CN109307873A - A kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary - Google Patents
A kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary Download PDFInfo
- Publication number
- CN109307873A CN109307873A CN201811324405.5A CN201811324405A CN109307873A CN 109307873 A CN109307873 A CN 109307873A CN 201811324405 A CN201811324405 A CN 201811324405A CN 109307873 A CN109307873 A CN 109307873A
- Authority
- CN
- China
- Prior art keywords
- moment
- code
- carrier
- signal
- satellite
- 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
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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- 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
-
- 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
- G01S19/24—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
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The present invention discloses a kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary, including satellite signal receiving antenna, RF front-end module, Inertial Measurement Unit, inertial reference calculation module, satellite ephemeris storage module, carrier frequency & phase estimator module, carrier tracking module and code tracking module；Inertial Measurement Unit measures carrier acceleration and angular speed；Inertial reference calculation module completes positioning calculation and posture renewal according to acceleration and angular speed；Satellite ephemeris storage module stores satellite ephemeris；Carrier frequency & phase estimator module calculates the carrier frequency shift and code phase of subsequent time according to satellite ephemeris and positioning calculation；Satellite signal receiving antenna receives satellite-signal；RF front-end module handles satellite-signal to obtain digital medium-frequency signal；Carrier tracking module is corrected the carrier frequency shift locally saved using digital medium-frequency signal and carrier frequency shift；Code tracking module is corrected the code phase locally saved using digital medium-frequency signal and code phase.
Description
Technical field
The invention belongs to the technical fields of satellite positioning navigation, and in particular to a kind of Dual Kalman filtering device of INS auxiliary
Satellite-signal track loop.
Background technique
Global Satellite Navigation System being capable of round-the-clock real-time offer position, speed and temporal information, it has also become low cost system
Lead navigation information source indispensable on weapon.But in the application aspect for the high dynamic carrier such as rocket, guided missile, by
There are biggish Doppler frequency shift and Doppler frequency shift variable quantity in satellite-signal, traditional signal trace method is difficult to keep
Continuously, it reliably locks, satellite navigation receiver stationkeeping ability is caused to decline.In order to solve this problem, scholar proposes
The track loop that signal parameter is estimated using Kalman filter, in this loop design, frequency locking ring and code ring are by one
Individual Kalman filter is replaced, there is now many documents can prove this signal trace loop compare conventional loop and
Speech has apparent advantage.
Only estimate to track signal using only a filter, just means that carrier tracking error and code tracking error are tight
Tightly it is coupled.However tracking accuracy required for carrier tracking loop and code tracking loop is different, and is carried in contrast
Wave ring is more fragile.In practical applications, this error coupler effect can make yard error propagation of ring tracking to carrier tracking loop
Lu Zhong, and eventually lead to the decline of carrier wave ring tracking performance or even complete losing lock.
In addition, INS system can angular speed on the dynamic stress and three axis on sensitive detection three axis of carrier, pass through by
Doppler information on the satellite and the direction receiver sighting distance (LOS) of INS prediction introduces the track loop of GNSS receiver, can be with
Influence of the carrier dynamic to signal trace loop is largely made up, and then improves receiver in high dynamic signal fading environments
Under satellite-signal tracking ability.Therefore it is usually assisted in practical applications using INS, by by INS and GNSS phase
Combined mode improves the positioning performance purpose of navigation system to realize.
Summary of the invention
In view of this, the present invention provides a kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary, it can
Location navigation ability of the satellite navigation receiver under high dynamic environment is effectively improved, especially suitable for satellite guidance ammunition in height
Navigation under dynamic environment needs.
Realize that technical scheme is as follows:
A kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary, including satellite signal receiving antenna, radio frequency
Front-end module, Inertial Measurement Unit, inertial reference calculation module, satellite ephemeris storage module, carrier frequency & phase estimator module,
Carrier tracking module and code tracking module；
Inertial Measurement Unit measures the acceleration and angular speed on three directions of carrier；
Inertial reference calculation module completes positioning calculation and posture renewal according to the acceleration and angular speed of carrier；
Satellite ephemeris storage module is for storing satellite ephemeris；
Carrier frequency & phase estimator module calculates subsequent time according to the result of satellite ephemeris and the positioning calculation
Carrier frequency shift and code phase；
Satellite signal receiving antenna receives satellite-signal；
RF front-end module is handled to obtain digital medium-frequency signal to the satellite-signal；
Carrier tracking module is using the digital medium-frequency signal and the carrier frequency shift to carrier tracking module local
The carrier frequency shift of preservation is corrected；
The code phase that code tracking module utilizes the digital medium-frequency signal and the code phase to save code tracking module local
Position is corrected.
