CN108508460A - A kind of GNSS signal carrier wave tracing method and device - Google Patents

A kind of GNSS signal carrier wave tracing method and device Download PDF

Info

Publication number
CN108508460A
CN108508460A CN201710109579.9A CN201710109579A CN108508460A CN 108508460 A CN108508460 A CN 108508460A CN 201710109579 A CN201710109579 A CN 201710109579A CN 108508460 A CN108508460 A CN 108508460A
Authority
CN
China
Prior art keywords
coherent accumulation
results
frequency
phase
accumulation results
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710109579.9A
Other languages
Chinese (zh)
Other versions
CN108508460B (en
Inventor
吴骏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sanechips Technology Co Ltd
Shenzhen ZTE Microelectronics Technology Co Ltd
Original Assignee
Shenzhen ZTE Microelectronics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen ZTE Microelectronics Technology Co Ltd filed Critical Shenzhen ZTE Microelectronics Technology Co Ltd
Priority to CN201710109579.9A priority Critical patent/CN108508460B/en
Priority to PCT/CN2017/103043 priority patent/WO2018153083A1/en
Publication of CN108508460A publication Critical patent/CN108508460A/en
Application granted granted Critical
Publication of CN108508460B publication Critical patent/CN108508460B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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
    • G01S19/34—Power consumption

Abstract

The invention discloses a kind of GNSS signal carrier wave tracing methods, including：The operation of first coherent accumulation is carried out to despreading complex signal and obtains the first coherent accumulation results, and carries out the operation of the second coherent accumulation and obtains the second coherent accumulation results；First coherent accumulation operates：Upper 1 first coherent accumulation results are rotated according to first phase interval before coherent accumulation, the second coherent accumulation operation includes：Upper 1 second coherent accumulation results are rotated according to second phase interval before coherent accumulation；When determining that the number of the number for carrying out the first coherent accumulation operation and the operation of the second coherent accumulation all reaches the first preset value, first coherent accumulation results are set as first object coherent accumulation results, and the second coherent accumulation results are set as the second target coherent accumulation results；And according to first object coherent accumulation results and the second target coherent accumulation results, adjust the frequency of reference frequency complex signal.The present invention further simultaneously discloses a kind of GNSS signal carrier track device.

