CN109031364A - A kind of GPS cross-correlation removing method - Google Patents
A kind of GPS cross-correlation removing method Download PDFInfo
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- CN109031364A CN109031364A CN201810995852.7A CN201810995852A CN109031364A CN 109031364 A CN109031364 A CN 109031364A CN 201810995852 A CN201810995852 A CN 201810995852A CN 109031364 A CN109031364 A CN 109031364A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of GPS cross-correlation removing methods to pass through formula using the available information provided in known reference information during capturing weak signalParallel computation is carried out to the cross correlation value of all interference strong signals and weak signal, and these cross correlation values are all subtracted in last correlated results, then carries out detection judgement.The effect that cross-correlation of the present invention is eliminated is obvious, reduces the time of capture, will not bring the relatively lossy of relevant peaks.
Description
Technical field
The present invention relates to a kind of removing method, especially a kind of GPS cross-correlation removing method.
Background technique
When capturing weak signal, the cross-correlation interference due to caused by the Doppler frequency difference and energy difference between strong and weak signals is
An important factor for can it capture as restriction.
The common method for eliminating GPS cross-correlation has:
(1) road Q filter method --- cross-correlation interference is filtered out using the road the Q characteristics of signals of strong signal tracking phase.General
Receiver in, track loop is mostly continuously tracked carrier phase using phaselocked loop, if signal strength is bigger,
The phase discriminator of phaselocked loop is linear, and the precision of tracking is very high.If directly using strong signal Q roadbed band in strong signal tracking phase
Signal captures the satellite of other weak output signals and (is equivalent to the CA code for replacing weak signal with Q roadbed band signal), due to
The energy of track locked stage satellite-signal is concentrated mainly on the road I, the energy very little of the strong satellite of signal in the road Q, it is possible to disappear
Except cross-correlation interference.
(2) weak signal method is predicted --- by the strong signal and other information (satellite ephemeris) for capturing and tracking, in advance
Survey the weak signal being most possibly received.Then the weak signal in hybrid digital intermediate-freuqncy signal is captured, is calculated strong and weak
The cross correlation value of signal calculates cross-correlation decay factor caused by Doppler frequency shift and code phase deviation, calculates strong signal amplitude
The interference value of strong signal is obtained with the product of cross-correlation.The interference of strong signal is removed from mixed signal finally to extract weak letter
Number.This method not will cause the variation of weak signal strength.
(3) cross-correlation based on the frequency difference factor mitigates algorithm --- and it is all to estimate interference that common cross-correlation, which mitigates algorithm,
Then strong signal subtracts them from reception signal.But under normal circumstances, GPS receiver receives the quantization digit of signal
No more than 2bit, if directly subtracted from reception signal, precision can be very low, it is difficult to realize the purpose for eliminating interference strong signal.
However, it is possible to it is related to the progress of the CA code for the weak signal that is expected to after estimating strong signal, obtain strong and weak signals correlation simultaneously
Storage, and subtract strong and weak signals cross correlation value from the autocorrelation value for receiving signal and the weak signal that is expected to, it does not deposit thus
The problem of quantization digit causes, the purpose for eliminating cross-correlation can achieve.If for interference strong signal and the weak letter that is expected to
Number cross correlation value is accurately estimated, then will effectively eliminate cross-correlation after subtracting cross correlation value, obtains preferable effect.
(4) Subspace Projection Method is a kind of technology of modelled signal detector, and this signal detector can be eliminated any
Cross-correlation interference.In this technique, what the signal received was counted as being made of some basis vectors, then y=x+b+v, x
=H θ, b=S φ.In formula: y is signal；X is the satellite-signal for wanting capture；B is structure borne noise；V is white Gaussian noise；x
To be made of the column vector of matrix H；B is to be made of the column vector of matrix S.Finding a vector by projection can decompose
The subspace H, but it is not comprised in the subspace S, that is, first find one and the subspace S vertical space, then H vector is thrown
Shadow is to this vertical space.
Self correlated peak peak value after algorithm (1) elimination cross-correlation only has original 1/2, so SNR can reduce 3dB or so.