Further, carrier tracking module includes carrier wave ring Kalman filter, carrier wave ring Kalman filter be based on
Drag carries out Kalman filtering:
Wherein,For the state vector of the carrier wave ring Kalman filter at k moment, It is the carrier phase error at K moment,It is the load of the reception signal at K moment
Wave frequency rate,It is the carrier frequency variation rate at K moment,For the carrier wave ring state-transition matrix at k-1 moment；
For the INS subcarrier state feedback matrix at k-1 moment, The carrier frequency status feedback assisted for the INS at k-1 moment；For the calculation matrix at k moment, For the k moment INS assist Carrier State calculation matrix, For k moment carrier wave phase discriminator output mean value,The process for respectively representing the carrier wave ring wave filter at k moment is made an uproar
Sound covariance matrix and measurement noise covariance matrix.
Further, code tracking module includes code ring Kalman filter, and code ring Kalman filter is based on drag
Carry out Kalman filtering:
Wherein,For the state vector of the code ring Kalman filter at k moment, For the code phase error at k moment,For the C/A code frequency at k moment,For the C/A code frequency change rate at k moment,The mean value exported for the code phase discriminator at k moment；For the k-1 moment
Code ring status transfer matrix；
T is loop filter renewal time；For the INS auxiliary code state feedback matrix at k-1 moment, The code phase error state feedback assisted for the INS at k-1 moment；For
The code tracking system calculation matrix at k moment, It is surveyed for the INS auxiliary code state at k moment
Moment matrix, The respectively process noise association of the code ring Kalman filter at k-1 moment
Variance matrix and measurement noise covariance matrix.
The utility model has the advantages that
The present invention respectively tracks carrier wave and C/A code using two mutually independent Kalman filter, not only
Remain the advantage that traditional Kalman filtering signal trace method has under high dynamic and complex electromagnetic environment, and by coupling
The two kinds of tracking errors closed are decoupled, so as to improve the precision of signal trace.The auxiliary of INS system is introduced simultaneously, further
Improve performance of the whole system in high dynamic environment.
The present invention surrounds the critical issue in inexpensive high dynamic guided weapon location navigation, and each single item made is improved
It is provided to improve the dynamic property of entire navigation system, is therefore particularly suitable for missile-borne satellite navigation receiver in high dynamic ring
Navigation needs in border.The outstanding advantages of invention are summarized as follows:
1, the algorithm improves loop in height using Kalman filter instead of traditional signal trace loop filter
Signal trace ability under dynamic condition.
2, as the another improvement of this algorithm, the structure of Dual Kalman filtering, rule are used in the signal trace loop
The error coupler effect in traditional Kalman filter signal trace loop has been kept away, there is preferably tracking signal accuracy.
3, this method remains the hardware structure of traditional Inertial Measurement Unit and conventional satellite navigation neceiver, by soft
The purpose for improving navigation performance is realized in update on part algorithm, convenient for the transformation of conventional navigation systems.
4, the quantity of state that this method introduces INS feedback directly assists track loop, realizes that inertial navigation/defend leads two and is
Between system most closely coupling, improve the tracking ability under high dynamic environment to satellite-signal, particularly suitable for it is low at
This high dynamic guided weapon.
Detailed description of the invention
Fig. 1 is INS auxiliary Dual Kalman filtering signal trace loop structure figure of the invention.
Fig. 2 is carrier tracking module structural schematic diagram.
Fig. 3 is code tracking modular structure schematic diagram.