Description

A kind of GNSS signal carrier wave tracing method and device
Technical field
The present invention relates to a kind of satellite-based navigation technical field more particularly to a kind of Global Satellite Navigation System (GNSS, Global Navigation Satellite System) signal carrier tracking method and device.
Background technology
Currently, in most of GNSS signal receivers, all use GNSS textbooks entitled《GPS principles and application》(the Two editions, Elliott D.Kaplan) in institute's typing GNSS signal carrier frequency and phase tracking device, the device such as Fig. 1 institutes Show, it is combined using phaselocked loop (PLL, Phase Locked Loop) with frequency locking ring (FLL, Frequency Lock Loop) Mode complete carrier track, tracking sensitivity is about -158dBm.
Essentially, a kind of sensitivity that GNSS receiver can be improved and receives signal, especially carrier track sensitivity Effective means is that the signal frequency deviation based on binary phase shift keying (BPSK, Binary Phase Shift Keying) is estimated Maximum likelihood function.And in GNSS receiver working condition, receiver can only obtain the centre frequency of satellite emission signal, expand Frequency code phase and rate, the bit rate of modulation data, therefore, the maximum of the signal frequency deviation estimation used in GNSS receiver is seemingly Right function is the maximum likelihood function for following unknown modulation data content substantially.
Currently, main offset estimation mode to be used has following three kinds：
First way is：From time domain, the result of maximum likelihood function is equivalent to frequency sweep operation on continued time domain and exists When being swept to some specific frequency point and the maximum value of energy gain occur, which is offset estimation value.There is this gain size The basic reason to change is：Within the specific time of integration, there are Singhs between carrier wave frequency deviation and integral energy gain (sinc) relationship of function decaying.Due in actual use, in order to carry out stable loop tracks, it is impossible to carry out frequency sweep behaviour Make, to examine sinc functions to decay, therefore, to introduce three groups of numerically-controlled oscillator (NCO, Numerically Controlled Oscillator) offset estimation is carried out, the sinc decaying of GNSS signal carrier wave frequency deviation and gain and left and right frequency deviation clamper track Principle it is as shown in Figure 2.Fig. 3 is the device that GNSS signal frequency-tracking is carried out using No. three frequency converters (i.e. three groups of NCO) mode Three groups of NCO frequencies by taking 20ms coherent integration times as an example, are set number and are respectively set to centre frequency by schematic diagram with reference to shown in Fig. 3 Fs, centre frequency left avertence 10Hz：fIt is left=fs-10Hz and centre frequency right avertence 10Hz：fIt is right=fs+10Hz.When NCO exports frequency When rate is perfectly aligned with the carrier frequency actually entered, the gain difference of left and right frequency deviation is 0 i.e. AF is left-AF is right=0；When NCO exports frequency When rate is more than the carrier frequency actually entered, the gain difference of left and right frequency deviation is more than 0 i.e. AF is left-AF is right＞ 0；When NCO output frequencies are small When the carrier frequency actually entered, the gain difference of left and right frequency deviation is less than 0 i.e. AF is left-AF is right＜ 0, by the gain inequality of left and right frequency deviation Value is sent into loop filter as frequency discrimination signal, you can completes frequency-tracking.
The second way is：From frequency domain, the estimation of carrier wave frequency deviation is equivalent to carries out fast Fourier change to input signal The frequency point of (FFT, Fast Fourier Transformation) afterwards represented by gain maximum is changed, but due to FFT transform meeting The fuzzy of Frequency Estimation is brought, therefore, the left and right two for taking the frequency point represented by gain maximum is also needed after FFT transform Frequency point, and calculate the gain difference of left and right frequency deviation；Fig. 4 is the device signal that GNSS signal frequency-tracking is carried out using FFT modes 20ms coherence datas are done the FFT operations of 8 points by figure with reference to shown in Fig. 4, then the frequency deviation region of each FFT result covering be ± The gain difference of left and right frequency deviation is sent into loop filter as frequency discrimination signal, you can complete frequency-tracking by 25Hz.
The third mode is：Equally consider from frequency domain, if Back end data processing can be by carrier wave phase that modulation data is brought Bit flipping compensates, then maximum coherence integration lengths can break through 20ms limitations, and long integral FFT operations simple at this time can acquire load Wave frequency is inclined.
There is certain deficiency in above-mentioned three kinds of offset estimation modes, the realization of first way needs to rely on three groups of NCO Offset estimation is carried out, at the scene programmable gate array (FPGA, Field Programmable Gate Array) or special collection In being realized at circuit (ASIC, Application Specific Integrated Circuit), digital circuit scale will be made to increase Greatly, circuit structure is complicated；The realization of the second way needs to introduce additional FFT operations, can equally circuit scale be made to increase；The Phase bit flipping caused by the realization of three kinds of modes coordinates dependent on Back end data processing routine to eliminate data modulation, makes system The degree of coupling increases, complicated.
Invention content
In order to solve the problems existing in the prior art, an embodiment of the present invention is intended to provide a kind of GNSS signal carrier wave tracing methods And device, the complexity of GNSS signal carrier track can be reduced, to reduce digital circuit scale.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
An embodiment of the present invention provides a kind of GNSS signal carrier wave tracing method, the method includes：
The operation of first coherent accumulation is carried out to the despreading complex signal of acquisition and obtains the first coherent accumulation results, and carries out second Coherent accumulation operation obtains the second coherent accumulation results；First coherent accumulation operates：To upper one before coherent accumulation First coherent accumulation results are rotated according to first phase interval, and the second coherent accumulation operation includes：In coherent accumulation It is preceding that upper 1 second coherent accumulation results are rotated according to second phase interval, between the first phase interval and second phase Every opposite number each other；GNSS signal of the despreading complex signal for down coversion and after de-spreading；
Determine that the number for carrying out the first coherent accumulation operation reaches the first preset value and carries out the second coherent accumulation operation Number when reaching first preset value, first coherent accumulation results are set as first object coherent accumulation results, And second coherent accumulation results are set as the second target coherent accumulation results；
According to the first object coherent accumulation results and the second target coherent accumulation results, to reference frequency complex signal Frequency is adjusted, and the reference frequency complex signal is used to carry out down coversion to the GNSS signal.
In said program, the despreading complex signal of described pair of acquisition carries out the operation of the first coherent accumulation and obtains the first coherent accumulation As a result include：
When obtaining the despreading time multiplexed signal, write a letter in reply according to upper 1 first coherent accumulation results B1, the despreading currently obtained Number A and first phase interval ε * Ts calculates the first current coherent accumulation results B, the first current coherent accumulation As a result meet：B=A+B1*e-j2πεTs；Wherein, when the number for carrying out the first coherent accumulation operation is 1, described upper 1 first phase Dry accumulation result is 0；
Wherein, Ts is the time interval of described upper 1 first coherent accumulation results delay, and ε is described upper 1 first relevant tired The angular phase for adding result to rotate, j is imaginary unit.
In said program, the despreading complex signal of described pair of acquisition carries out the operation of the second coherent accumulation and obtains the second coherent accumulation As a result include：
When obtaining the despreading time multiplexed signal, write a letter in reply according to upper 1 second coherent accumulation results B2, the despreading currently obtained Number A and second phase interval-ε * Ts calculates the second current coherent accumulation results C, the second current coherent accumulation As a result meet：C=A+B2*ej2πεTs；Wherein, when the number for carrying out the second coherent accumulation operation is 1, described upper 1 second phase Dry accumulation result is 0；
Wherein, Ts is the time interval of described upper 1 second coherent accumulation results delay, and-ε is described upper 1 second relevant The angular phase of accumulation result rotation, j is imaginary unit.
In said program, the method further includes：
Determine that the number for carrying out the first coherent accumulation operation is not up to first preset value and progress second is relevant tired When the number of add operation is not up to first preset value, the despreading complex signal for executing described pair of acquisition carries out the first coherent accumulation Operation obtains the first coherent accumulation results, and carries out the step of operation of the second coherent accumulation obtains the second coherent accumulation results.
It is described according to the first object coherent accumulation results and the second target coherent accumulation results in said program, it is right The frequency of reference frequency complex signal be adjusted including：
Modulus operation is carried out to the first object coherent accumulation results, obtains the first object coherent accumulation knot after modulus Fruit；And modulus operation is carried out to the second target coherent accumulation results, obtain the second target coherent accumulation results after modulus；
First object coherent accumulation results after the modulus are subtracted each other with the second target coherent accumulation results after modulus, Frequency error identification result is obtained, the frequency error identification result is used for differentiating the GNSS signal carrier wave with described with reference to frequency Frequency error between rate complex signal；
According to the frequency error identification result, frequency adjustment information is generated, to adjust the reference frequency complex signal Frequency.
In said program, described according to the frequency error identification result, generating frequency adjustment information includes：
Noncoherent accumulation is carried out to the frequency error identification result, obtains the first noncoherent accumulation result；
Judge whether the number that noncoherent accumulation is carried out to the frequency error identification result is less than the second preset value；
If so, the despreading complex signal for executing described pair of acquisition, which carries out the operation of the first coherent accumulation, obtains the first coherent accumulation knot Fruit, and carry out the step of operation of the second coherent accumulation obtains the second coherent accumulation results；If it is not, incoherent tired according to described first Add as a result, generating frequency adjustment information.
In said program, after obtaining the despreading complex signal, the method further includes：
Coherent accumulation is carried out to the despreading complex signal of acquisition, obtains third coherent accumulation results；
Judge whether the number for carrying out coherent accumulation is less than first preset value；
If so, the despreading complex signal for executing described pair of acquisition carries out coherent accumulation, the step of third coherent accumulation results is obtained Suddenly；If it is not, the third coherent accumulation results are set as third target coherent accumulation results；
According to the third target coherent accumulation results, phase error identification result is calculated, the phase error differentiates knot Fruit is used for differentiating the phase error between the GNSS signal carrier wave and the reference frequency complex signal；
According to the phase error identification result, phase adjustment information is generated, to adjust the reference frequency complex signal Phase.
In said program, described according to the phase error identification result, generating phase adjustment information includes：
Noncoherent accumulation is carried out to the phase error identification result, obtains the second noncoherent accumulation result；
Judge whether the number that noncoherent accumulation is carried out to the phase error identification result is less than third preset value；
If so, the despreading complex signal for executing described pair of acquisition carries out coherent accumulation, the step of third coherent accumulation results is obtained Suddenly；If it is not, according to second noncoherent accumulation as a result, generating phase adjustment information.
The embodiment of the present invention additionally provides a kind of GNSS signal carrier track device, and described device includes：First is relevant tired Add module, setting module and frequency regulation block；Wherein,
The first coherent accumulation module obtains for carrying out the operation of the first coherent accumulation to the despreading complex signal of acquisition One coherent accumulation results, and carry out the operation of the second coherent accumulation and obtain the second coherent accumulation results；The first coherent accumulation behaviour Work includes：Upper 1 first coherent accumulation results are rotated according to first phase interval before coherent accumulation, second phase Dry accumulation operations include：Upper 1 second coherent accumulation results are rotated according to second phase interval before coherent accumulation, institute State first phase interval and second phase interval opposite number each other；GNSS of the despreading complex signal for down coversion and after de-spreading Signal；
