CN108627858A - A kind of multipath restorative procedure and device based on code phase adjustment amount - Google Patents
A kind of multipath restorative procedure and device based on code phase adjustment amount Download PDFInfo
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- CN108627858A CN108627858A CN201710178845.3A CN201710178845A CN108627858A CN 108627858 A CN108627858 A CN 108627858A CN 201710178845 A CN201710178845 A CN 201710178845A CN 108627858 A CN108627858 A CN 108627858A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
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Abstract
A kind of multipath restorative procedure and device based on code phase adjustment amount, the method includes：When multi-path jamming occurs for current epoch, judge whether to execute pseudorange reparation according at least one of the carrier-to-noise ratio of datum mark, Doppler frequency variation variance and current epoch, wherein, the nearest epoch of multi-path jamming does not occur before being current epoch for the datum mark；When judging result shows that executing pseudorange repairs, using the accumulative variable quantity of the current epoch and the code phase adjustment amount of datum mark, the pseudorange of the current epoch is repaired.For unlike signal environment, the technical solution provided through the invention can reduce pseudorange error, improve positioning accuracy.
Description
Technical field
The present invention relates to field of communication technology, more particularly to a kind of multipath restorative procedure based on code phase adjustment amount and
Device.
Background technology
For existing Global Navigation Satellite System (Global Navigation Satellite System, abbreviation
GNSS) receiver, when reception satellite-signal is positioned, although there is assisted global navigational satellite system (Assisted
Global Navigation Satellite System, abbreviation A-GNSS) and differential signal auxiliary, but for being in city
Satellite navigation receiver (alternatively referred to as global navigation satellite system receiver) in city's environment, can not still effectively eliminate multipath effect
Answer caused pseudorange error.
According to the relationship of direct signal and reflection signal (alternatively referred to as multipath signal), the letter residing for satellite navigation receiver
Number environment can be roughly divided into four classes.First, only direct signal, areflexia signal or reflection signal are very weak；Second is that direct signal
Most strong, reflection signal is weaker but causes to significantly affect to the relevant peaks of direct signal；Third, reflection signal is better than through letter
Number, but direct signal there are still；Fourth, signal is only reflected, no direct signal.Wherein, the first belongs to ideal situation, but
It is that cannot achieve the not no signal environment of multipath error completely substantially in practical applications；And in this case, it is existing
Narrow the relevant technologies can eliminate most multipath error substantially；For third and fourth situation, due to reflection signal account for it is leading because
Element, the existing multipath technology for eliminating based on correlator are substantially invalid.Moreover, in practical applications, reflecting the path of signal even
Hundreds of meters may be grown compared with direct signal, satellite signal receiver is caused to generate prodigious measurement error.
The prior art also proposes to repair pseudorange error caused by multipath using the method for carrier smoothing, for example, there is multipath
When interference, smooth weights are adjusted to repair pseudorange error according to the size of multipath error dynamic.But such scheme is in reality
Using when need the pseudorange change rate of code pseudorange and carrier wave meter doing weighted array, lead to error on pseudorange inevitably
Into the pseudorange after smooth so that repairing result can be influenced by last moment pseudorange error；On the other hand, such scheme
Can not be effectively applicable to all signal environments, for example, for aforementioned third and fourth kind of situation, i.e., direct signal disappears, code ring by
It is gradually locked in this scene of reflection signal, the scheme that pseudorange error is repaired based on carrier smoothing is tended in vain, in some instances it may even be possible to
The pseudorange error of bigger is introduced instead.
The prior art also proposes that the mode based on pseudorange residuals repairs pseudorange error caused by multipath, for example, using very big
Likelihood method detects multipath and is repaired to error.But in such scheme requirement system most satellites tracking
Quality is good and is not affected by interference, and this is difficult to meet in the severe scene of some signal environments.
At this stage, in most cases, for pseudorange error caused by multipath effect, not appropriate solution
It is capable of providing the pseudorange correcting strategy suitable for all signal environments.
Invention content
Present invention solves the technical problem that being how more accurately to repair puppet caused by multipath under different signal environments
Away from error.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of multipath reparation side based on code phase adjustment amount
Method, including：When multi-path jamming occurs for current epoch, according to datum mark, Doppler frequency variation variance and current epoch
At least one of carrier-to-noise ratio judges whether to execute pseudorange reparation, wherein the datum mark does not occur more before being current epoch
The nearest epoch of diameter interference；When judging result shows that executing pseudorange repairs, the code phase of the current epoch and datum mark is utilized
The accumulative variable quantity of position adjustment amount, repairs the pseudorange of the current epoch.