Fig. 4 (a) is the satellite schematic diagram of a scenario of high dynamic test；(b) be carrier flight path schematic diagram；It (c) is load
The Flight Acceleration parameter schematic diagram of body；It (d) is with reference to Doppler frequency shift and the carrier Doppler shift estimated using this method
Contrast schematic diagram；(e) the error schematic diagram between estimating Doppler frequency displacement and reference value；It (f) is to be tracked using classical signal
The carrier phase error schematic diagram of method output；(g) carrier phase error to track signal output using the method for the present invention shows
It is intended to.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Signal trace is carried out using double card Kalman Filtering the present invention provides a kind of, and it is dynamic to introduce the compensation of INS secondary ring
The signal trace method that state influences.This method can effectively improve location navigation of the satellite navigation receiver under high dynamic environment
Ability is needed especially suitable for navigation of the satellite guidance ammunition under high dynamic environment.
A kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary, as shown in Figure 1, being connect including satellite-signal
Receive antenna, RF front-end module, signal capture module, Inertial Measurement Unit, inertial reference calculation module, satellite ephemeris storage module,
Carrier frequency & phase estimator module, carrier tracking module and code tracking module；
Inertial Measurement Unit measures the acceleration and angular speed on three directions of carrier；
Inertial reference calculation module completes positioning calculation and posture renewal according to the acceleration and angular speed of carrier；
Satellite ephemeris storage module is for storing satellite ephemeris；
Carrier frequency & phase estimator module calculates subsequent time according to the result of satellite ephemeris and the positioning calculation
Carrier frequency shift and code phase；
The received satellite-signal of satellite signal receiving antenna is handled by RF front-end module and signal capture module
To digital medium-frequency signal；
Carrier tracking module is using the digital medium-frequency signal and the carrier frequency shift to carrier tracking module local
The carrier frequency shift of preservation is corrected；
The code phase that code tracking module utilizes the digital medium-frequency signal and the code phase to save code tracking module local
Position is corrected.
Fig. 2 is carrier tracking module structural schematic diagram, wherein 61 be signal multiplication device, 62 map for carrier wave I/Q branch, 63
It is carrier wave ring phase discriminator for coherent integrator, 64,65 be carrier wave ring Kalman filter, and 66 be INS feedback states amount, and 67 be load
Wave ring NCO.Carrier wave ring Kalman filter is based on carrying out Kalman filtering with drag:
Wherein,For the state vector of the carrier wave ring Kalman filter at k moment, It is the carrier phase error at K moment,It is the load of the reception signal at K moment
Wave frequency rate,It is the carrier frequency variation rate at K moment,For the carrier wave ring state-transition matrix at k-1 moment；
For the INS subcarrier state feedback matrix at k-1 moment, The carrier frequency status feedback assisted for the INS at k-1 moment；For the calculation matrix at k moment, For the k moment INS assist Carrier State calculation matrix, For k moment carrier wave phase discriminator output mean value,Respectively represent the process of the carrier wave ring wave filter at k moment
Noise covariance matrix and measurement noise covariance matrix.
Carrier wave ring Kalman filter modeling method derives as follows with proof:
1) state vector that carrier track device uses forWhereinIt is carrier wave phase
Position error,It is the carrier frequency for receiving signal,It is the carrier frequency variation rate at K moment, the relationship between them is such as
Shown in following formula:
WhereinIt is 0 mean value exported to T moment carrier wave phase discriminator, T is loop filter renewal time,
It is the carrier frequency status feedback of INS auxiliary.
2) relationship in the state vector of carrier wave Kalman filter between each element is as follows:
3) (7) are substituted into (6), and can be obtained after being designated as the whole variable replacements for being designated as K under of variable of K-1 by under
The measurement equation of system:
4) comprehensive (7) and (8) can obtain the system modelling of carrier wave Kalman filter shown in (4).