The setting module, for determining that the number for carrying out the first coherent accumulation operation reaches the first preset value and progress When the number of second coherent accumulation operation reaches first preset value, first coherent accumulation results are set as the first mesh Coherent accumulation results are marked, and second coherent accumulation results are set as the second target coherent accumulation results；
The frequency regulation block, for according to the first object coherent accumulation results and the second target coherent accumulation knot Fruit is adjusted the frequency of reference frequency complex signal, and the reference frequency complex signal is for carrying out down the GNSS signal Frequency conversion.
In said program, the first coherent accumulation module is specifically used for when obtaining the despreading time multiplexed signal, according to upper One first coherent accumulation results B1, the despreading complex signal A currently obtained and the first phase interval ε * Ts calculate current One coherent accumulation results B, the first current coherent accumulation results meet：B=A+B1*e-j2πεTs；Wherein, when progress first When the number of coherent accumulation operation is 1, described upper 1 first coherent accumulation results are that 0, Ts is described upper 1 first coherent accumulation As a result the time interval being delayed, ε are the angular phase of described upper 1 first coherent accumulation results rotation, and j is imaginary unit.
In said program, the first coherent accumulation module is additionally operable to when obtaining the despreading time multiplexed signal, according to upper one Second coherent accumulation results B2, the despreading complex signal A currently obtained and the second phase interval-ε * Ts calculate current Two coherent accumulation results C, the second current coherent accumulation results meet：C=A+B2*ej2πεTs；Wherein, when progress second When the number of coherent accumulation operation is 1, described upper 1 second coherent accumulation results are that 0, Ts is described upper 1 second coherent accumulation As a result the time interval being delayed ,-ε are the angular phase of described upper 1 second coherent accumulation results rotation, and j is imaginary unit.
In said program, described device further includes：
First processing module, for determine carry out the first coherent accumulation operation number be not up to first preset value with And the number for carrying out the second coherent accumulation operation triggers the first coherent accumulation module when being not up to first preset value.
In said program, the frequency regulation block includes：Modulus arithmetic element, subtrator and generation unit；Wherein,
The modulus arithmetic element obtains modulus for carrying out modulus operation to the first object coherent accumulation results First object coherent accumulation results afterwards；And modulus operation is carried out to the second target coherent accumulation results, after obtaining modulus The second target coherent accumulation results；
The subtrator is used for the first object coherent accumulation results after the modulus and the second target after modulus Coherent accumulation results subtract each other, and obtain frequency error identification result, and the frequency error identification result is used for differentiating the GNSS letters Frequency error number between carrier wave and the reference frequency complex signal；
The generation unit, for according to the frequency error identification result, frequency adjustment information being generated, described in adjustment The frequency of reference frequency complex signal.
In said program, the generation unit includes：Noncoherent accumulation subelement, judgment sub-unit and processing subelement； Wherein,
The noncoherent accumulation subelement obtains for carrying out noncoherent accumulation to the frequency error identification result One noncoherent accumulation result；
The judgment sub-unit, for judge to the frequency error identification result progress noncoherent accumulation number whether Less than the second preset value；
The processing subelement, for when the number for carrying out noncoherent accumulation is less than second preset value, triggering institute State the first coherent accumulation module；It is non-according to described first when the number for carrying out noncoherent accumulation reaches second preset value Coherent accumulation results generate frequency adjustment information.
In said program, described device further includes：Second coherent accumulation module, judgment module, Second processing module, calculating Module and generation module；Wherein,
The second coherent accumulation module carries out coherent accumulation for the despreading complex signal to acquisition, it is relevant to obtain third Accumulation result；
The judgment module, for judging whether the number for carrying out coherent accumulation is less than first preset value；
The Second processing module, when the number for carrying out coherent accumulation is less than first preset value, triggering described the Two relevant accumulator modules；When the number for carrying out coherent accumulation reaches first preset value, by the third coherent accumulation knot Fruit is set as third target coherent accumulation results；
The computing module, for according to the third target coherent accumulation results, calculating phase error identification result, institute Phase error identification result is stated to be used for differentiating the phase error between the GNSS signal carrier wave and the reference frequency complex signal；
The generation module, for according to the phase error identification result, phase adjustment information being generated, described in adjustment The phase of reference frequency complex signal.
In said program, the generation module includes：Noncoherent accumulation unit, judging unit and processing unit；Wherein,
The noncoherent accumulation unit obtains second for carrying out noncoherent accumulation to the phase error identification result Noncoherent accumulation result；
The judging unit, for judging whether the number for carrying out noncoherent accumulation to the phase error identification result is small In third preset value；
The processing unit is used for when the number for carrying out noncoherent accumulation is less than the third preset value, described in triggering Second coherent accumulation module；When the number for carrying out noncoherent accumulation reaches the third preset value, according to the described second non-phase Dry accumulation result generates phase adjustment information.
As it can be seen that the embodiment of the present invention by circularly to despreading complex signal, i.e. down coversion and despreading after GNSS Signal carries out the operation of the first coherent accumulation and the operation of the second coherent accumulation, obtains first object coherent accumulation results and the second target Coherent accumulation results；It is multiple to reference frequency according to the first object coherent accumulation results and the second target coherent accumulation results The frequency of signal is adjusted, and the reference frequency complex signal is used to carry out down coversion to the GNSS signal；Due to described One coherent accumulation operates：Upper 1 first coherent accumulation results are revolved according to first phase interval before coherent accumulation Turn, the second coherent accumulation operation includes：Between upper 1 second coherent accumulation results according to second phase before coherent accumulation Every being rotated, the first phase interval and second phase interval opposite number each other, by between the first phase that moves in circles Every rotation process, can realize to the despreading complex signal into the frequency conversion of line frequency right avertence, pass through the second phase to move in circles The rotation process of bit interval can realize the frequency conversion into line frequency left avertence to the despreading complex signal；Therefore, the embodiment of the present invention By the rotation process at first phase interval and second phase interval, generation and frequency conversion instead of two-way local reference frequency are grasped Make, so as to effectively reduce GNSS signal frequency-tracking complexity, and reduces operand and circuit implement scale.
Description of the drawings
Fig. 1 is textbook《GPS principles and application》Middle GNSS signal carrier frequency and phase tracking device schematic diagram；
Fig. 2 is the schematic diagram of sinc decaying and the tracking of left and right frequency deviation clamper of GNSS signal carrier wave frequency deviation and gain；
Fig. 3 is the schematic device that GNSS signal frequency-tracking is carried out using No. three frequency converter modes；
Fig. 4 is the schematic device that GNSS signal frequency-tracking is carried out using FFT modes；
Fig. 5 is the implementation process schematic diagram of GNSS signal carrier wave tracing method embodiment one of the present invention；
Fig. 6 is B1I signal composed structure schematic diagrames；
Fig. 7 is in implementation process shown in Fig. 5 according to the first object coherent accumulation results and the second target coherent accumulation As a result, the refinement flow diagram being adjusted to the frequency of reference frequency complex signal；
Fig. 8 is a kind of second order carrier frequency tracking loop loop filter structural schematic diagram；
Fig. 9 is the implementation process schematic diagram of GNSS signal carrier wave tracing method embodiment two of the present invention；
Figure 10 is a kind of second order carrier frequency and phase combining track loop loop filter structural schematic diagram；
Figure 11 is one of the application scenarios schematic diagram of GNSS signal carrier wave tracing method embodiment three of the present invention；
Figure 12 is the two of the application scenarios schematic diagram of GNSS signal carrier wave tracing method embodiment three of the present invention；
Figure 13 is the composed structure schematic diagram of GNSS signal carrier track device embodiment one of the present invention；
Figure 14 is the refinement composed structure schematic diagram of frequency regulation block in Figure 13 shown devices；
Figure 15 is the refinement composed structure schematic diagram of generation unit in Figure 14 shown devices；
Figure 16 is the composed structure schematic diagram of GNSS signal carrier track device embodiment two of the present invention；
Figure 17 is the refinement composed structure schematic diagram of generation module in Figure 16 shown devices.
Specific implementation mode
GNSS signal carrier wave tracing method provided in an embodiment of the present invention, is mainly used in receiver system, by following Ring reciprocally to despreading complex signal, i.e. down coversion and GNSS signal progress the first coherent accumulation operation and the second phase after de-spreading Dry accumulation operations obtain first object coherent accumulation results and the second target coherent accumulation results；According to the first object phase Dry accumulation result and the second target coherent accumulation results, are adjusted the frequency of reference frequency complex signal, the reference frequency Complex signal is used to carry out down coversion to the GNSS signal；Since first coherent accumulation operation includes：Before coherent accumulation Upper 1 first coherent accumulation results are rotated according to first phase interval, the second coherent accumulation operation includes：In phase It does and upper 1 second coherent accumulation results is rotated according to second phase interval before adding up, the first phase interval and second Opposite number can be realized multiple to the despreading phase intervals by the rotation process at the first phase interval moved in circles each other The frequency conversion of signal into line frequency right avertence can be realized by the rotation process at the second phase interval moved in circles to the solution Expand frequency conversion of the complex signal into line frequency left avertence；Therefore, the embodiment of the present invention passes through first phase interval and second phase interval Rotation process, the generation instead of two-way local reference frequency and upconversion operation, so as to effectively reduce GNSS signal frequency Complexity is tracked, and reduces operand and circuit implement scale.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.It should Understand, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
Fig. 5 is the implementation process schematic diagram of GNSS signal carrier wave tracing method embodiment one of the present invention, referring to Figure 5, The GNSS signal carrier wave tracing method of the present embodiment includes the following steps：
Step 101, the operation of the first coherent accumulation is carried out to the despreading complex signal of acquisition and obtains the first coherent accumulation results, and It carries out the operation of the second coherent accumulation and obtains the second coherent accumulation results；First coherent accumulation operates：In coherent accumulation Preceding to be rotated according to first phase interval to upper 1 first coherent accumulation results, the second coherent accumulation operation includes： Upper 1 second coherent accumulation results are rotated according to second phase interval before coherent accumulation, the first phase interval and Two-phase bit interval opposite number each other；GNSS signal of the despreading complex signal for down coversion and after de-spreading；
Here, the GNSS signal can be GPS signal, or Big Dipper signal, in following embodiment, and the GNSS Signal is described in detail by taking the B1I signals of the non-GEO satellite of the Big Dipper as an example；Specifically, which exports for receiver radio frequency Digital signal, which is an intercarrier signal with remaining frequency difference, contains the spreading code of digital modulation And navigation information；Fig. 6 is B1I signal composed structure schematic diagrames, and with reference to shown in Fig. 6, the spread code length is 2046chips, The spreading code period be 1ms, Neumann Huffman (NH, Neumann Hoffman) code be modulated in the form of two level code spreading code it On, the symbol bit width of navigation information is 20ms.