The algorithm implements the mutual biography for needing two channel informations, does not simulate to come to the algorithm, specific performance is unknown.Algorithm
(2) prediction weak signal method is the method seen from patent, this algorithm needs the parameter estimated to have ten from formula
It is several, and calculation step is complicated, implements also relatively difficult.The operand of algorithm (4) is huge, consumption resource it is more, by when
Between and complexity effect fail to emulate successfully.Algorithm (3) still has the space of optimization although with the obvious advantage.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of GPS cross-correlation removing methods, improve cross-correlation and eliminate effect
Fruit.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
A kind of GPS cross-correlation removing method, it is characterised in that comprise the steps of:
Step 1: capture strong signal, tracking strong signal, and the Doppler frequency and code phase of interference strong signal are calculated, it catches
It obtains weak signal and calculates the Doppler frequency difference of strong and weak signals；
Step 2: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop
Hz, n*1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps three if belonging to, and otherwise directly execute step 4；
Step 3: the cross correlation value of interference strong signal and desired weak signal is calculated；
Step 4: the autocorrelation value of expectation weak signal is calculated；
Step 5: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop
Hz, n*1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps six if belonging to, and otherwise directly execute step 7；
Step 6: cross-correlation is eliminated, and the autocorrelation value of weak signal is subtracted to the cross correlation value of strong and weak signals；
Step 7: detection decides whether to capture, and is made decisions according to detection threshold, starts to track if acquisition success.
Further, in the step 1, strong signal is obtained by trace routine, and weak signal is obtained by ephemeris information.
Further, the step 2 judges the process for interfering strong signal whether there is for the dop frequency difference position of strong and weak signals
When in the width range of main lobe, it is existing for being considered as the influence of cross-correlation.
Further, interference strong signal is calculated in the step 3 and the process of the cross correlation value of desired weak signal is
If receiving one of GPS signal code has subscript q, the product of this signal and the local CA code to induction signal k are as follows:
Wherein, AqFor signal amplitude, mqFor the navigation data in signal, and assume it on integration period T (T≤20ms)
Do not change, φqFor the carrier phase of signal, RqFor code Doppler, PqFor the PRN code of signal, d is signal chip delay, and s is this
Ground code chip delay, △ fqFor carrier doppler frequency difference, i.e. △ fq=dopstrong-dopweak；
If ignoring the Doppler effect on spreading rate, the time of integration of F frame generates following relationship:
Wherein Pq and Pk has (Tf=1ms) that the frame period is Tf periodical, T=F*Tf, F < 20；
Above formula is further derived, the Method for Accurate Calculation for obtaining the cumulative middle cross-correlation of coherent integration is as follows:
In formula (3)Indicate the relationship between cross-correlation intensity and Doppler frequency difference, F indicates relevant
The ms number of integral；
If Doppler frequency difference is 0, gain is F, indicates the data investigation of F frame without losing；
Therefore the normalization formula of gain is as follows:
Formula (4) is similar with known sinc (x)=sin (x)/x function, particularly when F takes very high values, formula
(4) related with the ms number F of coherent integration and Doppler frequency difference △ fq.
Further, the process of the autocorrelation value of calculating expectation weak signal is in the step 4
It is made of assuming that receiving signal strong and weak two signals, is indicated respectively with q and k, the Doppler frequency difference of strong and weak signals
Use fqAnd fkIt indicates, the auto-correlation formula for calculating weak signal is as follows:
First item is the cross correlation value of strong and weak signals in above formula, and Section 2 is the autocorrelation value of weak signal.
Further, it is by the cross correlation value process that the autocorrelation value of weak signal subtracts strong and weak signals in the step 6
The down coversion of strong signal Doppler frequency is first done to signal is received, then does the down coversion of Doppler frequency difference, finally again
Related to the progress of the CA code of weak signal, specific implementation formula is as follows
Compared with prior art, the present invention having the following advantages that and effect: the present invention carries out the method for the prior art excellent
Change, the effect that cross-correlation is eliminated is obvious, reduces the time of capture, will not bring the relatively lossy of relevant peaks.
Detailed description of the invention
Fig. 1 is a kind of flow chart of GPS cross-correlation removing method of the invention.