Fig. 3 is code tracking modular structure schematic diagram, wherein 71 be signal multiplication device, 72 generate for advanced/immediately/lag code
Device, 73 be coherent integrator, and 74 be code ring phase discriminator, and 75 be code ring Kalman filter, and 76 be INS feedback states amount, and 77 are
Code ring NCO.Code ring Kalman filter is based on carrying out Kalman filtering with drag:
Wherein,For the state vector of the code ring Kalman filter at k moment, For the code phase error at k moment,For the C/A code frequency at k moment,For the C/A code frequency change rate at k moment,The mean value exported for the code phase discriminator at k moment；For the k-1 moment
Code ring status transfer matrix；
T is loop filter renewal time；For the INS auxiliary code state feedback matrix at k-1 moment, The code phase error state feedback assisted for the INS at k-1 moment；For
The code tracking system calculation matrix at k moment, It is surveyed for the INS auxiliary code state at k moment
Moment matrix, The respectively process noise association of the code ring Kalman filter at k-1 moment
Variance matrix and measurement noise covariance matrix.
The derivation of code ring Kalman filter modeling and proof are as follows:
1) state vector of code ring Kalman filter isWhereinFor code
Phase error,For C/A code frequency,For C/A code frequency change rate.Similar with carrier loop, code phase reflects in code ring
There is following relationship between other device output and quantity of state:
WhereinThe average value for arriving the code ring phase discriminator output of T moment for 0,It is the code phase mistake of INS auxiliary
Poor state feedback.
2) there is following relationship each other between the element in the state vector of code tracking device
3) similarly, (10) are substituted into (9) replace it is all under be designated as after the amount of K-1 that the measurement of system can be obtained
Equation (11) is as follows:
4) comprehensive (10) and (11) can obtain code ring Kalman filter system model shown in (5).
The Dual Kalman filtering satellite-signal tracking of INS of the present invention auxiliary the specific implementation process is as follows:
Step 1: generating signal trace in conjunction with satellite ephemeris using the carrier multidate information of INS measurement as auxiliary information
The INS secondary status feedback variable of loop:
Step 1.1: Inertial Measurement Unit (IMU) measures the acceleration and angular speed on three directions of carrier；
Step 1.2: inertial reference calculation module (INS system) according to the measurement data of Inertial Measurement Unit complete positioning calculation and
Posture renewal；
Step 1.3: carrier frequency & phase estimator module combination inertial navigation positioning result and satellite ephemeris calculate next
The carrier frequency shift and code phase at moment；
Step 2: satellite signal receiving antenna received signal generates digital medium-frequency signal after frequency conversion and sampling, and
The fast Acquisition for completing signal, provides initial condition for signal trace:
Step 2.1: satellite-signal forms intermediate frequency data after the mixing of RF front-end module 21 and sampling.Signal is caught
Module 22 is obtained only to work when receiver does not track signal, the purpose is to realize the fast Acquisition of satellite-signal, and it is thick
Code and carrier wave NCO control amount are slightly set.After signal capture, intermediate-freuqncy signal enters by carrier tracking module 23 and code tracking
The Dual Kalman filtering satellite-signal track loop that module 24 forms；
Step 3: being carried out using Dual Kalman filtering satellite-signal track loop of the invention to current visible satellite-signal
Lasting tracking:
Step 3.1: being mapped by the I/Q branch that carrier wave I/Q branch mapping 62 generates local carrier, and pass through signal multiplication device
61 are multiplied with the digital intermediate frequency signal of input.Coherent integrator 63 integrates input signal, improves the energy of signal；
Step 3.2: the signal after integral is sent into carrier wave ring phase discriminator 64, is reflected using traditional Coase tower ring
Phase, identified result are sent into carrier wave ring Kalman filter 65 as observed quantity, while last as a part of observed quantity feeding
In integrated navigation filtering；
Step 3.3:Kalman filter combination INS feedback states amount 66 is filtered, the optimal estimation to carrier frequency
As a result to drive carrier wave ring NCO67, and new local replica carrier wave is ultimately generated；
Step 3.4: the carrier wave after step 2.1 to step 3.3 in digital medium-frequency signal has been fully stripped, and is only retained
Two-way has modulated the i/q signal of pseudo noise code.This two paths of signals respectively with generated by signal multiplication device 71 it is advanced/instant/stagnant
Code is multiplied afterwards, and the result after multiplication is sent into coherent integrator 73 and is integrated to increase signal energy；
Step 3.5: the signal after integral is sent into code ring phase discriminator 74, is carried out using traditional non-coherent integration phase detecting method
Phase demodulation, identified result are sent into code ring Kalman filter 75 as observed quantity, and are sent into most as a part of observed quantity simultaneously
In integrated navigation filtering afterwards；
Step 3.6:Kalman filter combination INS feedback states amount 76 is filtered, the optimal estimation to carrier frequency
As a result to drive a yard ring NCO77, and new local replica C/A code is ultimately generated；
Step 4: being followed by the collection of letters number only by carrier wave removing and code removing comprising navigation message information, by itself and ranging
Information is fed together in rear end integrated navigation filter and carries out positioning calculation:
Step 4.1: if signal trace is accurate enough, the signal after integrating in step 3.5 can be demodulated needed for receiver
The navigation message wanted；
Step 4.2: navigation message and ranging information are transmitted in integrated navigation filter and carry out positioning calculation, signal with
Track loop return step 1, carries out the processing of next epoch.It should be noted that after receiver entering signal tracking mode just
It can skip the fast capturing signal stage in step 2.1, need to only keep continuously tracking.