GNSS signal carrier wave tracing method in the present embodiment is mainly used in GNSS signal carrier track device, is used for To GNSS signal carrier frequency into line trace.The device includes local carrier generator, and the local carrier generator can produce Raw reference frequency complex signal, the reference frequency complex signal include branch in the same direction (i.e. the roads I) signal and quadrature branch (i.e. the roads Q) letter Number, to offset remaining frequency departure in GNSS signal.
It should be noted that the type of the GNSS signal can be the list roads I real number signal, or single roads Q real number Signal, can also be the complex signal synthesized by the roads I and the roads Q, and the described pair of GNSS signal got carries out down coversion and need basis The type of the GNSS signal is handled accordingly；Specifically, if the GNSS signal is the list roads I or the list roads Q real signal, The roads the I signal and the roads Q signal that the GNSS signal is generated with local carrier generator respectively carry out real multiplications operation, obtain The initial complex signal after frequency departure is removed, the initial complex signal is believed by the roads the I signal after down coversion and the roads Q after down coversion Number synthesis；If the GNSS signal is the complex signal synthesized by the roads I and the roads Q, the GNSS signal and local carrier are generated The roads the I signal and the roads Q signal that device generates carry out complex multiplication operation, obtain the initial complex signal after stripping frequency departure, institute Initial complex signal is stated to be synthesized by the roads the I signal after down coversion and the roads the Q signal after down coversion.
It should be understood that since pseudo noise (Pseudo Random Noise, PRN) spreading code is deposited in the GNSS signal In very strong autocorrelation and very weak cross correlation, therefore, only PRN spreading codes are removed, it subsequently just can be multiple to de-spreading Signal carries out coherent accumulation.
Here, first, after carrying out down coversion to the GNSS signal, initial complex signal can be obtained, initially write a letter in reply Number include the roads the I signal after down coversion and the roads the Q signal after down coversion.Then spreading code in the initial complex signal is shelled From, despreading complex signal can be obtained, despreading complex signal include despreading after the roads I signal and de-spread after the roads Q signal.
Specifically, when obtaining the despreading time multiplexed signal, the roads the I signal after the despreading of acquisition is subjected to the first coherent accumulation Operation, and the roads the Q signal after the despreading of acquisition is subjected to the first coherent accumulation operation；Specifically, the roads I letter after obtaining despreading Number when, first, first time interval Ts is postponed to upper 1 first coherent accumulation results before coherent accumulation, one first is relevant on this Accumulation result is by upper 1 first of the roads the Q signal after upper 1 first coherent accumulation results of the roads the I signal after de-spreading and despreading Coherent accumulation results synthesize；Then, ε angular phases are rotated to upper 1 first coherent accumulation results after delay, i.e., by upper 1 the One coherent accumulation results and e-j2πεTsIt is multiplied；Finally, by upper 1 first coherent accumulation results after multiplication respectively with current solution The roads I signal after expansion is added with the roads the Q signal after current despreading, obtains the first current coherent accumulation results.
In the present embodiment, current despreading complex signal is indicated with A, A=I1+jQ1, wherein I1After current despreading The roads I signal, Q1For the roads the Q signal after current despreading；Upper 1 first coherent accumulation results are indicated with B1, B1=IB1+ jQB1, wherein IB1For upper 1 first coherent accumulation results of the roads the I signal after despreading, QB1It is upper one of the roads the Q signal after despreading First coherent accumulation results；Phase place, the first phase interval of rotation are carried out after postponing to upper 1 first coherent accumulation results It is indicated with ε * Ts；According to IB=I1+IB1*e-j2πεTs、QB=Q1+QB1*e-j2πεTsAnd B=IB+jQB, current first can be calculated Coherent accumulation results B.
Meanwhile when obtaining the despreading time multiplexed signal, the roads the I signal after the despreading of acquisition is also subjected to the second coherent accumulation Operation, and the roads the Q signal after the despreading of acquisition is subjected to the second coherent accumulation operation；Specifically, the roads I letter after obtaining despreading Number when, first, first time interval Ts is postponed to upper 1 second coherent accumulation results before coherent accumulation, one second is relevant on this Accumulation result is by upper 1 second of the roads the Q signal after upper 1 second coherent accumulation results of the roads the I signal after de-spreading and despreading Coherent accumulation results synthesize；Then, to upper 1 second coherent accumulation results rotation-ε angular phases after delay, i.e., by upper 1 Two coherent accumulation results and ej2πεTsIt is multiplied；Finally, by upper 1 second coherent accumulation results after multiplication respectively with current despreading The roads I signal afterwards is added with the roads the Q signal after current despreading, obtains the second current coherent accumulation results.
In the present embodiment, current despreading complex signal is indicated with A, A=I1+jQ1, wherein I1After current despreading The roads I signal, Q1For the roads the Q signal after current despreading；Upper 1 second coherent accumulation results are indicated with B2, B2=IB2+ jQB2, wherein IB2For upper 1 second coherent accumulation results of the roads the I signal after despreading, QB2It is upper one of the roads the Q signal after despreading Second coherent accumulation results；Phase place, the second phase interval of rotation are carried out after postponing to upper 1 second coherent accumulation results It is indicated with-ε * Ts；According to IC=I1+IB2*ej2πεTs、QC=Q1+QB2*ej2πεTsAnd C=IC+jQC, current second can be calculated Coherent accumulation results C.
Further, the ε can be configured according to actual needs, and specific setting is needed with reference to GNSS signal feature； In the present embodiment, according to B1I signal characteristics, the ε can be described in detail by taking 12.5Hz as an example.The Ts can be according to reality Border needs to be configured, and specific setting is needed with reference to GNSS signal feature；In the present embodiment, modulated according to NH codes in B1I signals The characteristics of, the Ts can be described in detail by taking a sampling interval 1ms as an example.It is described according to the setting value of the ε and Ts 0.0125 is divided between first phase, correspondingly, 2 π ε Ts of first phase rotation angle are 0.07854 radian；Between the second phase It is divided into -0.0125, correspondingly, -2 π ε Ts of second phase rotation angle are -0.07854 radian.
Step 102, it determines that the number for carrying out the first coherent accumulation operation reaches the first preset value and carries out second to be concerned with When the number of accumulation operations reaches first preset value, it is relevant tired that first coherent accumulation results are set as first object Add as a result, and second coherent accumulation results are set as the second target coherent accumulation results；
Here, first preset value can be configured according to actual needs, and specific setting is needed with reference to GNSS signal The symbol bit width of middle navigation information；In the present embodiment, since the symbol bit width of navigation information in B1I signals is 20ms, and And the symbol bit width of every NH codes is 1ms, therefore it is 20 that first preset value, which can be arranged,.
It should be noted that the despreading complex signal is digital signal, and in the present embodiment, the symbol bit wide of the digital signal Degree is 1ms, i.e., when carrying out the operation of the first coherent accumulation and the operation of the second coherent accumulation, the despreading complex signal obtained every time is not Together, therefore, determining that the number for carrying out the first coherent accumulation operation is not up to first preset value and progress second is relevant When the number of accumulation operations is not up to first preset value, the despreading complex signal that cycle executes described pair of acquisition carries out the first phase Dry accumulation operations obtain the first coherent accumulation results, and carry out the step that the operation of the second coherent accumulation obtains the second coherent accumulation results Suddenly；Also, when the number for carrying out the first coherent accumulation operation is 1, described upper 1 first coherent accumulation results are 0, work as progress When the number of second coherent accumulation operation is 1, described upper 1 second coherent accumulation results are 0.
It should be noted that first coherent accumulation results are set as first object coherent accumulation results, and will Second coherent accumulation results are set as after the second target coherent accumulation results, it is also necessary to by the first coherent accumulation knot Fruit, the second coherent accumulation results are reset；After clearing, the number weight of the operation of the first coherent accumulation and the operation of the second coherent accumulation is carried out Newly started counting up from 1.
It should be understood that carrying out the first coherent accumulation operation by the despreading complex signal to acquisition, can circularly realize The rotation that upper 1 first coherent accumulation results are carried out with first phase interval ε * Ts, that is, carry out e-j2πεTsPhase operation, so as to To realize the upconversion operation for carrying out ε frequencies to the despreading complex signal；It is relevant that second is carried out by the despreading complex signal to acquisition Accumulation operations can circularly realize the rotation that upper 1 second coherent accumulation results are carried out with second phase interval-ε * Ts, Carry out ej2πεTsPhase operation, so as to realize the upconversion operation to the despreading complex signal progress-ε frequencies.
Step 103, according to the first object coherent accumulation results and the second target coherent accumulation results, to reference frequency The frequency of complex signal is adjusted, and the reference frequency complex signal is used to carry out down coversion to the GNSS signal.
Fig. 7 is in implementation process shown in Fig. 5 according to the first object coherent accumulation results and the second target coherent accumulation As a result, to the refinement flow diagram that the frequency of reference frequency complex signal is adjusted, with reference to shown in Fig. 7, step 103 is specifically wrapped Include following steps：
Step 1031, modulus operation is carried out to the first object coherent accumulation results, obtains first after modulus and is concerned with Accumulation result；And modulus operation is carried out to the second target coherent accumulation results, it is relevant tired to obtain the second target after modulus Add result；
In the present embodiment, according toModulus is carried out to the first object coherent accumulation results, obtains modulus First object coherent accumulation results afterwards；According toModulus is carried out to the second target coherent accumulation results, is obtained Obtain the second target coherent accumulation results after modulus.
Step 1032, by the first object coherent accumulation results after the modulus and the second target coherent accumulation after modulus As a result subtract each other, obtain frequency error identification result, the frequency error identification result be used for differentiate the GNSS signal carrier wave with Frequency error between the reference frequency complex signal；
In the present embodiment, according toCalculate the frequency error identification result.
Step 1033, noncoherent accumulation is carried out to the frequency error identification result, obtains the first noncoherent accumulation result；
Here it is possible to by carrying out noncoherent accumulation to the frequency error distinguishing signal, increase to obtain noncoherent accumulation Benefit, to promote GNSS signal carrier track sensitivity.
Step 1034, it is pre- to judge whether the number that noncoherent accumulation is carried out to the frequency error identification result is less than second If value；
Under normal circumstances, accumulative frequency is more, and noncoherent accumulation gain is bigger, but since noncoherent accumulation has a square damage Consumption, thus Weak Signal Frequency track scene in, there are the limiting conditions of cumulative gain, i.e., no matter noncoherent accumulation how many times, Cumulative gain can not increase without limitation.
It should be noted that second preset value can be configured according to actual needs, specific setting needs basis GNSS signal feature；According to B1I signal characteristics, second preset value could be provided as any integer more than 1 in principle Value, however based on the reason of there are Square loss for noncoherent accumulation and time-based consideration, second preset value can not It can be set as infinitely great, therefore in the present embodiment, second preset value can be described in detail for 10.
Step 1035, when the number for carrying out noncoherent accumulation is less than second preset value, described pair of acquisition of execution It de-spreads complex signal and carries out the first coherent accumulation operation the first coherent accumulation results of acquisition, and carry out the operation of the second coherent accumulation and obtain The step of second coherent accumulation results；When the number for carrying out noncoherent accumulation reaches second preset value, according to described the One noncoherent accumulation is as a result, generate frequency adjustment information.
Here, in order to form the carrier frequency tracking loop of closure, believed with the roads I generated to the local carrier generator Number and the frequency of the roads Q signal be adjusted, the GNSS signal carrier track device further includes loop filter, the loop filtering Device can be according to first noncoherent accumulation as a result, generating frequency adjustment information.