Optionally, in the carrier-to-noise ratio according to datum mark, Doppler frequency variation variance and current epoch at least
One judges whether that executing pseudorange reparation includes：When at least one of the following conditions meet, it is judged as executing pseudorange reparation：
The interval of the datum mark and current epoch is less than predetermined interval threshold value；The Doppler frequency variation variance is less than default threshold
Value；It is more than default carrier-to-noise ratio threshold value in the carrier-to-noise ratio of current epoch.
Optionally, Doppler frequency variation variance refers to, within a preset period of time the variance of Doppler frequency difference,
The Doppler frequency difference is the difference of the Doppler frequency of two neighboring epoch.
Optionally, the datum mark be according to multi-path jamming does not occur when carrier-to-noise ratio and code relevant peaks determine.
Optionally, for one or more epoch of multi-path jamming do not occur, by carrier-to-noise ratio is maximum and code relevant peaks with
The epoch of the difference minimum of theoretical relevant peaks is as the datum mark.
Optionally, using the accumulative variable quantity of the current epoch and the code phase adjustment amount of datum mark, to described current
The pseudorange of epoch repair：The pseudorange of the current epoch is repaired based on following formula：PR_new (i)=PR
(i)+(ACV-ACV ') × Code_Length, wherein the PR_new (i) indicates the pseudorange of current epoch after repairing, the PR
(i) indicate that the pseudorange of current epoch, the ACV indicate the accumulative variable quantity of the code phase adjustment amount of current epoch, the ACV '
Indicate that the accumulative variable quantity of the code phase adjustment amount of datum mark, the Code_Length indicate to preset the length of pseudo-code chip, institute
Accumulative variable quantity is stated to obtain by integral operation.
Optionally, judge whether current epoch occurs multi-path jamming in the following way：By the code relevant peaks of current epoch
Compared with theoretical relevant peaks, when the difference of the code relevant peaks and theoretical relevant peaks is more than default interference threshold, hair is determined
Raw multi-path jamming, wherein the theory relevant peaks are no multi-path jammings and there is no code relevant peaks when pseudorange error.
The embodiment of the present invention also provides a kind of multipath prosthetic device based on code phase adjustment amount, including：First judges mould
Block, when multi-path jamming occurs for current epoch, according to datum mark, the carrier-to-noise ratio of Doppler frequency variation variance and current epoch
At least one of judge whether execute pseudorange reparation, wherein the datum mark be current epoch before multi-path jamming does not occur
Nearest epoch；Repair module utilizes the code of the current epoch and datum mark when judging result shows that executing pseudorange repairs
The accumulative variable quantity of phase adjustment, repairs the pseudorange of the current epoch.
Optionally, first judgment module includes：Judging submodule, when at least one of the following conditions meet,
It is judged as executing pseudorange reparation：The interval of the datum mark and current epoch is less than predetermined interval threshold value；The Doppler frequency
Change variance and is less than predetermined threshold value；It is more than default carrier-to-noise ratio threshold value in the carrier-to-noise ratio of current epoch.
Optionally, Doppler frequency variation variance refers to, within a preset period of time the variance of Doppler frequency difference,
The Doppler frequency difference is the difference of the Doppler frequency of two neighboring epoch.
Optionally, the datum mark be according to multi-path jamming does not occur when carrier-to-noise ratio and code relevant peaks determine.
Optionally, for one or more epoch of multi-path jamming do not occur, by carrier-to-noise ratio is maximum and code relevant peaks with
The epoch of the difference minimum of theoretical relevant peaks is as the datum mark.
Optionally, the repair module includes：Repair submodule, based on following formula to the pseudorange of the current epoch into
Row is repaired：PR_new (i)=PR (i)+(ACV-ACV ') × Code_Length, wherein the PR_new (i) indicates after repairing
The pseudorange of current epoch, the PR (i) indicate that the pseudorange of current epoch, the ACV indicate the code phase adjustment amount of current epoch
Accumulative variable quantity, the ACV ' indicates that the accumulative variable quantity of the code phase adjustment amount of datum mark, the Code_Length indicate
The length of default pseudo-code chip, the accumulative variable quantity are obtained by integral operation.
