a first near field communication module, and the first satellite navigation signal receiving module and the first near field communication module share a first frequency source; the second satellite navigation receiver comprises a second satellite navigation signal receiving module and a second near field communication module, the second satellite navigation signal receiving module and the second near field communication module share a second frequency source, and the first near field communication module and the second near field communication module are connected through the near field communication link;
the first satellite navigation signal receiving module reads out phase values from the first frequency source according to epochThe epoch interval is delta T, and the first communication receiving frequency f is calculated comm,d The method comprises the following steps:
the second near field communication module and the first near field communication module are in time synchronization through the near field communication interconnection to obtain the same epoch and epoch interval delta T, and the second satellite navigation signal receiving module reads out a phase value phi from the second frequency source 0 ,φ 1 ,φ 2 ,…,φ N Calculating to obtain a second communication receiving frequency f comm,a The method comprises the following steps:
the communication frequency difference value Δf of the second communication receiving frequency relative to the first communication receiving frequency is:
the estimation method for estimating the accuracy of the second communication receiving frequency in the second satellite navigation receiver comprises the following steps:
first, estimating the carrier observation accuracy sigma of the first satellite navigation receiver DOPP1 The method comprises the following steps:
σ PHAS1 representing the accuracy of the carrier phase observations,
the local frequency offset observation precision of the first satellite navigation receiver is obtained as follows:
σ CARR1 ＝TDOP·σ DOPP1 TDOP represents a geometric precision factor for satellite navigation time offset value resolution;
then, the frequency difference precision of the first communication receiving frequency of the first near field communication module and the second communication receiving frequency of the second near field communication module is estimated as follows:
σ FHAS12 the phase difference observation accuracy is expressed as:
d represents variance operation;
thus, the second communication receiving frequency estimation precision of the second satellite navigation receiver is obtainedThe method comprises the following steps:
alpha represents the ratio of the second communication receiving frequency to the nominal frequency of the satellite navigation signal;
and the second satellite navigation receiver corrects the second communication receiving frequency by using the communication frequency difference value, corrects the segmented coherent integration time of the spread spectrum code correlation integration by using the second communication receiving frequency estimation precision, and then accumulates a plurality of segmented coherent integration results, thereby realizing the acquisition, identification and acquisition tracking of the spread spectrum code of the satellite navigation signal with shielding.
2. According to claimThe method for improving satellite navigation signal receiving sensitivity according to claim 1, wherein the second satellite navigation receiver further calculates an energy loss rate using the second communication receiving frequency estimation accuracyThe method comprises the following steps:
T c represents coherence time, +.>Representing the accuracy of the second communication reception frequency estimation.
3. The method for improving satellite navigation signal receiving sensitivity according to claim 2, wherein the second communication receiving frequency estimation accuracyAt 0.41Hz, the coherence time T c 200 milliseconds, the energy loss rate is1%.
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