In the present embodiment, according to B1I signal characteristics, loop filter structure as shown in Figure 8 can be used, is closed to be formed The second order carrier frequency tracking loop of conjunction, the second order carrier frequency tracking loop are effective against adding in receiver motion process The frequency departure that speed generates increases frequency-tracking robustness.With reference to shown in Fig. 8, loop filter input is the first non-phase Dry accumulation result exports to feed back to the first NCO frequency control words of local carrier generator, the first NCO frequency control words Including frequency adjustment information, wherein Tnoncoh is the first noncoherent accumulation result renewal time interval.Due to the loop filtering Two parameters of first noncoherent accumulation result of acquisition and a, b are multiplied by device first, therefore, can be by the way that a, b parameter value is arranged Different frequency lock loop gains and loop bandwidth are obtained, to meet between tracking sensitivity and receiver motion state It accepts or rejects and balances.
Specifically, the roads the I signal and the roads the Q signal multiplication B1I signals got and local carrier generator generated, with Down coversion is carried out to the B1I signals, obtains the initial complex signal after stripping frequency departure；
Spreading code in the initial complex signal is removed, despreading complex signal is obtained；
When obtaining the despreading complex signal A, wherein A=I1+jQ1, by upper 1 first coherent accumulation results B1 and e-j2πεTs It is multiplied, wherein B1=IB1+jQB1, obtain the result B1*e behind B1 rotation first phase interval-j2πεTs, and according to IB=I1+IB1* e-j2πεTs、QB=Q1+QB1*e-j2πεTsAnd B=IB+jQB, calculate the first current coherent accumulation results B；Simultaneously by upper 1 second phase Dry accumulation result B2=IB2+jQB2With ej2πεTsIt is multiplied, obtains the result B2*e behind B2 rotation second phase intervalj2πεTs, and root According to IC=I1+IB2*ej2πεTs、QC=Q1+QB2*ej2πεTsAnd C=IC+jQC, calculate the second current coherent accumulation results C；
Judge whether the number for carrying out coherent accumulation operation reaches 20；
When the number for carrying out coherent accumulation operation reaches 20, first coherent accumulation results are set as first object Coherent accumulation results, and second coherent accumulation results are set as the second target coherent accumulation results；
First coherent accumulation results, the second coherent accumulation results are reset；
According toModulus is carried out to the first object coherent accumulation results, obtains the first mesh after modulus Mark coherent accumulation results；And according toModulus is carried out to the second target coherent accumulation results, after obtaining modulus The second target coherent accumulation results；
According toCalculate the frequency error identification result；
Noncoherent accumulation is carried out to the frequency error identification result, obtains the first noncoherent accumulation result；
Judge whether the number that noncoherent accumulation is carried out to the frequency error identification result reaches 10；
When the number for carrying out noncoherent accumulation reaches 10, the first noncoherent accumulation result is input to loop filtering In device, which exports the first NCO frequency control words for feeding back to local carrier generator, with to the local carrier The frequency of the roads I signal and the roads Q signal that generator generates is adjusted.
It is understood that carrying out the first coherent accumulation operation and the second coherent accumulation by the despreading complex signal to acquisition Operation, can effectively reduce GNSS signal frequency-tracking complexity, be because：On the one hand, the first coherent accumulation operation packet It includes：Before coherent accumulation, upper 1 first coherent accumulation results are rotated according to first phase interval, by circularly The rotation that upper 1 first coherent accumulation results are carried out with first phase interval ε * Ts, that is, carry out e-j2πεTsPhase operation, can be real The upconversion operation of ε frequencies is now carried out to the despreading complex signal；On the other hand, second coherent accumulation, which operates, includes：In phase It does before adding up, upper 1 second coherent accumulation results is rotated according to second phase interval, by circularly to upper one Second coherent accumulation results carry out the rotation of second phase interval-ε * Ts, that is, carry out ej2πεTsPhase operation can be achieved with to institute State the upconversion operation of despreading complex signal progress-ε frequencies.It can be seen that the rotation by simple first phase interval ε * Ts is grasped Make, the frequency conversion for carrying out ε frequencies to the despreading complex signal may be implemented, pass through the rotation of simple second phase interval-ε * Ts The frequency conversion to the despreading complex signal progress-ε frequencies may be implemented, so as to substitute two-way local reference frequency in operation Generation and upconversion operation effectively reduce GNSS signal frequency-tracking complexity, and reduce operand and circuit implement scale.
Further, under the application scenarios for needing to obtain GNSS signal carrier phase, it is also necessary to GNSS signal carrier wave Phase into line trace, obtain can frequency locking but also locking phase carrier track effect.
Fig. 9 is the implementation process schematic diagram of GNSS signal carrier wave tracing method embodiment two of the present invention, with reference to shown in Fig. 9, While the step 101 of embodiment of the method one, the GNSS signal carrier wave tracing method of the present embodiment further includes：
Step 104, coherent accumulation is carried out to the despreading complex signal of acquisition, obtains third coherent accumulation results；
Here, while carrying out the first coherent accumulation operation and the operation of the second coherent accumulation to the despreading complex signal, It also needs to the despreading complex signal to acquisition and carries out coherent accumulation, obtain third coherent accumulation results.
Step 105, judge whether the number for carrying out coherent accumulation is less than first preset value；
Step 106, when the number for carrying out coherent accumulation is less than first preset value, the despreading of described pair of acquisition is executed The step of complex signal progress coherent accumulation, acquisition third coherent accumulation results；When the number for carrying out coherent accumulation reaches described the When one preset value, the third coherent accumulation results are set as third target coherent accumulation results；
Specifically, when the number for carrying out coherent accumulation reaches 20, on the one hand the third coherent accumulation results can be sent out It gives post-module and carries out data demodulation, on the other hand can be used for calculating phase error identification result.
Step 107, according to the third target coherent accumulation results, phase error identification result is calculated, the phase is missed Poor identification result is used for differentiating the phase error between the GNSS signal carrier wave and the reference frequency complex signal；
Here, the third target coherent accumulation results are indicated with D, wherein the third target coherent accumulation results are Plural number uses D=ID+jQDIt indicates；It, can basis in the present embodimentOrCalculate phase error identification result.
Step 108, noncoherent accumulation is carried out to the phase error identification result, obtains the second noncoherent accumulation result；
Step 109, it is pre- to judge whether the number that noncoherent accumulation is carried out to the phase error identification result is less than third If value；
Here, the third preset value can be configured according to actual needs, and specific setting is needed according to GNSS signal Feature；According to B1I signal characteristics, the third preset value could be provided as any integer value more than 1 in principle, however base In the reason of there are Square loss for noncoherent accumulation and time-based consideration, the third preset value can not possibly be set as nothing Limit is big, and synchronous with locking phase in order to reach frequency locking, and therefore, in the present embodiment, the third preset value could be provided as 10.
Step 1010, when the number for carrying out noncoherent accumulation is less than the third preset value, described pair of acquisition of execution De-spread the step of complex signal carries out coherent accumulation, obtains third coherent accumulation results；When the number for carrying out noncoherent accumulation reaches It is described with reference to frequency to adjust according to second noncoherent accumulation as a result, generating phase adjustment information when the third preset value The phase of rate complex signal.
In the present embodiment, according to B1I signal characteristics, loop filter structure as shown in Figure 10 can be used, to be formed The second order carrier frequency of closure and phase combining track loop, the loop filter can be in inside by the first noncoherent accumulation result It is merged with the second noncoherent accumulation result.Referring to Fig.1 shown in 0, loop filter input is the first noncoherent accumulation knot Fruit and the second noncoherent accumulation are as a result, output is to feed back to the 2nd NCO frequency control words of local carrier generator, this second NCO frequency control words had both included frequency adjustment information, also included phase adjustment information, wherein Tnoncoh is noncoherent accumulation knot Fruit renewal time interval, multiplication factor a, b and c together constitute track loop gain and loop bandwidth.
In GNSS signal carrier wave tracing method embodiment three of the present invention, GNSS signal carrier track side to illustrate the invention GNSS signal carrier wave tracing method of the present invention is described in detail in the practical application of method, connected applications scene graph.
Figure 11 be GNSS signal carrier wave tracing method embodiment three of the present invention one of application scenarios schematic diagram, be used for pair GNSS signal carrier frequency is into line trace, and referring to Fig.1 shown in 1, which includes local carrier generator, frequency converter, expansion Frequency code despreader, first cumulative/clearing device, the first delayer, first phase circulator, the first modulus arithmetic element, second are tired out Add/reset device, the second delayer, second phase circulator, the second modulus arithmetic element, third it is cumulative/reset device, subtracter, First noncoherent accumulation/clearing device and loop filter, the loop filter are frequency discrimination loop filter.
It describes in detail to GNSS signal carrier wave tracing method of the present invention below with reference to Figure 11.
The roads the I signal and the roads Q signal that frequency converter is generated according to local carrier generator carry out the GNSS signal got Residual frequency strip operation, the initial complex signal of output stripping frequency departure；
Spreading code despreader removes spreading code in the initial complex signal, and the despreading after output stripping spreading code is multiple Signal；
First cumulative/clearing device rotates the despreading complex signal currently obtained with process first phase rotator phase upper One first coherent accumulation results are added, and obtain the first current coherent accumulation results；First delayer is relevant tired by upper 1 first Result is added to postpone a sampling interval Ts；Upper 1 first coherent accumulation results of delay are rotated ε angles by first phase circulator Phase carries out e-j2πεTsOperation；Described first cumulative/clearing device exports the first current coherent accumulation results simultaneously every 20ms First coherent accumulation results are zeroed out；
Meanwhile second adds up/resets device by the despreading complex signal currently obtained and by the rotation of second phase rotator phase Upper 1 second coherent accumulation results turned are added, and obtain the second current coherent accumulation results；Second delayer is by upper 1 second Coherent accumulation results postpone a sampling interval Ts；Second phase circulator revolves upper 1 second coherent accumulation results of delay Turn-ε angular phases, that is, carries out ej2πεTsOperation；It is described second cumulative/to reset device every current second relevant tired of 20ms outputs Add result and second coherent accumulation results are zeroed out；
Meanwhile third adds up/resets device by the despreading complex signal progress coherent accumulation of acquisition, obtains third coherent accumulation knot Fruit；And export the third coherent accumulation results every 20ms and the third coherent accumulation results are zeroed out, it will export Third coherent accumulation results be sent to post-module carry out data demodulation；
First modulus arithmetic element carries out modulus to first coherent accumulation results, and first after output modulus is relevant tired Add result；Second modulus arithmetic element carries out modulus to second coherent accumulation results, and second after output modulus is relevant tired Add result；
The first coherent accumulation results after modulus are subtracted the second coherent accumulation results after modulus, output frequency by subtracter Error identification result；
First noncoherent accumulation/clearing device carries out noncoherent accumulation to the frequency error identification result, when to the frequency When the number that rate error identification result carries out noncoherent accumulation reaches 10, the first noncoherent accumulation result is exported；
Frequency discrimination loop filter is according to first noncoherent accumulation as a result, the first NCO frequency control words of output, this first NCO frequency control words include frequency adjustment information, the roads the I signal to be generated to the local carrier generator and the roads Q signal Frequency is adjusted.