Optionally, the multipath prosthetic device further includes the second judgment module, and second judgment module uses such as lower section
Formula judges whether current epoch occurs multi-path jamming：The code relevant peaks of current epoch are compared with theoretical relevant peaks, when described
It when code relevant peaks and the difference of theoretical relevant peaks are more than default interference threshold, determine and multi-path jamming occurs, wherein the theory phase
Guan Feng is no multi-path jamming and there is no code relevant peaks when pseudorange error.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
When multi-path jamming occurs for current epoch, according to datum mark, Doppler frequency variation variance and current epoch
At least one of carrier-to-noise ratio judges whether to execute pseudorange reparation；When judging result shows that executing pseudorange repairs, using described
The accumulative variable quantity of the code phase adjustment amount of current epoch and datum mark, repairs the pseudorange of the current epoch.Compared with
Before current epoch multi-path jamming will not occur for existing multipath recovery scenario (such as carrier smoothing method), technical solution of the present invention
Nearest epoch as the datum mark, to determine need to execute pseudorange repair when, utilize the current epoch and benchmark
Put the accumulative variable quantity of respective code phase adjustment amount to be repaired to the pseudorange of the current epoch, in practical applications, no
The pseudorange error that last moment can be introduced as existing pseudorange smoothing method (i.e. carrier smoothing method), preferably improves to multipath
The reparation precision of caused pseudorange error.Further, individual signals itself are used only when implementing in technical solution of the present invention
Information, other satellite-signals are not influenced in by Global Navigation Satellite System, in practical applications have preferably it is anti-interference
Property, and more application scenarios (such as severe scene of some signal environments) can be suitable for.
Further, when at least one of the following conditions meet, it is judged as executing pseudorange reparation：The datum mark with work as
The interval of preceding epoch is less than predetermined interval threshold value；The Doppler frequency variation variance is less than predetermined threshold value；In current epoch
Carrier-to-noise ratio is more than default carrier-to-noise ratio threshold value.It will be appreciated by those skilled in the art that preferably being improved to pseudo- caused by multipath to obtain
Repairing quality away from error can set Rule of judgment to determine the proper moment for executing pseudorange reparation.For example, by described pre-
If interval threshold rationally controls the interval of the datum mark and current epoch, in order to avoid because of the interval of the datum mark and current epoch
It is too far and cause repairing effect undesirable；For another example changing variance by Doppler frequency come the degree of stability of gauge signal, keep away
Exempt to cause repairing effect undesirable because of jitter；In another example the good and bad degree of signal is considered by carrier-to-noise ratio, in signal
Pseudorange reparation can not be executed when too poor, in order to avoid waste of resource.
Description of the drawings
Fig. 1 is the distribution map of each epoch code phase adjustment amount under different carrier-to-noise ratios when multi-path jamming not occurring；
Fig. 2 is the accumulative variable quantity of code phase adjustment amount and the relation curve of epoch when multi-path jamming not occurring；
Fig. 3 is the accumulative variable quantity of code phase adjustment amount and the relation curve of epoch when multi-path jamming occurs；
Fig. 4 is a kind of flow chart of multipath restorative procedure based on code phase adjustment amount of the first embodiment of the present invention；
Fig. 5 is a kind of structural representation of multipath prosthetic device based on code phase adjustment amount of the second embodiment of the present invention
Figure.
Specific implementation mode
It will be appreciated by those skilled in the art that multipath effect (multipath effect) refers to electromagnetic wave through different propagateds
Afterwards, each component reaches destination time difference, and is interfered by respective Phase Stacking so that distorted signals originally.It removes
Outside ionospheric error, multipath effect is to cause the master of global navigation satellite system receiver (hereinafter referred to as receiver) position error
Want factor.Especially under the adverse circumstances such as urban canyons, not only there is stronger reflection diameter, but also possible line of sight meets with blocking energy
Decrease even disappears completely.In these cases, the relevant peaks of satellite direct signal can lead to receiver by reflection signal corruption
Tracking error；Or direct signal completely disappears, receiver tracking causes prodigious tracking error on reflection diameter.For by
To the satellite of multi-path jamming, or receiver rejects it from resolving, but can cause usable satellite number to reduce in this way, it is fixed to influence
Level exactness；Multipath error is compensated so that the satellite can continue to participate in positioning calculation.But such as background technology
It is sayed, for pseudorange error caused by multipath, the prior art, which can not provide, a kind of can be effectively applicable to all signal environments
Accurate recovery scenario.
In order to solve this technical problem, present inventor is had found by analysis, in the case of photocarrier method code, by
The code offset caused by satellite and receiver move can be eliminated by photocarrier method, when multi-path jamming does not occur, the carrier wave
The error of auxiliary is the normal distribution of a zero-mean.And under the premise of code ring is initially aligned, the adjustment amount of the code ring is also
The normal distribution of one zero-mean, as shown in Figure 1, the situation for multi-path jamming does not occur, under different carrier-to-noise ratios (CN0), institute
The code phase adjustment amount (i.e. the adjustment amount of code ring, abbreviation CV) that receiver is stated in each epoch (such as per second) is symmetrical around 0.