Fig. 2 is the cross-correlation gain curve figure (F=10) of Doppler frequency difference of the invention.
Fig. 3 is the partial enlarged view of the cross-correlation gain curve figure of Doppler frequency difference of the invention.
Fig. 4 is main lobe width of the invention conclusion table related with the energy difference of strong and weak signals.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is to this hair
Bright explanation and the invention is not limited to following embodiments.
As shown in Figure 1, a kind of GPS cross-correlation removing method of the invention comprising the steps of:
Step 1: capture strong signal, tracking strong signal, and the Doppler frequency and code phase of interference strong signal are calculated, it catches
It obtains weak signal and calculates the Doppler frequency difference of strong and weak signals；Strong signal is obtained by trace routine, and weak signal is obtained by ephemeris information.
Step 2: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop
Hz, n*1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps three if belonging to, and otherwise directly execute step 4；
When the dop frequency difference of strong and weak signals is located in the width range of main lobe, it is existing for being considered as the influence of cross-correlation.It can be with by Fig. 2
Find out only to be 0 in Doppler frequency difference, near ± 1kHz, ± 2kHz ... namely 1kHz integral multiple, cross-correlation just has an impact.
Its range influenced and gain curve " main lobe " width is related, inversely with F.Physical relationship by Fig. 3 partial enlargement
It can be seen that: as F=10, " main lobe " width is about 80Hz；As F=5, " main lobe " width is about 160Hz.
Judge strong and weak signals with the presence or absence of cross-correlation influence when, design " main lobe " width and strong and weak signals energy difference
It is related.It is concluded according to reference as shown in Figure 4.
Step 3: the cross correlation value of interference strong signal and desired weak signal is calculated；
If receiving one of GPS signal code has subscript q, the product of this signal and the local CA code to induction signal k are as follows:
Wherein, AqFor signal amplitude, mqFor the navigation data in signal, and assume it on integration period T (T≤20ms)
Do not change, φqFor the carrier phase of signal, RqFor code Doppler, PqFor the PRN code of signal, d is signal chip delay, and s is this
Ground code chip delay, △ fqFor carrier doppler frequency difference, i.e. △ fq=dopstrong-dopweak；
If ignoring the Doppler effect on spreading rate, the time of integration of F frame generates following relationship:
Wherein Pq and Pk has (Tf=1ms) that the frame period is Tf periodical, T=F*Tf, F < 20；
Above formula is further derived, the Method for Accurate Calculation for obtaining the cumulative middle cross-correlation of coherent integration is as follows:
In formula (3)Indicate the relationship between cross-correlation intensity and Doppler frequency difference, F indicates relevant
The ms number of integral；
If Doppler frequency difference is 0, gain is F, indicates the data investigation of F frame without losing；
Therefore the normalization formula of gain is as follows:
Formula (4) is similar with known sinc (x)=sin (x)/x function, particularly when F takes very high values, formula
(4) related with the ms number F of coherent integration and Doppler frequency difference △ fq.
Since interference strong signal and the cross correlation value of local weak signal can be calculated by (1) formula, it is possible to benefit
With the building strong signal estimation of the amplitude of each known strong signal, carrier frequency, carrier phase and code phase information, then detecting
The cross correlation value for calculating each interference strong signal and local weak signal in journey simultaneously by (1) formula, by it from connecing before judgement
It is subtracted in the collection of letters number and the autocorrelation value of local weak signal, fundamentally can more thoroughly eliminate the influence of cross-correlation in this way.
Step 4: the autocorrelation value of expectation weak signal is calculated；
It is made of assuming that receiving signal strong and weak two signals, is indicated respectively with q and k, the Doppler frequency difference of strong and weak signals
Use fqAnd fkIt indicates, the auto-correlation formula for calculating weak signal is as follows:
First item is the cross correlation value of strong and weak signals in above formula, and Section 2 is the autocorrelation value of weak signal.
Step 5: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop
Hz, n*1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps six if belonging to, and otherwise directly execute step 7；
Step 6: cross-correlation is eliminated, and the autocorrelation value of weak signal is subtracted to the cross correlation value of strong and weak signals；
First item is the cross correlation value of strong and weak signals in formula (5), and Section 2 is the autocorrelation value of weak signal, when the energy of q and k
When amount difference great disparity is larger, cross-correlation can become larger on the autocorrelative influence of weak signal, influence the capture of weak signal, and cross-correlation disappears
Except the first item sought in elimination above formula.
If wanting, eliminating first item can be realized by following three step, first do strong signal Doppler frequency to signal is received
Down coversion, then the down coversion of Doppler frequency difference is done, it is finally related to the progress of the CA code of weak signal again, it is implemented as follows
First item in formula (6) is directly from receiving the cross correlation value that is calculated in signal, in it and formula (5) mutually
The difference of correlation is that Doppler frequency difference has added a negative sign, i.e. △ fq=-(fq-fk).And the phase of the two is different, so cannot
The conjugate of (6) formula is subtracted by (5) formula to eliminate cross-correlation.It can only be calculated by formula 6 mutual by the method for modulus
Cross correlation value obtained in correlation and formula (5) is almost the same.The value that Section 2 in formula 6 acquires is relatively small, to mutual
Correlation is eliminated the effects of the act less.
Step 7: detection decides whether to capture, and is made decisions according to detection threshold, starts to track if acquisition success.
Verification method of the invention is, to the same weak satellite-signal, to generate 2 composite signals, a Doppler frequency difference
The integral multiple of 1kHz, one be not 1kHz integral multiple.The composite signal that Doppler frequency difference is 1kHz integral multiple is caught
Cross-correlation elimination is obtained and done, the composite signal for not being 1kHz integral multiple is directly captured.If the result one of the two capture
It causes, then it is assumed that cross-correlation cancellation module is effectively and operation is correct.
The parameter of the strong signal estimation of performance and reconstruct of the invention has much relations, especially carrier phase, because doing
It is that plural number is subtracted each other when cross-correlation is eliminated, carrier phase error is bigger, and the effect that cross-correlation is eliminated is poorer.From the several of emulation
From the point of view of group data, the effect that cross-correlation is eliminated is clearly.
Using the corresponding cross-correlation elimination algorithm of this module, by being emulated with the data (30x10ms) of 300ms long,
The data are by one
Strong signal and a weak signal composition, and Doppler frequency difference is 2kHz, accessible performance is as follows:
In the case that cross correlation value and the angle of autocorrelation value are acute angle, simulated conditions setting it is following (4096 points, floating-point
Type):
The satellite number of strong signal: 25；Doppler: -1000；The code phase of CA code: 1434；
The satellite number of weak signal: 23；Doppler: 1000；The code phase of CA code: 1334；
Conclusion: repeatedly being tested for each case, in the case that the angle of cross correlation value and autocorrelation value is acute angle,
The weak signal strength that can be captured is about -153 to -154dBm.Peak-to-average force ratio is substantially greater than 10, and individual cases can be less than
10。
In the case that cross correlation value and the angle of autocorrelation value are obtuse angle, simulated conditions setting it is following (4096 points, floating-point
Type):
The satellite number of strong signal: 25；Doppler: 2000；The code phase of CA code: 1434；
The satellite number of weak signal: 23；Doppler: 1000；The code phase of CA code: 1334；
Conclusion: when cross correlation value and the angle of autocorrelation value are obtuse angles, in the autocorrelation value for seeking weak signal, due to
Modulus is added, and cross correlation value elimination is not fallen, degradation.
Above content is only illustrations made for the present invention described in this specification.Technology belonging to the present invention
The technical staff in field can do various modifications or supplement or is substituted in a similar manner to described specific embodiment, only
It should belong to guarantor of the invention without departing from the content or beyond the scope defined by this claim of description of the invention
Protect range.
Claims (6)
1. a kind of GPS cross-correlation removing method, it is characterised in that comprise the steps of:
Step 1: capture strong signal, tracking strong signal, and the Doppler frequency and code phase of interference strong signal are calculated, it captures weak
Signal and the Doppler frequency difference for calculating strong and weak signals；
Step 2: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop Hz, n*
1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps three if belonging to, and otherwise directly execute step 4；
Step 3: the cross correlation value of interference strong signal and desired weak signal is calculated；
Step 4: the autocorrelation value of expectation weak signal is calculated；
Step 5: judge whether the absolute value for interfering strong signal and the weak signal frequency difference factor belongs to [n*1kHz- △ dop Hz, n*
1kHz+ △ dop Hz), wherein 8 n=0 ..., 9,10, then follow the steps six if belonging to, and otherwise directly execute step 7；
Step 6: cross-correlation is eliminated, and the autocorrelation value of weak signal is subtracted to the cross correlation value of strong and weak signals；
Step 7: detection decides whether to capture, and is made decisions according to detection threshold, starts to track if acquisition success.
2. a kind of GPS cross-correlation removing method described in accordance with the claim 1, it is characterised in that: in the step 1, strong signal
It is obtained by trace routine, weak signal is obtained by ephemeris information.
3. a kind of GPS cross-correlation removing method described in accordance with the claim 1, it is characterised in that: the step 2 judgement interference
When the process that strong signal whether there is is that the dop frequency difference of strong and weak signals is located in the width range of main lobe, it is considered as cross-correlation
Influence is existing.
4. a kind of GPS cross-correlation removing method described in accordance with the claim 1, it is characterised in that: calculated in the step 3 dry
It disturbs strong signal and the process of the cross correlation value of desired weak signal is
If receiving one of GPS signal code has subscript q, the product of this signal and the local CA code to induction signal k are as follows:
Wherein, AqFor signal amplitude, mqFor the navigation data in signal, and assume that it is constant on integration period T (T≤20ms)
Change, φqFor the carrier phase of signal, RqFor code Doppler, PqFor the PRN code of signal, d is signal chip delay, and s is local code
Chip delay, △ fqFor carrier doppler frequency difference, i.e. △ fq=dopstrong-dopweak；
If ignoring the Doppler effect on spreading rate, the time of integration of F frame generates following relationship:
Wherein Pq and Pk has (Tf=1ms) that the frame period is Tf periodical, T=F*Tf, F < 20；
Above formula is further derived, the Method for Accurate Calculation for obtaining the cumulative middle cross-correlation of coherent integration is as follows:
In formula (3)Indicate the relationship between cross-correlation intensity and Doppler frequency difference, F indicates coherent integration
Ms number；
If Doppler frequency difference is 0, gain is F, indicates the data investigation of F frame without losing；
Therefore the normalization formula of gain is as follows:
Formula (4) is similar with known sinc (x)=sin (x)/x function, particularly when F takes very high values, formula (4)
It is related with the ms number F of coherent integration and Doppler frequency difference △ fq.
5. a kind of GPS cross-correlation removing method described in accordance with the claim 1, it is characterised in that: calculate the phase in the step 4
The process of autocorrelation value for hoping weak signal is
It is made of, is indicated respectively with q and k, the Doppler frequency of strong and weak signals uses f respectively strong and weak two signals assuming that receiving signalqWith
fkIt indicates, the auto-correlation formula for calculating weak signal is as follows:
First item is the cross correlation value of strong and weak signals in above formula, and Section 2 is the autocorrelation value of weak signal.
6. a kind of GPS cross-correlation removing method described in accordance with the claim 1, it is characterised in that: by weak letter in the step 6
Number autocorrelation value subtract the cross correlation value processes of strong and weak signals and be
First do the down coversion of strong signal Doppler frequency to signal is received, then do the down coversion of Doppler frequency difference, finally again with it is weak
The CA code of signal carries out correlation, and specific implementation formula is as follows
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| CN101571585A (en) * | 2009-03-18 | 2009-11-04 | 杭州中科微电子有限公司 | Method for eliminating interference signal of GPS receiver and system thereof |
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| US20050099334A1 (en) * | 2002-07-10 | 2005-05-12 | Roh Mark C. | Cross-correlation mitigation method and apparatus for use in a global positioning system receiver |
| CN101359044A (en) * | 2008-09-19 | 2009-02-04 | 太原科技大学 | Method for calculating and eliminating interfere of GNSS strong signal to weak signal |
| CN101571585A (en) * | 2009-03-18 | 2009-11-04 | 杭州中科微电子有限公司 | Method for eliminating interference signal of GPS receiver and system thereof |
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