Further, Figure 12 be GNSS signal carrier wave tracing method embodiment three of the present invention application scenarios schematic diagram it Two, for carrying out joint tracking to GNSS signal carrier frequency and phase, referring to Fig.1 shown in 2, which includes local carry Wave generator, frequency converter, spreading code despreader, first cumulative/clearing device, the first delayer, first phase circulator, first are asked Modulo Operation Unit, second cumulative/clearing device, the second delayer, second phase circulator, the second modulus arithmetic element, third are tired Add/reset device, subtracter, phase discriminator, the first noncoherent accumulation/clearing, the second noncoherent accumulation/clearing device and loop filtering Device, the loop filter are frequency discrimination/phase demodulation loop filter.
It describes in detail to GNSS signal carrier wave tracing method of the present invention below with reference to Figure 12.
The roads the I signal and the roads Q signal that frequency converter is generated according to local carrier generator carry out the GNSS signal got Residual frequency strip operation, the initial complex signal of output stripping frequency departure；
Spreading code despreader removes spreading code in the initial complex signal, and the despreading after output stripping spreading code is multiple Signal；
First cumulative/clearing device rotates the despreading complex signal currently obtained with process first phase rotator phase upper One first coherent accumulation results are added, and obtain the first current coherent accumulation results；First delayer is relevant tired by upper 1 first Result is added to postpone a sampling interval Ts；Upper 1 first coherent accumulation results of delay are rotated ε angles by first phase circulator Phase carries out e-j2πεTsOperation；Described first cumulative/clearing device exports the first current coherent accumulation results simultaneously every 20ms First coherent accumulation results are zeroed out；
Meanwhile second adds up/resets device by the despreading complex signal currently obtained and by the rotation of second phase rotator phase Upper 1 second coherent accumulation results turned are added, and obtain the second current coherent accumulation results；Second delayer is by upper 1 second Coherent accumulation results postpone a sampling interval Ts；Second phase circulator revolves upper 1 second coherent accumulation results of delay Turn-ε angular phases, that is, carries out ej2πεTsOperation；It is described second cumulative/to reset device every current second relevant tired of 20ms outputs Add result and second coherent accumulation results are zeroed out；
Meanwhile third adds up/resets device by the despreading complex signal progress coherent accumulation of acquisition, obtains third coherent accumulation knot Fruit；And export the third coherent accumulation results every 20ms and the third coherent accumulation results are zeroed out, it will export Third coherent accumulation results be on the one hand sent to post-module and carry out data demodulation, be on the other hand sent to phase discriminator；
First modulus arithmetic element carries out modulus to first coherent accumulation results, and first after output modulus is relevant tired Add result；Second modulus arithmetic element carries out modulus to second coherent accumulation results, and second after output modulus is relevant tired Add result；
The first coherent accumulation results after modulus are subtracted the second coherent accumulation results after modulus, output frequency by subtracter Error identification result；Phase discriminator according toOrCalculate phase error mirror Other result；
First noncoherent accumulation/clearing device carries out noncoherent accumulation to the frequency error identification result, when to the frequency When the number that rate error identification result carries out noncoherent accumulation reaches 10, the first noncoherent accumulation result is exported；Second is incoherent It is cumulative/to reset device to phase error identification result progress noncoherent accumulation, it is carried out when to the phase error identification result When the number of noncoherent accumulation reaches 10, the second noncoherent accumulation result is exported；
Frequency discrimination/phase demodulation loop filter is according to the first noncoherent accumulation result and the second noncoherent accumulation as a result, defeated Going out the 2nd NCO frequency control words, the 2nd NCO frequency control words had both included frequency adjustment information, also included phase adjustment information, It is adjusted with the frequency and phase of the roads the I signal and the roads Q signal that are generated to the local carrier generator.
The present invention also provides a kind of GNSS signal carrier track devices, for realizing GNSS signal carrier track side of the present invention The detail of method reaches identical effect.
Figure 13 is the composed structure schematic diagram of GNSS signal carrier track device embodiment one of the present invention, referring to Fig.1 3 institute Show, the GNSS signal carrier track device of the present embodiment includes：First coherent accumulation module 21, setting module 22 and frequency adjustment Module 23；Wherein,
The first coherent accumulation module 21 carries out the operation of the first coherent accumulation for the despreading complex signal to acquisition and obtains First coherent accumulation results, and carry out the operation of the second coherent accumulation and obtain the second coherent accumulation results；First coherent accumulation Operation includes：Upper 1 first coherent accumulation results are rotated according to first phase interval before coherent accumulation, described second Coherent accumulation operates：Upper 1 second coherent accumulation results are rotated according to second phase interval before coherent accumulation, The first phase interval and second phase interval opposite number each other；The despreading complex signal is for down coversion and after de-spreading GNSS signal；
The setting module 22, for determine carry out the first coherent accumulation operation number reach the first preset value and into When the number of the second coherent accumulation of row operation reaches first preset value, first coherent accumulation results are set as first Target coherent accumulation results, and second coherent accumulation results are set as the second target coherent accumulation results；
The frequency regulation block 23, for according to the first object coherent accumulation results and the second target coherent accumulation As a result, being adjusted to the frequency of reference frequency complex signal, the reference frequency complex signal is used to carry out the GNSS signal Down coversion.
Optionally, the GNSS signal carrier track device of the present embodiment further includes：First processing module 24, for determine into The number of the first coherent accumulation of row operation is not up to first preset value and carries out the number of the second coherent accumulation operation not When reaching first preset value, the first coherent accumulation module 21 is triggered.
Optionally, the first coherent accumulation module 21 is specifically used for when obtaining the despreading time multiplexed signal, according to upper one First coherent accumulation results B1, the despreading complex signal A currently obtained and the first phase interval ε * Ts, calculate current first Coherent accumulation results B, the first current coherent accumulation results meet：B=A+B1*e-j2πεTs；Wherein, when carrying out the first phase When the number of dry accumulation operations is 1, described upper 1 first coherent accumulation results are that 0, Ts is described upper 1 first coherent accumulation knot The time interval of fruit delay, ε are the angular phase of described upper 1 first coherent accumulation results rotation, and j is imaginary unit.
Optionally, the first coherent accumulation module 21, is additionally operable to when obtaining the despreading time multiplexed signal, according to upper 1 the Two coherent accumulation results B2, the despreading complex signal A currently obtained and the second phase interval-ε * Ts, calculate current second Coherent accumulation results C, the second current coherent accumulation results meet：C=A+B2*ej2πεTs；Wherein, when carrying out the second phase When the number of dry accumulation operations is 1, described upper 1 second coherent accumulation results are that 0, Ts is described upper 1 second coherent accumulation knot The time interval of fruit delay ,-ε are the angular phase of described upper 1 second coherent accumulation results rotation, and j is imaginary unit.
Figure 14 is the refinement composed structure schematic diagram that frequency adjusts module in Figure 13 shown devices, referring to Fig.1 4 institute Show, the frequency regulation block 23 includes：Modulus arithmetic element 231, subtrator 232 and generation unit 233；Wherein,
The modulus arithmetic element 231 is asked for carrying out modulus operation to the first object coherent accumulation results First object coherent accumulation results after mould；And modulus operation is carried out to the second target coherent accumulation results, obtain modulus The second target coherent accumulation results afterwards；
The subtrator 232 is used for the first object coherent accumulation results after the modulus and second after modulus Target coherent accumulation results subtract each other, and obtain frequency error identification result, and the frequency error identification result is used for differentiating described Frequency error between GNSS signal carrier wave and the reference frequency complex signal；
The generation unit 233, for according to the frequency error identification result, generating frequency adjustment information, with adjustment The frequency of the reference frequency complex signal.
Figure 15 is the refinement composed structure schematic diagram of generation unit in Figure 14 shown devices, referring to Fig.1 shown in 5, the life Include at unit 233：Noncoherent accumulation subelement 2331, judgment sub-unit 2332 and processing subelement 2333；Wherein,
The noncoherent accumulation subelement 2331 is obtained for carrying out noncoherent accumulation to the frequency error identification result Obtain the first noncoherent accumulation result；
The judgment sub-unit 2332, for judging the number to frequency error identification result progress noncoherent accumulation Whether the second preset value is less than；
The processing subelement 2333, for when the number for carrying out noncoherent accumulation is less than second preset value, touching Send out the first coherent accumulation module 21 described；When the number for carrying out noncoherent accumulation reaches second preset value, according to described First noncoherent accumulation is as a result, generate frequency adjustment information.
Further, under the application scenarios for needing to obtain GNSS signal carrier phase, it is also necessary to GNSS signal carrier wave Phase into line trace, obtain can frequency locking but also locking phase carrier track effect.
Figure 16 is the composed structure schematic diagram of GNSS signal carrier track device embodiment two of the present invention, referring to Fig.1 6 institute Show, the GNSS signal carrier track device of the present embodiment, being on the basis of device embodiment one further includes：Second coherent accumulation Module 25, judgment module 26, Second processing module 27, computing module 28 and generation module 29；Wherein,
The second coherent accumulation module 25 is used for the second coherent accumulation module, writes a letter in reply for the despreading to acquisition Number carry out coherent accumulation, obtain third coherent accumulation results；
The judgment module 26, for judging whether the number for carrying out coherent accumulation is less than first preset value；
The Second processing module 27, when the number for carrying out coherent accumulation is less than first preset value, described in triggering Second coherent accumulation module 25；It is when the number for carrying out coherent accumulation reaches first preset value, the third is relevant tired Add result to be set as third target coherent accumulation results, and by the third coherent accumulation results and carries out the number of coherent accumulation It resets；
The computing module 28, for according to the third target coherent accumulation results, calculating phase error identification result, The phase error identification result is used for differentiating that the phase between the GNSS signal carrier wave and the reference frequency complex signal is missed Difference；
The generation module 29, for according to the phase error identification result, phase adjustment information being generated, to adjust State the phase of reference frequency complex signal；
Figure 17 is the refinement composed structure schematic diagram of generation module in Figure 16 shown devices, referring to Fig.1 shown in 7, the life Include at module 29：Noncoherent accumulation unit 291, judging unit 292 and processing unit 293；Wherein,
The noncoherent accumulation unit 291 obtains for carrying out noncoherent accumulation to the phase error identification result Two noncoherent accumulation results；
The judging unit 292, for judge to the phase error identification result carry out noncoherent accumulation number be It is no to be less than third preset value；
The processing unit 293, for when the number for carrying out noncoherent accumulation is less than the third preset value, triggering institute State the second coherent accumulation module 25；When the number for carrying out noncoherent accumulation reaches the third preset value, according to described second Noncoherent accumulation is as a result, generate phase adjustment information.
In practical applications, the first coherent accumulation module 21, setting module 22, at frequency regulation block 23, first Manage module 24, the second coherent accumulation module 25, judgment module 26, Second processing module 27, computing module 28, generation module 29, And modulus arithmetic element 231, subtrator 232, generation unit 233, noncoherent accumulation unit 291, judging unit 292, place Reason unit 293 and noncoherent accumulation subelement 2331, judgment sub-unit 2332 and processing subelement 2333 can be moved by being located at Central processing unit (CPU, Central Processing Unit), microprocessor (MPU, Micro in dynamic terminal Processor Unit), digital signal processor (DSP, Digital Signal Processor) or field-programmable gate array Arrange realizations such as (FPGA, Field Programmable Gate Array).
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.It is all All any modification, equivalent and improvement made by within the spirit and scope of the present invention etc. are all contained in the protection model of the present invention Within enclosing.