Further, by carrying out integral operation to the code phase adjustment amount, the code ring can be reflected at one section
Interior integrated regulation amount.For example, passing through formula ACV=∑tCV (t) obtains current epoch (i.e. t epoch) code phase adjustment amount
Accumulative variable quantity (ACV).It is corresponding with scene shown in above-mentioned Fig. 1, when multi-path jamming does not occur, the code phase adjustment amount
Accumulative variable quantity distribution as shown in Fig. 2, it is equally in theoretically zero-mean normal distribution, but in practical applications, due to
The error of initial error and carrier compensation, the accumulative variable quantity of the code phase adjustment amount may not in the position of 0 value, but
The value can be kept constant in (such as tens seconds) for a period of time, thus be obtained with relation curve shown in Fig. 2.
When multi-path jamming has occurred, since multipath effect may delay to reach the receiver, the code phase adjustment
The accumulative variable quantity and the relation curve of epoch of amount can be as shown in Figure 3, wherein when multi-path jamming does not occur, the code phase
The accumulative variable quantity of position adjustment amount is stablized in numerical value ACV1, after the multi-path jamming arrives, the code phase adjustment amount adds up
Variable quantity drops to numerical value ACV2 and the level is maintained whithin a period of time.
Present inventor has found that the receiver is entering multi-path jamming environment from no multi-path jamming environment by analysis
It is front and back, the variation of the accumulative variable quantity of code phase adjustment amount, can error caused by quantitative response multipath, thus can basis
The situation of change of the accumulative variable quantity of the code phase adjustment amount repairs pseudorange error caused by the multipath.
Based on above-mentioned analysis result, when current epoch (t2 moment as shown in Figure 3) multipath occurs for technical solution of the present invention
When interference, judged whether according at least one of the carrier-to-noise ratio of datum mark, Doppler frequency variation variance and current epoch
Execute pseudorange reparation；When judging result shows that executing pseudorange repairs, the code phase tune of the current epoch and datum mark is utilized
The accumulative variable quantity of whole amount, repairs the pseudorange of the current epoch.
Compared with existing multipath recovery scenario (such as carrier smoothing method), technical solution of the present invention by before current epoch not
The nearest epoch (t1 moment as shown in Figure 3) that multi-path jamming occurs is used as the datum mark, to execute puppet in determining needs
When away from repairing, using the accumulative variable quantity of the respective code phase adjustment amount of the current epoch and datum mark come to the current epoch
Pseudorange repaired, in practical applications, will not as in existing pseudorange smoothing method (i.e. carrier smoothing method) introducing for the moment
The pseudorange error at quarter preferably improves the reparation precision to pseudorange error caused by multipath.Further, the present invention is implemented
When implementing the information of individual signals itself is used only, not other satellites in by Global Navigation Satellite System in the technical solution of example
The influence of signal has better anti-interference, and can be suitable for more application scenarios (more in practical applications
The severe scene of signal environment).
Further, in order to obtain the repairing quality preferably improved to pseudorange error caused by multipath, the present invention is implemented
The technical solution of example can also set Rule of judgment to determine the proper moment for executing pseudorange reparation.For example, by described default
Interval threshold rationally controls the interval of the datum mark and current epoch, in order to avoid because (such as Fig. 3 shows the datum mark with current epoch
The t3 moment gone out) interval it is too far and cause repairing effect undesirable；For another example changing variance by Doppler frequency to weigh
The degree of stability of signal avoids causing repairing effect undesirable because of jitter；In another example considering signal by carrier-to-noise ratio
Good and bad degree, pseudorange reparation can not be executed when signal is too poor, in order to avoid waste of resource.
It is understandable to enable above-mentioned purpose, feature and the advantageous effect of the present invention to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Fig. 4 is a kind of flow chart of multipath restorative procedure based on code phase adjustment amount of the first embodiment of the present invention.
Wherein, the code phase adjustment amount can refer to the code ring each epoch adjustment amount；The epoch can be the reception
The period that machine is connected to satellite so that the receiver can be positioned according to the signal of the satellite.Preferably, described to go through
Member can in seconds, for example, an epoch is one second.
Specifically, in the present embodiment, step S101 is first carried out, when multi-path jamming occurs for current epoch, according to base
On schedule, Doppler frequency variation variance and at least one of the carrier-to-noise ratio of current epoch judge whether to execute pseudorange reparation.
Wherein, the nearest epoch of multi-path jamming does not occur before being current epoch for the datum mark.
Then step S102 is executed, when judging result shows that executing pseudorange repairs, utilizes the current epoch and benchmark
The accumulative variable quantity of the code phase adjustment amount of point, repairs the pseudorange of the current epoch.
In a preference, when the judging result of the step S101 is affirmative, i.e., the determining execution pseudorange is repaiied
It is multiple, then enter the step S102 and executes；Otherwise, i.e., determination does not execute the pseudorange reparation, then repeats the step
S101, until the judging result of the step S101 is affirmative.As a change case, when the judgement knot of the step S101
When fruit is negative, the flow of the present embodiment can also be terminated.
In a typical application scenarios, the step S101 may include step：As at least one in the following conditions
It is a when meeting, it is judged as executing pseudorange reparation：The interval of the datum mark and current epoch is less than predetermined interval threshold value；It is described more
General Le frequency variation variance is less than predetermined threshold value；It is more than default carrier-to-noise ratio threshold value in the carrier-to-noise ratio of current epoch.For example, when aforementioned
It when three conditions are satisfied by, determine and executes the pseudorange reparation, pseudorange error caused by multipath is repaiied to preferably improve
Compound body amount.
Preferably, the predetermined interval threshold value can be one minute.It will be appreciated by those skilled in the art that in practical applications,
The interval of the datum mark and current epoch can be rationally controlled by the predetermined interval threshold value, in order to avoid because of the datum mark
It is too far with the interval of current epoch and cause repairing effect undesirable.For example, in conjunction with shown in Fig. 3, the datum mark is the t1 moment,
When the current epoch is the t2 moment, interval between the datum mark is less than the predetermined interval threshold value, then can be with
Determine that the interval of the datum mark and current epoch is less than predetermined interval threshold value this condition satisfaction.If but the current epoch is
When the t3 moment, interval between the datum mark is more than the predetermined interval threshold value, then can determine the datum mark with
Less than predetermined interval threshold value, this condition is unsatisfactory at the interval of current epoch.Preferably, the predetermined interval threshold value can by with
Family is preset.
Preferably, Doppler frequency variation variance can refer to, within a preset period of time Doppler frequency difference
Variance, the Doppler frequency difference are the difference of the Doppler frequency of two neighboring epoch.Preferably, the Doppler frequency
It can be used for weighing frequency difference of the signal in transmitting and reception.It will be appreciated by those skilled in the art that the present embodiment can be with
Change variance to weigh tracking degree of stability of the receiver to satellite-signal by Doppler frequency, avoids because of swinging of signal
Cause repairing effect undesirable surely.Further, the present embodiment can also set the minimum accumulation of the Doppler frequency difference
It measures (such as 20), changes variance more accurately to obtain the Doppler frequency, in practical applications, can be held by extending
The execution time of row the present embodiment runs up to enough data.Preferably, the predetermined threshold value can in advance be set by user
It is fixed.
Preferably, the carrier-to-noise ratio (CN0) is alternatively referred to as signal-to-noise ratio, for indicating the pass between carrier wave and charge carrier noise
System.It will be appreciated by those skilled in the art that the present embodiment can consider the good and bad degree of the signal by the carrier-to-noise ratio, believing
Pseudorange reparation can not be executed when number too poor, in order to avoid waste of resource.Preferably, the default carrier-to-noise ratio threshold value can be pre- by user
First set.
Further, the datum mark can be according to when not occurring multi-path jamming carrier-to-noise ratio and code relevant peaks determine
's.It, can carrier-to-noise ratio is maximum and code phase for one or more epoch of multi-path jamming do not occur in a preference
The epoch of the difference minimum of Guan Feng and theoretical relevant peaks is as the datum mark.Preferably, the theoretical relevant peaks can be reason
Think under environment (such as laboratory environment), there is no the code relevant peaks measured when multipath effect and no pseudorange error.
Further, the datum mark can be updated with epoch dynamic.For example, when multi-path jamming does not occur, Ke Yishi
When (or according to predetermined interval) monitor multiple epoch, (i.e. should according to respective carrier-to-noise ratio of the multiple epoch and relevant peaks quality
The difference of the code relevant peaks of epoch and theoretical relevant peaks), the datum mark is determined from the multiple epoch.For example, can by institute
It states in multiple epoch, what carrier-to-noise ratio was maximum and relevant peaks are best in quality (i.e. code relevant peaks and the difference of theoretical relevant peaks are minimum)
Epoch determines the more described datum mark.
One shown in Fig. 3 is being combined preferably in application scenarios, it, can be with if not determining datum mark before the t1 moment
The t1 moment is determined as the datum mark；And if having determined that the datum mark (does not show in figure before the t1 moment
Go out), then the datum mark and the carrier-to-noise ratio at t1 moment and relevant peaks quality, if the carrier-to-noise ratio at the t1 moment is higher than described
The carrier-to-noise ratio of datum mark, and the relevant peaks quality at the t1 moment is also superior to the relevant peaks quality of the datum mark, then can be with
The datum mark is updated to the t1 moment.
Further, in the step S102, the pseudorange of the current epoch can be repaiied based on following formula
It is multiple：
PR_new (i)=PR (i)+(ACV-ACV’)×Code_Length
Wherein, the PR_new (i) indicates that the pseudorange of current epoch after repairing, the PR (i) indicate the puppet of current epoch
Away from the ACVIndicate the accumulative variable quantity of the code phase adjustment amount of current epoch, the ACV' indicate datum mark code phase tune
The accumulative variable quantity of whole amount, the Code_Length indicate that the length of default pseudo-code chip, the accumulative variable quantity pass through integral
Operation obtains.
Preferably, the accumulative variable quantity of the code phase adjustment amount of the current epoch can be by integral operation
Refer to, can be a cumulative process, i.e., the accumulative variable quantity of the code phase adjustment amount of current epoch can be equal to upper one
The accumulative variable quantity of the code phase adjustment amount of epoch adds the code phase adjustment amount that current epoch extracts.
It will be appreciated by those skilled in the art that compared with prior art, although calculating institute using the technical solution of the present embodiment
When stating the accumulative variable quantity of code phase adjustment amount of current epoch, the pseudorange error of a upper epoch can be equally included in described accumulative
Variable quantity, but unlike the prior art, the technical solution of the embodiment of the present invention can also record the code phase of the datum mark
The accumulative variable quantity of adjustment amount, by the accumulative variable quantity phase of the current epoch and the corresponding code phase adjustment amount of datum mark
Subtract, can both exclude influence of the pseudorange error to result of calculation of an epoch, obtain actual interference amount, to be based on the reality
Border interference volume repairs the pseudorange.
Further, can also include step before the step S101：It is dry to judge whether current epoch occurs multipath
It disturbs.In a preference, the code relevant peaks of current epoch can be compared with theoretical relevant peaks, when the code relevant peaks with
It when the difference of theoretical relevant peaks is more than default interference threshold, determines and multi-path jamming occurs, wherein the theory relevant peaks are without more
Diameter interferes and there is no code relevant peaks when pseudorange error.Preferably, the default interference threshold can be preset by user.
In a preferred application scenarios for combining Fig. 3, it can judge whether to send out in each epoch as unit of epoch
Multi-path jamming has been given birth to, when current epoch is the t1 moment, through comparing, the difference of the code relevant peaks at the t1 moment and theoretical relevant peaks
Value is less than the default interference threshold, it may be determined that multi-path jamming does not occur for the t1 moment, further judges in the t1
Whether quarter determines datum mark before, if datum mark is not determined before time tl, using the t1 moment as the benchmark
Point.If alternatively, have been determined datum mark before the t1 moment, the datum mark and t1 moment respective carrier-to-noise ratio and
Code relevant peaks, if the carrier-to-noise ratio at the t1 moment is more than the carrier-to-noise ratio of the datum mark, and the code relevant peaks at the t1 moment
It is less than the difference of the code relevant peaks and theoretical relevant peaks of datum mark with the difference of theoretical relevant peaks, it is determined that the t1 moment is base
On schedule.
After the t1 moment, into before multi-path jamming, it can continue to be monitored as unit of epoch, by institute
The carrier-to-noise ratio and code relevant peaks quality for stating all epoch that multi-path jamming does not occur after the t1 moment are inferior to the t1 moment
Carrier-to-noise ratio and code relevant peaks quality, thus will the t1 moment as datum mark.
When current epoch is the t2 moment, through comparing, the difference of the code relevant peaks at the t2 moment and theoretical relevant peaks is big
In the default interference threshold, it may be determined that the t2 moment has come into multi-path jamming, then according to datum mark (the i.e. t1
Moment), Doppler frequency variation variance and the carrier-to-noise ratio at the t2 moment judge whether the pseudorange reparation stream into the present embodiment
Journey.When judging result shows that the interval at the t1 moment and the t2 moment is less than the predetermined interval threshold value (such as 1 minute), institute
The Doppler frequency variation variance for stating the t2 moment is less than the predetermined threshold value, and the carrier-to-noise ratio at the t2 moment is more than described pre-
If when carrier-to-noise ratio threshold value, determining that the pseudorange into the present embodiment repairs flow.
After determining that the pseudorange into the present embodiment repairs flow, since the t2 moment, it is based on abovementioned steps S102
In formula, by the t2 moment and its accumulative variable quantity of the code phase adjustment amount of each epoch and the datum mark later
In the difference compensation to the pseudorange of the accumulative variable quantity of code phase adjustment amount, to be repaired to pseudorange caused by multipath.