Fig. 4 is the MATLAB Simulation results that signal trace is carried out using the method for the present invention.Wherein (a) is high dynamic examination
The satellite scene tested；(b) be carrier flight path, including at the uniform velocity, the stages such as climb, turn；(c) accelerate for the flight of carrier
Spend parameter, the acceleration including 5g/s, the acceleration of 5g and the acceleration of -5g/s；It (d) is to refer to Doppler frequency shift and make
The carrier Doppler shift estimated with this method；(e) error between estimating Doppler frequency displacement and reference value；It (f) is use
The carrier phase error of classical signal tracking output, it is seen that track loop losing lock；It (g) is to use method of the invention
Track the carrier phase error of signal output, it is clear that carrier wave ring still keeps locking.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary, which is characterized in that including satellite signal receiving
Antenna, RF front-end module, Inertial Measurement Unit, inertial reference calculation module, satellite ephemeris storage module, carrier frequency & code phase
Estimation module, carrier tracking module and code tracking module；
Inertial Measurement Unit measures the acceleration and angular speed on three directions of carrier；
Inertial reference calculation module completes positioning calculation and posture renewal according to the acceleration and angular speed of carrier；
Satellite ephemeris storage module is for storing satellite ephemeris；
Carrier frequency & phase estimator module calculates the carrier wave of subsequent time according to the result of satellite ephemeris and the positioning calculation
Frequency shift (FS) and code phase；
Satellite signal receiving antenna receives satellite-signal；
RF front-end module is handled to obtain digital medium-frequency signal to the satellite-signal；
Carrier tracking module locally saves carrier tracking module using the digital medium-frequency signal and the carrier frequency shift
Carrier frequency shift be corrected；
The code phase that code tracking module saves code tracking module local using the digital medium-frequency signal and the code phase into
Row correction.
2. a kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary as described in claim 1, feature exist
In carrier tracking module includes carrier wave ring Kalman filter, and carrier wave ring Kalman filter is based on carrying out karr with drag
Graceful filtering:
Wherein,For the state vector of the carrier wave ring Kalman filter at k moment, It is the carrier phase error at K moment,It is the carrier frequency of the reception signal at K moment,It is the load at K moment
Wave frequency rate change rate,For the carrier wave ring state-transition matrix at k-1 moment；
For the INS subcarrier state feedback matrix at k-1 moment,
The carrier frequency status feedback assisted for the INS at k-1 moment；For the calculation matrix at k moment, For the k moment INS assist Carrier State calculation matrix, For k moment carrier wave phase discriminator output mean value,Respectively represent the process of the carrier wave ring wave filter at k moment
Noise covariance matrix and measurement noise covariance matrix.
3. a kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary as claimed in claim 1 or 2, feature
It is, code tracking module includes code ring Kalman filter, and code ring Kalman filter is based on carrying out Kalman's filter with drag
Wave:
Wherein,For the state vector of the code ring Kalman filter at k moment, For the code phase error at k moment,For the C/A code frequency at k moment,Change for the C/A code frequency at k moment
Rate,The mean value exported for the code phase discriminator at k moment；For the code ring status transfer matrix at k-1 moment；
T is loop filter renewal time；For the INS auxiliary code state feedback matrix at k-1 moment, The code phase error state feedback assisted for the INS at k-1 moment；
For the code tracking system calculation matrix at k moment, For the INS auxiliary code state at k moment
Calculation matrix, The respectively process noise of the code ring Kalman filter at k-1 moment
Covariance matrix and measurement noise covariance matrix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324405.5A CN109307873B (en) | 2018-11-08 | 2018-11-08 | INS-assisted double Kalman filter satellite signal tracking loop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324405.5A CN109307873B (en) | 2018-11-08 | 2018-11-08 | INS-assisted double Kalman filter satellite signal tracking loop |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109307873A true CN109307873A (en) | 2019-02-05 |
| CN109307873B CN109307873B (en) | 2022-10-28 |
Family
ID=65222680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811324405.5A Active CN109307873B (en) | 2018-11-08 | 2018-11-08 | INS-assisted double Kalman filter satellite signal tracking loop |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109307873B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060945A (en) * | 2020-01-13 | 2020-04-24 | 东南大学 | GNSS/5G tight combination fusion positioning method and device |
| CN111965683A (en) * | 2020-08-19 | 2020-11-20 | 上海海事大学 | Combined positioning method, device and storage medium for satellite positioning and inertial navigation positioning |
| CN112835076A (en) * | 2021-01-06 | 2021-05-25 | 星展测控科技股份有限公司 | Communication-in-motion system, control method of communication-in-motion system and storage medium |
| CN114221843A (en) * | 2021-10-28 | 2022-03-22 | 中国人民解放军海军大连舰艇学院 | Ephemeris-assisted-free polar orbit meteorological satellite LRPT signal automatic acquisition method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008147232A1 (en) * | 2007-05-29 | 2008-12-04 | Deimos Engenharia S.A. | Highly integrated gps, galileo and inertial navigation system |
| CN101666868A (en) * | 2009-09-30 | 2010-03-10 | 北京航空航天大学 | Satellite signal vector tracking method based on SINS/GPS deep integration data fusion |
| CN103995269A (en) * | 2014-05-26 | 2014-08-20 | 南京理工大学 | Method for inertial information assisting GNSS tracking loop |
| CN103995272A (en) * | 2014-06-11 | 2014-08-20 | 东南大学 | Novel inertial assisted GPS receiver achieving method |
| CN104199059A (en) * | 2014-07-14 | 2014-12-10 | 南京航空航天大学 | Doppler self-compensation method of receiver tracking loop based on self-adaptive alpha-beta filter |
| CN104931994A (en) * | 2015-06-12 | 2015-09-23 | 南京理工大学 | Software receiver-based distributed deep integrated navigation method and system |
| CN107656300A (en) * | 2017-08-15 | 2018-02-02 | 东南大学 | The hypercompact combined system of satellite/inertia and method based on the Big Dipper/GPS dual-mode software receiver |
| CN107765270A (en) * | 2016-08-17 | 2018-03-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of satellite navigation receiver tracking ring based on Kalman filtering |
-
2018
- 2018-11-08 CN CN201811324405.5A patent/CN109307873B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008147232A1 (en) * | 2007-05-29 | 2008-12-04 | Deimos Engenharia S.A. | Highly integrated gps, galileo and inertial navigation system |
| CN101666868A (en) * | 2009-09-30 | 2010-03-10 | 北京航空航天大学 | Satellite signal vector tracking method based on SINS/GPS deep integration data fusion |
| CN103995269A (en) * | 2014-05-26 | 2014-08-20 | 南京理工大学 | Method for inertial information assisting GNSS tracking loop |
| CN103995272A (en) * | 2014-06-11 | 2014-08-20 | 东南大学 | Novel inertial assisted GPS receiver achieving method |
| CN104199059A (en) * | 2014-07-14 | 2014-12-10 | 南京航空航天大学 | Doppler self-compensation method of receiver tracking loop based on self-adaptive alpha-beta filter |
| CN104931994A (en) * | 2015-06-12 | 2015-09-23 | 南京理工大学 | Software receiver-based distributed deep integrated navigation method and system |
| CN107765270A (en) * | 2016-08-17 | 2018-03-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of satellite navigation receiver tracking ring based on Kalman filtering |
| CN107656300A (en) * | 2017-08-15 | 2018-02-02 | 东南大学 | The hypercompact combined system of satellite/inertia and method based on the Big Dipper/GPS dual-mode software receiver |
Non-Patent Citations (1)
| Title |
|---|
| 周广宇等: "基于双卡尔曼滤波及贝叶斯估计的微弱GPS信号跟踪方法", 《上海交通大学学报》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060945A (en) * | 2020-01-13 | 2020-04-24 | 东南大学 | GNSS/5G tight combination fusion positioning method and device |
| CN111965683A (en) * | 2020-08-19 | 2020-11-20 | 上海海事大学 | Combined positioning method, device and storage medium for satellite positioning and inertial navigation positioning |
| CN112835076A (en) * | 2021-01-06 | 2021-05-25 | 星展测控科技股份有限公司 | Communication-in-motion system, control method of communication-in-motion system and storage medium |
| CN112835076B (en) * | 2021-01-06 | 2024-03-01 | 星展测控科技股份有限公司 | Communication-in-motion system, control method for communication-in-motion system, and storage medium |
| CN114221843A (en) * | 2021-10-28 | 2022-03-22 | 中国人民解放军海军大连舰艇学院 | Ephemeris-assisted-free polar orbit meteorological satellite LRPT signal automatic acquisition method |
| CN114221843B (en) * | 2021-10-28 | 2024-03-15 | 中国人民解放军海军大连舰艇学院 | Automatic acquisition method for polar orbit meteorological satellite LRPT signal without ephemeris assistance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109307873B (en) | 2022-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109307873A (en) | A kind of Dual Kalman filtering device satellite-signal track loop of INS auxiliary | |
| US9513129B2 (en) | Low authority GPS aiding of navigation system for anti-spoofing | |
| US6240367B1 (en) | Full fusion positioning method for vehicle | |
| Zhao et al. | An open source GPS/GNSS vector tracking loop-implementation, filter tuning, and results | |
| US20060161329A1 (en) | System and method for advanced tight coupling of GPS and inertial navigation sensors | |
| US6876925B2 (en) | Two-stage interacting multiple models filter for use in a global positioning system | |
| US8370064B1 (en) | Integrated global navigation satellite system and inertial navigation system for navigation and tracking | |
| Sun et al. | Ultratight GPS/reduced-IMU integration for land vehicle navigation | |
| US20020158796A1 (en) | Integrated GPS and IGS system and method | |
| CN104280746A (en) | Inertia-assisting GPS deep-integration semi-physical simulation system | |
| CN109307879A (en) | A kind of air navigation aid based on INS assisted GNSS vector tracking ring | |
| CN108761512A (en) | A kind of adaptive CKF filtering methods of missile-borne BDS/SINS deep combinations | |
| US6738713B2 (en) | Positioning apparatus and method | |
| Tang et al. | Practical implementation and performance assessment of an Extended Kalman Filter-based signal tracking loop | |
| Kim et al. | An ultra-tightly coupled GPS/INS integration using federated Kalman filter | |
| CN106199668A (en) | A kind of tandem type GNSS/SINS deep integrated navigation method | |
| Soloviev et al. | Deeply Integrated GPS/Low‐Cost IMU for Low CNR Signal Processing: Concept Description and In‐Flight Demonstration | |
| CN106338748A (en) | Kalman filtering based GPS receiver tracking loop | |
| CN201751861U (en) | Receiver of inertial navigation system/satellite navigation system | |
| CN106842242B (en) | A kind of vector tracking channel failure detection method based on support vector machines | |
| TW448304B (en) | Fully-coupled positioning process and system | |
| Rao et al. | SDR joint GPS/Galileo receiver from theory to practice | |
| CN116224401A (en) | Shipborne GNSS receiver and vector tracking method thereof | |
| CN109307878A (en) | A kind of air navigation aid of INS assisted GNSS scalar tracking ring | |
| Lashley | Kalman filter based tracking algorithms for software GPS receivers |
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 |