Claims (16)

1. a kind of GNSS signal carrier wave tracing method, which is characterized in that the method includes：
The operation of first coherent accumulation is carried out to the despreading complex signal of acquisition and obtains the first coherent accumulation results, and it is relevant to carry out second Accumulation operations obtain the second coherent accumulation results；First coherent accumulation operates：To upper 1 first before coherent accumulation Coherent accumulation results are rotated according to first phase interval, and the second coherent accumulation operation includes：It is right before coherent accumulation Upper 1 second coherent accumulation results are rotated according to second phase interval, and the first phase interval and second phase interval are mutual For opposite number；GNSS signal of the despreading complex signal for down coversion and after de-spreading；
Determine that the number for carrying out the first coherent accumulation operation reaches the first preset value and carries out time of the second coherent accumulation operation When number reaches first preset value, first coherent accumulation results are set as first object coherent accumulation results, and will Second coherent accumulation results are set as the second target coherent accumulation results；
According to the first object coherent accumulation results and the second target coherent accumulation results, to the frequency of reference frequency complex signal It is adjusted, the reference frequency complex signal is used to carry out down coversion to the GNSS signal.
2. according to the method described in claim 1, it is characterized in that, the despreading complex signal progress first of described pair of acquisition is relevant tired Add operation obtains the first coherent accumulation results：
When obtaining the despreading time multiplexed signal, according to upper 1 first coherent accumulation results B1, the despreading complex signal A currently obtained and The first phase interval ε * Ts, calculate the first current coherent accumulation results B, and the first current coherent accumulation results are full Foot：B=A+B1*e-j2πεTs；Wherein, when the number for carrying out the first coherent accumulation operation is 1, described upper 1 first coherent accumulation As a result it is 0；
Wherein, Ts is the time interval of described upper 1 first coherent accumulation results delay, and ε is described upper 1 first coherent accumulation knot The angular phase of fruit rotation, j is imaginary unit.
3. according to the method described in claim 1, it is characterized in that, the despreading complex signal progress second of described pair of acquisition is relevant tired Add operation obtains the second coherent accumulation results：
When obtaining the despreading time multiplexed signal, according to upper 1 second coherent accumulation results B2, the despreading complex signal A currently obtained and Second phase interval-ε * the Ts calculate the second current coherent accumulation results C, the second current coherent accumulation results Meet：C=A+B2*ej2πεTs；Wherein, when the number for carrying out the second coherent accumulation operation is 1, described upper 1 second is relevant tired It is 0 to add result；
Wherein, Ts is the time interval of described upper 1 second coherent accumulation results delay, and-ε is described upper 1 second coherent accumulation As a result the angular phase rotated, j are imaginary unit.
4. according to the method described in claim 1, it is characterized in that, the method further includes：
Determine that the number for carrying out the first coherent accumulation operation is not up to first preset value and carries out the second coherent accumulation behaviour When the number of work is not up to first preset value, the despreading complex signal for executing described pair of acquisition carries out the first coherent accumulation operation The first coherent accumulation results are obtained, and carry out the step of operation of the second coherent accumulation obtains the second coherent accumulation results.
5. according to the method described in claim 1, it is characterized in that, described according to the first object coherent accumulation results and Two target coherent accumulation results, to the frequency of reference frequency complex signal be adjusted including：
Modulus operation is carried out to the first object coherent accumulation results, obtains the first object coherent accumulation results after modulus； And modulus operation is carried out to the second target coherent accumulation results, obtain the second target coherent accumulation results after modulus；
First object coherent accumulation results after the modulus are subtracted each other with the second target coherent accumulation results after modulus, are obtained Frequency error identification result, the frequency error identification result are used for differentiating that the GNSS signal carrier wave is multiple with the reference frequency Frequency error between signal；
According to the frequency error identification result, frequency adjustment information is generated, to adjust the frequency of the reference frequency complex signal.
6. according to the method described in claim 5, it is characterized in that, described according to the frequency error identification result, generation frequency Rate adjustment information includes：
Noncoherent accumulation is carried out to the frequency error identification result, obtains the first noncoherent accumulation result；
Judge whether the number that noncoherent accumulation is carried out to the frequency error identification result is less than the second preset value；
If so, the despreading complex signal for executing described pair of acquisition, which carries out the operation of the first coherent accumulation, obtains the first coherent accumulation results, And carry out the step of operation of the second coherent accumulation obtains the second coherent accumulation results；If it is not, according to first noncoherent accumulation As a result, generating frequency adjustment information.
7. according to the method described in claim 1, it is characterized in that, after obtaining the despreading complex signal, the method is also Including：
Coherent accumulation is carried out to the despreading complex signal of acquisition, obtains third coherent accumulation results；
Judge whether the number for carrying out coherent accumulation is less than first preset value；
If so, the step of despreading complex signal for executing described pair of acquisition carries out coherent accumulation, obtains third coherent accumulation results；If It is no, the third coherent accumulation results are set as third target coherent accumulation results；
According to the third target coherent accumulation results, phase error identification result is calculated, the phase error identification result is used To differentiate the phase error between the GNSS signal carrier wave and the reference frequency complex signal；
According to the phase error identification result, phase adjustment information is generated, to adjust the phase of the reference frequency complex signal.
8. the method according to the description of claim 7 is characterized in that described according to the phase error identification result, generation phase Position adjustment information include：
Noncoherent accumulation is carried out to the phase error identification result, obtains the second noncoherent accumulation result；
Judge whether the number that noncoherent accumulation is carried out to the phase error identification result is less than third preset value；
If so, the step of despreading complex signal for executing described pair of acquisition carries out coherent accumulation, obtains third coherent accumulation results；If It is no, according to second noncoherent accumulation as a result, generating phase adjustment information.
9. a kind of GNSS signal carrier track device, which is characterized in that described device includes：First coherent accumulation module, setting Module and frequency regulation block；Wherein,
The first coherent accumulation module carries out the operation of the first coherent accumulation for the despreading complex signal to acquisition and obtains the first phase Dry accumulation result, and carry out the operation of the second coherent accumulation and obtain the second coherent accumulation results；The first coherent accumulation operation packet It includes：Upper 1 first coherent accumulation results are rotated according to first phase interval before coherent accumulation, described second is relevant tired Add operation includes：Upper 1 second coherent accumulation results are rotated according to second phase interval before coherent accumulation, described One phase intervals and second phase interval opposite number each other；GNSS letter of the despreading complex signal for down coversion and after de-spreading Number；
The setting module, for determining that the number for carrying out the first coherent accumulation operation reaches the first preset value and progress second When the number of coherent accumulation operation reaches first preset value, first coherent accumulation results are set as first object phase Dry accumulation result, and second coherent accumulation results are set as the second target coherent accumulation results；
The frequency regulation block is used for according to the first object coherent accumulation results and the second target coherent accumulation results, The frequency of reference frequency complex signal is adjusted, the reference frequency complex signal to the GNSS signal for carrying out lower change Frequently.
10. device according to claim 9, which is characterized in that the first coherent accumulation module is specifically used for when acquisition The despreading time multiplexed signal, according to upper 1 first coherent accumulation results B1, the despreading complex signal A currently obtained and first phase Bit interval ε * Ts, calculate the first current coherent accumulation results B, and the first current coherent accumulation results meet：B=A+ B1*e-j2πεTs；Wherein, when the number for carrying out the first coherent accumulation operation is 1, described upper 1 first coherent accumulation results are 0, Ts is the time interval of described upper 1 first coherent accumulation results delay, and ε is the rotation of described upper 1 first coherent accumulation results Angular phase, j are imaginary unit.
11. device according to claim 9, which is characterized in that the first coherent accumulation module is additionally operable to when acquisition institute Despreading time multiplexed signal is stated, according to upper 1 second coherent accumulation results B2, the despreading complex signal A currently obtained and the second phase Interval-ε * Ts, calculate the second current coherent accumulation results C, and the second current coherent accumulation results meet：C=A+B2* ej2πεTs；Wherein, when the number for carrying out the second coherent accumulation operation is 1, described upper 1 second coherent accumulation results are that 0, Ts is The time interval of described upper 1 second coherent accumulation results delay ,-ε are the angle of described upper 1 second coherent accumulation results rotation Phase, j are imaginary unit.
12. device according to claim 9, which is characterized in that described device further includes：
First processing module, for determine carry out the first coherent accumulation operation number be not up to first preset value and into When the number of the second coherent accumulation of row operation is not up to first preset value, the first coherent accumulation module is triggered.
13. device according to claim 12, which is characterized in that the frequency regulation block includes：Modulus arithmetic element, Subtrator and generation unit；Wherein,
The modulus arithmetic element, for carrying out modulus operation to the first object coherent accumulation results, after obtaining modulus First object coherent accumulation results；And modulus operation is carried out to the second target coherent accumulation results, obtain the after modulus Two target coherent accumulation results；
The subtrator, for the first object coherent accumulation results after the modulus to be concerned with the second target after modulus Accumulation result subtracts each other, and obtains frequency error identification result, and the frequency error identification result is used for differentiating that the GNSS signal carries Frequency error between wave and the reference frequency complex signal；
The generation unit, for according to the frequency error identification result, frequency adjustment information being generated, to adjust the reference The frequency of frequency complex signal.
14. device according to claim 13, which is characterized in that the generation unit includes：Noncoherent accumulation subelement, Judgment sub-unit and processing subelement；Wherein,
It is non-to obtain first for carrying out noncoherent accumulation to the frequency error identification result for the noncoherent accumulation subelement Coherent accumulation results；
The judgment sub-unit, for judging whether the number for carrying out noncoherent accumulation to the frequency error identification result is less than Second preset value；
The processing subelement, for when the number for carrying out noncoherent accumulation is less than second preset value, triggering described the One coherent accumulation module；It is incoherent according to described first when the number for carrying out noncoherent accumulation reaches second preset value Accumulation result generates frequency adjustment information.
15. device according to claim 9, which is characterized in that described device further includes：Second coherent accumulation module is sentenced Disconnected module, Second processing module, computing module and generation module；Wherein,
The second coherent accumulation module carries out coherent accumulation for the despreading complex signal to acquisition, obtains third coherent accumulation As a result；
The judgment module, for judging whether the number for carrying out coherent accumulation is less than first preset value；
The Second processing module triggers second phase when the number for carrying out coherent accumulation is less than first preset value Dry accumulator module；When the number for carrying out coherent accumulation reaches first preset value, the third coherent accumulation results are set It is set to third target coherent accumulation results；
The computing module, for according to the third target coherent accumulation results, calculating phase error identification result, the phase Position error identification result is used for differentiating the phase error between the GNSS signal carrier wave and the reference frequency complex signal；
The generation module, for according to the phase error identification result, phase adjustment information being generated, to adjust the reference The phase of frequency complex signal.
16. device according to claim 15, which is characterized in that the generation module includes：Noncoherent accumulation unit is sentenced Disconnected unit and processing unit；Wherein,
The noncoherent accumulation unit obtains the second non-phase for carrying out noncoherent accumulation to the phase error identification result Dry accumulation result；
Whether the judging unit carries out the number of noncoherent accumulation less than for judging to the phase error identification result Three preset values；
The processing unit, for when the number for carrying out noncoherent accumulation is less than the third preset value, triggering described second Coherent accumulation module；It is incoherent tired according to described second when the number for carrying out noncoherent accumulation reaches the third preset value Add as a result, generating phase adjustment information.
CN201710109579.9A 2017-02-27 2017-02-27 GNSS signal carrier tracking method and device Active CN108508460B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710109579.9A CN108508460B (en) 2017-02-27 2017-02-27 GNSS signal carrier tracking method and device
PCT/CN2017/103043 WO2018153083A1 (en) 2017-02-27 2017-09-22 Global navigation satellite system signal carrier tracking method and apparatus, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710109579.9A CN108508460B (en) 2017-02-27 2017-02-27 GNSS signal carrier tracking method and device