When the pseudorange for executing the present embodiment repairs flow to the t3 moment, through comparing, still there is multi-path jamming at this time, but
It is that t3 moment and the interval at t1 moment are more than the predetermined interval threshold value, if the pseudorange for still executing the present embodiment repairs flow,
Repairing effect may be undesirable.So the pseudorange reparation flow for executing the present embodiment can be temporarily ceased, until updated base
It is less than the predetermined interval threshold value with the interval of the current epoch on schedule.
Fig. 5 is a kind of structural representation of multipath prosthetic device based on code phase adjustment amount of the second embodiment of the present invention
Figure.It will be appreciated by those skilled in the art that multipath prosthetic device 4 described in the present embodiment is for implementing above-mentioned Fig. 1 to Fig. 4 illustrated embodiment
Described in method and technology scheme.Specifically, in the present embodiment, the multipath prosthetic device 4 includes the first judgment module 42,
When multi-path jamming occurs for current epoch, according in the carrier-to-noise ratio of datum mark, Doppler frequency variation variance and current epoch
It is at least one judge whether execute pseudorange reparation, wherein the datum mark be current epoch before multi-path jamming does not occur
Nearest epoch；Repair module 43 utilizes the code of the current epoch and datum mark when judging result shows that executing pseudorange repairs
The accumulative variable quantity of phase adjustment, repairs the pseudorange of the current epoch.
Further, first judgment module 42 includes judging submodule 421, when at least one of the following conditions are full
When sufficient, it is judged as executing pseudorange reparation：The interval of the datum mark and current epoch is less than predetermined interval threshold value；The Doppler
Frequency changes variance and is less than predetermined threshold value；It is more than default carrier-to-noise ratio threshold value in the carrier-to-noise ratio of current epoch.
Preferably, Doppler frequency variation variance refers to, within a preset period of time the variance of Doppler frequency difference,
The Doppler frequency difference is the difference of the Doppler frequency of two neighboring epoch.
Preferably, the datum mark be according to multi-path jamming does not occur when carrier-to-noise ratio and code relevant peaks determine.
Preferably for one or more epoch that multi-path jamming does not occur, by carrier-to-noise ratio is maximum and code relevant peaks with
The epoch of the difference minimum of theoretical relevant peaks is as the datum mark.
Further, the repair module 43 includes repairing submodule 431, based on following formula to the current epoch
Pseudorange is repaired：
PR_new (i)=PR (i)+(ACV-ACV ') × Code_Length
Wherein, the PR_new (i) indicates that the pseudorange of current epoch after repairing, the PR (i) indicate the puppet of current epoch
Away from the ACV indicates that the accumulative variable quantity of the code phase adjustment amount of current epoch, the ACV ' indicate the code phase tune of datum mark
The accumulative variable quantity of whole amount, the Code_Length indicate that the length of default pseudo-code chip, the accumulative variable quantity pass through integral
Operation obtains.
Further, the multipath prosthetic device 4 further includes the second judgment module 41, and second judgment module 41 uses
As under type judges whether current epoch occurs multi-path jamming：The code relevant peaks of current epoch are compared with theoretical relevant peaks,
When the difference of the code relevant peaks and theoretical relevant peaks is more than default interference threshold, determines and multi-path jamming occurs, wherein is described
Theoretical relevant peaks are no multi-path jammings and there is no code relevant peaks when pseudorange error.
Operation principle, more contents of working method about the multipath prosthetic device 4, are referred in Fig. 1 to Fig. 4
Associated description, which is not described herein again.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in computer readable storage medium, to store
Medium may include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (14)
1. a kind of multipath restorative procedure based on code phase adjustment amount, which is characterized in that including：
When multi-path jamming occurs for current epoch, made an uproar according to the load of datum mark, Doppler frequency variation variance and current epoch
Than at least one of judge whether to execute pseudorange reparation, wherein it is dry that multipath does not occur before being current epoch for the datum mark
The nearest epoch disturbed；
When judging result shows that executing pseudorange repairs, the accumulative of the code phase adjustment amount of the current epoch and datum mark is utilized
Variable quantity repairs the pseudorange of the current epoch.
2. multipath restorative procedure according to claim 1, which is characterized in that described to be become according to datum mark, Doppler frequency
At least one of the carrier-to-noise ratio for changing variance and current epoch judges whether that executing pseudorange reparation includes：
When at least one of the following conditions meet, it is judged as executing pseudorange reparation：Between the datum mark and current epoch
Every less than predetermined interval threshold value；The Doppler frequency variation variance is less than predetermined threshold value；It is more than in the carrier-to-noise ratio of current epoch
Default carrier-to-noise ratio threshold value.
3. multipath restorative procedure according to claim 1, which is characterized in that the Doppler frequency changes variance and refers to,
The variance of Doppler frequency difference within a preset period of time, the Doppler frequency difference are Doppler's frequency of two neighboring epoch
The difference of rate.
4. multipath restorative procedure according to claim 1, which is characterized in that the datum mark is dry according to multipath does not occur
What carrier-to-noise ratio and code relevant peaks when disturbing determined.
5. multipath restorative procedure according to claim 4, which is characterized in that for one or more of multi-path jamming does not occur
The epoch of the difference minimum of a epoch, carrier-to-noise ratio is maximum and code relevant peaks and theoretical relevant peaks is as the datum mark.
6. multipath restorative procedure according to claim 1, which is characterized in that utilize the code of the current epoch and datum mark
The accumulative variable quantity of phase adjustment, carrying out reparation to the pseudorange of the current epoch includes：
The pseudorange of the current epoch is repaired based on following formula：
PR_new (i)=PR (i)+(ACV-ACV’)×Code_Length
Wherein, the PR_new (i) indicates that the pseudorange of current epoch after repairing, the PR (i) indicate the pseudorange of current epoch, institute
State ACVIndicate the accumulative variable quantity of the code phase adjustment amount of current epoch, the ACV' indicate the code phase adjustment amount of datum mark
Accumulative variable quantity, the Code_Length indicate that the length of default pseudo-code chip, the accumulative variable quantity are obtained by integral operation
.
7. multipath restorative procedure according to claim 1, which is characterized in that whether judge current epoch in the following way
Multi-path jamming occurs：
The code relevant peaks of current epoch are compared with theoretical relevant peaks, when the difference of the code relevant peaks and theoretical relevant peaks is big
It when default interference threshold, determines and multi-path jamming occurs, wherein the theory relevant peaks are no multi-path jammings and pseudorange is not present
Code relevant peaks when error.
8. a kind of multipath prosthetic device based on code phase adjustment amount, which is characterized in that including：
First judgment module according to datum mark, Doppler frequency variation variance and is worked as when multi-path jamming occurs for current epoch
At least one of the carrier-to-noise ratio of preceding epoch judges whether to execute pseudorange reparation, wherein before the datum mark is current epoch
The nearest epoch of multi-path jamming does not occur；
Repair module utilizes the code phase tune of the current epoch and datum mark when judging result shows that executing pseudorange repairs
The accumulative variable quantity of whole amount, repairs the pseudorange of the current epoch.
9. multipath prosthetic device according to claim 8, which is characterized in that first judgment module includes：
Judging submodule is judged as executing pseudorange reparation when at least one of the following conditions meet：The datum mark with work as
The interval of preceding epoch is less than predetermined interval threshold value；The Doppler frequency variation variance is less than predetermined threshold value；In current epoch
Carrier-to-noise ratio is more than default carrier-to-noise ratio threshold value.
10. multipath prosthetic device according to claim 8, which is characterized in that the Doppler frequency changes variance and refers to,
The variance of Doppler frequency difference within a preset period of time, the Doppler frequency difference are Doppler's frequency of two neighboring epoch
The difference of rate.
11. multipath prosthetic device according to claim 8, which is characterized in that the datum mark is that multipath does not occur for basis
What carrier-to-noise ratio and code relevant peaks when interference determined.
12. multipath prosthetic device according to claim 11, which is characterized in that for do not occur one of multi-path jamming or
The epoch of the difference minimum of multiple epoch, carrier-to-noise ratio is maximum and code relevant peaks and theoretical relevant peaks is as the datum mark.
13. multipath prosthetic device according to claim 8, which is characterized in that the repair module includes：
Submodule is repaired, the pseudorange of the current epoch is repaired based on following formula：
PR_new (i)=PR (i)+(ACV-ACV’)×Code_Length
Wherein, the PR_new (i) indicates that the pseudorange of current epoch after repairing, the PR (i) indicate the pseudorange of current epoch, institute
State ACVIndicate the accumulative variable quantity of the code phase adjustment amount of current epoch, the ACV' indicate the code phase adjustment amount of datum mark
Accumulative variable quantity, the Code_Length indicate that the length of default pseudo-code chip, the accumulative variable quantity are obtained by integral operation
.
14. multipath prosthetic device according to claim 8, which is characterized in that further include the second judgment module, described second
Judgment module judges whether current epoch occurs multi-path jamming in the following way：
The code relevant peaks of current epoch are compared with theoretical relevant peaks, when the difference of the code relevant peaks and theoretical relevant peaks is big
It when default interference threshold, determines and multi-path jamming occurs, wherein the theory relevant peaks are no multi-path jammings and pseudorange is not present
Code relevant peaks when error.
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