Publications (2)

Publication Number Publication Date
CN108508460A true CN108508460A (en) 2018-09-07
CN108508460B CN108508460B (en) 2020-06-09

Family

ID=63254108

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710109579.9A Active CN108508460B (en) 2017-02-27 2017-02-27 GNSS signal carrier tracking method and device

Country Status (2)

Country Link
CN (1) CN108508460B (en)
WO (1) WO2018153083A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110376619A (en) * 2019-06-06 2019-10-25 和芯星通科技(北京)有限公司 Signal processing apparatus in Global Navigation Satellite System

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1143652A2 (en) * 2000-04-07 2001-10-10 Nokia Mobile Phones Ltd. Apparatus and method for reducing multipath components associated with a received CDMA signal, in particular for GPS receivers
CN1358360A (en) * 2000-01-17 2002-07-10 松下电器产业株式会社 Intermittent calibrator
CN101022280A (en) * 2006-12-15 2007-08-22 清华大学 Orthogonal lower mixing frequency digital template matching pulse ultra wide band radio signal receiving method
CN101261318A (en) * 2008-04-03 2008-09-10 北京航空航天大学 High dynamic state spread-spectrum precise distance measurement receiving machine
CN102495417A (en) * 2011-12-07 2012-06-13 无锡德思普科技有限公司 High-robustness carrier tracking system of global navigation satellite system receiver and method
CN104133232A (en) * 2014-07-29 2014-11-05 豪芯微电子科技（上海）有限公司 Positioning method and device thereof
CN104536022A (en) * 2015-01-06 2015-04-22 中国人民解放军国防科学技术大学 Low complexity frequency detector designing method for GNSS weak signal tracking

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7639181B2 (en) * 2005-07-01 2009-12-29 Sirf Technology Holdings, Inc. Method and device for tracking weak global navigation satellite system (GNSS) signals
CN102116865A (en) * 2009-12-30 2011-07-06 中国科学院微电子研究所 Supersensitive carrier tracking method for global navigation satellite system (GNSS) signal
CN102262233B (en) * 2011-07-15 2013-07-24 王雪 Carrier tracking method and carrier tracking loop of GNSS (Global Navigation Satellite System) receiver
CN105204043B (en) * 2015-09-15 2018-02-13 武汉导航与位置服务工业技术研究院有限责任公司 Signal acceptance method and device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1358360A (en) * 2000-01-17 2002-07-10 松下电器产业株式会社 Intermittent calibrator
EP1143652A2 (en) * 2000-04-07 2001-10-10 Nokia Mobile Phones Ltd. Apparatus and method for reducing multipath components associated with a received CDMA signal, in particular for GPS receivers
CN101022280A (en) * 2006-12-15 2007-08-22 清华大学 Orthogonal lower mixing frequency digital template matching pulse ultra wide band radio signal receiving method
CN101261318A (en) * 2008-04-03 2008-09-10 北京航空航天大学 High dynamic state spread-spectrum precise distance measurement receiving machine
CN102495417A (en) * 2011-12-07 2012-06-13 无锡德思普科技有限公司 High-robustness carrier tracking system of global navigation satellite system receiver and method
CN104133232A (en) * 2014-07-29 2014-11-05 豪芯微电子科技（上海）有限公司 Positioning method and device thereof
CN104536022A (en) * 2015-01-06 2015-04-22 中国人民解放军国防科学技术大学 Low complexity frequency detector designing method for GNSS weak signal tracking

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
M.G. PETOVELLO ET AL.: "Weak Signal Carrier Tracking of Weak Using Coherent Integration with an UltraTight GNSS/IMU Receiver", 《RESEARCH GATE》 *
王建辉 ET AL.: "基于 FFT 和电文估计的 GNSS 弱信号载波跟踪方法", 《国防科技大学学报》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110376619A (en) * 2019-06-06 2019-10-25 和芯星通科技(北京)有限公司 Signal processing apparatus in Global Navigation Satellite System
CN110376619B (en) * 2019-06-06 2021-06-04 和芯星通科技(北京)有限公司 Signal processing device in global navigation satellite system

Also Published As

Publication number Publication date
WO2018153083A1 (en) 2018-08-30
CN108508460B (en) 2020-06-09

Similar Documents

Publication Publication Date Title
JP4523038B2 (en) Receiver and method for demodulating multiple GalBileo AltBOC signals
CN101030787B (en) Method and apparatus for estimating signal noise ratio of frequency-amplifying signal
JP2620219B2 (en) Digital nabster receiver
US7505511B2 (en) Matched filter and spread spectrum receiver
CN109407121B (en) Configurable navigation signal compatible capturing and tracking device
US9379765B2 (en) Method and receiver for receiving a binary offset carrier composite signal
CN109188469A (en) A kind of GNSS signal receiver curve method for parameter estimation
CN103414493B (en) General incoherent direct sequence spread spectrum signal tracking method
JP4869022B2 (en) Satellite signal tracking device and satellite signal receiver including the same
KR101509307B1 (en) Generating method for unambiguous boc correlation function and tracking system for boc signal
CN108897009B (en) BOC navigation signal receiver and code tracking method thereof
CN108072883A (en) A kind of signal multimode of more spacecraft compatible interoperations receives locking processing method
CN104536016A (en) GNSS new-system signal capturing device and method
CN86105364A (en) The method of doppler searching and device in the digital global positioning receiver
CN108254767A (en) A kind of BOC signal acquisition methods and baseband synchronization receiver
CN2896304Y (en) Device for providing estimation to signal-to-noise ratio of spread spectrum signal
CN109597101A (en) Method for tracing satellite signal based on FFT satellite signal search and track loop
CN104849732B (en) A kind of binary offset carrier radio frequency navigation signal trace method
CN103439718B (en) Unambiguous tracking unit of high-order BOC modulation signals
JP2006261985A (en) Receiver for spread spectrum communications
JP2009002659A (en) Coherent integration enhancement circuit, positioning circuit, electronic equipment, coherent integration enhancement method, positioning method, program, and storage medium
CN105372678B (en) A kind of sine BOC modulated signal without fuzzy tracking method
CN108508460A (en) A kind of GNSS signal carrier wave tracing method and device
CN108051827A (en) BOC modulated signals are without fuzzy code tracking method
CN109743075B (en) Three-ring linkage non-homologous spread spectrum code tracking loop synchronization device and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant