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
- carrier
- code
- time
- module
- loop
- 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
- 238000001914 filtration Methods 0.000 title claims abstract description 18
- 230000009977 dual effect Effects 0.000 title claims abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 36
- 238000000034 method Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000001427 coherent effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 230000001808 coupling effect Effects 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- 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 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 field of satellite positioning navigation, and particularly relates to an INS (inertial navigation system) -assisted double Kalman filter satellite signal tracking loop.
Background
The global satellite navigation system can provide position, speed and time information in real time all day long, and becomes an indispensable navigation information source on low-cost guided weapons. However, in the application of high-dynamic carriers such as rockets and missiles, because the satellite signals have large doppler frequency shift and doppler frequency shift variation, the traditional signal tracking method is difficult to keep continuous and reliable locking, and the positioning capability of the satellite navigation receiver is reduced. To solve this problem, researchers have proposed tracking loops that use kalman filters to estimate signal parameters, and in such loop designs, the frequency-locked loop and the code loop are replaced by a single kalman filter, and there are many documents that demonstrate the significant advantages of such signal tracking loops over conventional loops.
Using only one filter to estimate the tracking signal means that the carrier tracking error and the code tracking error are tightly coupled together. However, the required tracking accuracy of the carrier tracking loop and the code tracking loop are different, compared to the carrier loop, which is more fragile. In practical applications, such an error coupling effect may cause an error of code loop tracking to be transferred to a carrier tracking loop, and eventually cause the carrier loop tracking performance to be degraded, or even completely lose lock.
In addition, the INS system can sensitively detect the dynamic stress on three axes of the carrier and the angular velocity on the three axes, and the Doppler information in the direction of the satellite and the receiver line of sight (LOS) predicted by the INS is introduced into a tracking loop of the GNSS receiver, so that the influence of the carrier dynamics on the signal tracking loop can be compensated to a great extent, and the satellite signal tracking capability of the receiver in a high dynamic signal attenuation environment is improved. Therefore, in practical applications, the INS is often used for assistance, and the purpose of improving the positioning performance of the navigation system is achieved by combining the INS with the GNSS.
Disclosure of Invention
In view of the above, the invention provides an INS-assisted dual Kalman filter satellite signal tracking loop, which can effectively improve the positioning and navigation capabilities of a satellite navigation receiver in a high dynamic environment, and is particularly suitable for the navigation requirements of satellite guided munitions in the high dynamic environment.
The technical scheme for realizing the invention is as follows:
an INS-assisted dual Kalman filter satellite signal tracking loop comprises a satellite signal receiving antenna, a radio frequency front-end module, an inertial measurement unit, an inertial navigation resolving module, a satellite ephemeris storage module, a carrier frequency and code phase estimation module, a carrier tracking module and a code tracking module;
the inertia measurement unit measures acceleration and angular velocity of the carrier in three directions;
the inertial navigation resolving module completes positioning resolving and attitude updating according to the acceleration and the angular speed of the carrier;
the satellite ephemeris storage module is used for storing satellite ephemeris;
the carrier frequency and code phase estimation module calculates the carrier frequency offset and the code phase at the next moment according to the satellite ephemeris and the positioning calculation result;
a satellite signal receiving antenna receives a satellite signal;
the radio frequency front-end module processes the satellite signal to obtain a digital intermediate frequency signal;
the carrier tracking module corrects the carrier frequency offset locally stored by the carrier tracking module by using the digital intermediate frequency signal and the carrier frequency offset;
and the code tracking module corrects the code phase locally stored by the code tracking module by using the digital intermediate frequency signal and the code phase.
Further, the carrier tracking module comprises a carrier loop Kalman filter, and the carrier loop Kalman filter performs Kalman filtering based on the following model:
wherein,is the state vector of the carrier loop Kalman filter at time k, is the carrier phase error at time K,is the carrier frequency of the received signal at time K,is the rate of change of the carrier frequency at time K,a carrier ring state transfer matrix at the moment of k-1;
is the INS assisted carrier state feedback matrix at time k-1, INS-assisted carrier frequency state feedback at the time of k-1;is the measurement matrix for the time instant k, for the INS assisted carrier state measurement matrix at time k, is the average value of the output of the carrier phase discriminator at the moment k,respectively representing the process noise covariance matrix and the measurement noise covariance matrix of the carrier loop filter at time k.
Further, the code tracking module comprises a code loop Kalman filter, and the code loop Kalman filter performs Kalman filtering based on the following model:
wherein,is the state vector of the code loop Kalman filter at time k, is the code phase error at time k,is the C/a code frequency at time k,is the rate of change of the C/a code frequency at time k,the average value of the output of the code phase discriminator at the moment k;a code ring state transition matrix at the moment of k-1;
t is the loop filter update time;is the INS ancillary code state feedback matrix at time k-1, INS-assisted code phase error state feedback at time k-1;the system measures the matrix for the code tracking at time k, the INS helper code state measurement matrix for time k, respectively, a process noise covariance matrix and a measurement noise covariance matrix of the code loop Kalman filter at the time k-1.
Has the advantages that:
the invention utilizes two independent Kalman filters to track the carrier and the C/A code respectively, not only retains the advantages of the traditional Kalman filtering signal tracking method in high dynamic and complex electromagnetic environments, but also decouples two coupled tracking errors, thereby improving the precision of signal tracking. And meanwhile, the assistance of the INS system is introduced, so that the performance of the whole system in a high-dynamic environment is further improved.
The invention aims at solving the key problem of positioning and navigating a low-cost high-dynamic guided weapon, and each improvement is made to improve the dynamic performance of the whole navigation system, so that the method is particularly suitable for the navigation requirement of a missile-borne satellite navigation receiver in a high-dynamic environment. The outstanding advantages of the invention are summarized as follows:
1. the algorithm adopts a Kalman filter to replace the traditional signal tracking loop filter, and improves the signal tracking capability of the loop under the high dynamic condition.
2. As a further improvement of the algorithm, the signal tracking loop adopts a double Kalman filtering structure, so that the error coupling effect in the traditional Kalman filtering signal tracking loop is avoided, and the signal tracking loop has better tracking signal precision.
3. The method reserves the hardware architecture of the traditional inertial measurement unit and the traditional satellite navigation receiver, realizes the purpose of improving the navigation performance by updating the software algorithm, and is convenient for the reconstruction of the traditional navigation system.
4. The method introduces the state quantity fed back by the INS to directly assist a tracking loop, realizes the tightest coupling between an inertial navigation system and a satellite navigation system, improves the tracking capability of satellite signals in a high dynamic environment, and is particularly suitable for being applied to low-cost high-dynamic guided weapons.
Drawings
FIG. 1 is a block diagram of the INS assisted dual Kalman filtered signal tracking loop of the present invention.
Fig. 2 is a schematic structural diagram of a carrier tracking module.
Fig. 3 is a schematic diagram of a code tracking module structure.
FIG. 4(a) is a schematic diagram of a satellite scene for high dynamic testing; (b) is a schematic flight path of the carrier; (c) is a flight acceleration parameter diagram of the carrier; (d) is a comparison diagram of the Doppler shift of a reference and the carrier estimated by using the method; (e) a diagram of the error between the estimated Doppler shift and the reference value; (f) a schematic diagram of a carrier phase error output by using a traditional signal tracking method; (g) a schematic diagram of the carrier phase error output for tracking signals using the method of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a signal tracking method which uses double Kalman filtering to track signals and introduces INS auxiliary loop to compensate dynamic influence. The method can effectively improve the positioning and navigation capacity of the satellite navigation receiver in the high dynamic environment, and is particularly suitable for the navigation requirement of the satellite guidance ammunition in the high dynamic environment.
An INS-assisted dual Kalman filter satellite signal tracking loop, as shown in fig. 1, includes a satellite signal receiving antenna, a radio frequency front end module, a signal capturing module, an inertial measurement unit, an inertial navigation resolving module, a satellite ephemeris storage module, a carrier frequency & code phase estimation module, a carrier tracking module, and a code tracking module;
the inertia measurement unit measures acceleration and angular velocity of the carrier in three directions;
the inertial navigation resolving module completes positioning resolving and attitude updating according to the acceleration and the angular speed of the carrier;
the satellite ephemeris storage module is used for storing satellite ephemeris;
the carrier frequency and code phase estimation module calculates the carrier frequency offset and the code phase at the next moment according to the satellite ephemeris and the positioning calculation result;
satellite signals received by the satellite signal receiving antenna are processed by the radio frequency front end module and the signal capturing module to obtain digital intermediate frequency signals;
the carrier tracking module corrects the carrier frequency offset locally stored by the carrier tracking module by using the digital intermediate frequency signal and the carrier frequency offset;
and the code tracking module corrects the code phase locally stored by the code tracking module by using the digital intermediate frequency signal and the code phase.
Fig. 2 is a schematic structural diagram of a carrier tracking module, where 61 is a signal multiplier, 62 is carrier I/Q branch mapping, 63 is a coherent integrator, 64 is a carrier loop phase detector, 65 is a carrier loop Kalman filter, 66 is an INS feedback state quantity, and 67 is a carrier loop NCO. The carrier loop Kalman filter performs Kalman filtering based on the following model:
wherein,is the state vector of the carrier loop Kalman filter at time k, is the carrier phase error at time K,is the carrier frequency of the received signal at time K,is the rate of change of the carrier frequency at time K,a carrier ring state transfer matrix at the moment of k-1;
is the INS assisted carrier state feedback matrix at time k-1, INS-assisted carrier frequency state feedback at the time of k-1;is the measurement matrix for the time instant k, for the INS assisted carrier state measurement matrix at time k, is the average value of the output of the carrier phase discriminator at the moment k,respectively representing the process noise covariance matrix and the measurement noise covariance matrix of the carrier loop filter at time k.
The carrier loop Kalman filter modeling method is derived and proved as follows:
1) the carrier tracker uses a state vector ofWhereinIs the phase error of the carrier wave and,is the carrier frequency of the received signal and,is the carrier frequency change rate at time K, and the relationship between them is shown as follows:
whereinIs the average value of the output of the carrier phase discriminator from 0 to T, T is the update time of the loop filter,is INS assisted carrier frequency status feedback.
2) The relationship between the various elements in the state vector of the carrier Kalman filter is as follows:
3) and (3) substituting (7) into (6), and replacing all variables with subscript K-1 with variables with subscript K to obtain a measurement equation of the system:
4) and (7) synthesizing (8) to obtain the system modeling of the carrier Kalman filter shown in (4).
Fig. 3 is a schematic diagram of a code tracking module, in which 71 is a signal multiplier, 72 is an early/instantaneous/late code generator, 73 is a coherent integrator, 74 is a code loop phase detector, 75 is a code loop Kalman filter, 76 is an INS feedback state quantity, and 77 is a code loop NCO. The code loop Kalman filter performs Kalman filtering based on the following model:
wherein,is the state vector of the code loop Kalman filter at time k, is the code phase error at time k,is the C/a code frequency at time k,is the rate of change of the C/a code frequency at time k,the average value of the output of the code phase discriminator at the moment k;a code ring state transition matrix at the moment of k-1;
t is the loop filter update time;is the INS ancillary code state feedback matrix at time k-1, INS-assisted code phase error state feedback at time k-1;the system measures the matrix for the code tracking at time k, the INS helper code state measurement matrix for time k, respectively, a process noise covariance matrix and a measurement noise covariance matrix of the code loop Kalman filter at the time k-1.
The derivation and proof of the code loop Kalman filter modeling is as follows:
1) the state vector of the code loop Kalman filter isWhereinIn order to be able to correct the code phase error,is the frequency of the C/a code,is the rate of change of the C/a code frequency. Similar to the carrier loop, the code phase discriminator output and the state quantity in the code loop have the following relations:
whereinThe average value of the output of the code loop phase detector from time 0 to T,is the INS assisted code phase error state feedback.
2) The elements in the state vector of the code tracker have the following relationship with each other
3) Similarly, substituting (10) for (9) replaces all quantities with the subscript K-1 to yield the measurement equation (11) for the system as follows:
4) and (5) synthesizing (10) and (11) to obtain the code loop Kalman filter system model shown in (5).
The specific implementation process of INS-assisted double Kalman filtering satellite signal tracking is as follows:
step one, using carrier dynamic information measured by an INS as auxiliary information, and combining with a satellite ephemeris to generate an INS auxiliary state feedback variable of a signal tracking loop:
step 1.1: an Inertial Measurement Unit (IMU) measures acceleration and angular velocity of the carrier in three directions;
step 1.2: an inertial navigation resolving module (INS system) completes positioning resolving and attitude updating according to the measurement data of the inertial measurement unit;
step 1.3: the carrier frequency and code phase estimation module is combined with the inertial navigation positioning result and the satellite ephemeris to calculate the carrier frequency offset and the code phase at the next moment;
step two, the signals received by the satellite signal receiving antenna generate digital intermediate frequency signals after frequency conversion and sampling, rapid acquisition of the signals is completed, and initial conditions are provided for signal tracking:
step 2.1: the satellite signals are mixed and sampled by the rf front-end module 21 to form intermediate frequency data. The signal acquisition module 22 only functions when the receiver is not tracking signals, and its purpose is to achieve fast acquisition of satellite signals and to set the code and carrier NCO control quantities roughly. After the signal acquisition is finished, the intermediate frequency signal enters a double Kalman filtering satellite signal tracking loop consisting of a carrier tracking module 23 and a code tracking module 24;
step three, the double Kalman filtering satellite signal tracking loop of the invention is applied to continuously track the current visible satellite signal:
step 3.1: the I/Q branch map of the local carrier is generated by the carrier I/Q branch map 62 and multiplied by the incoming intermediate frequency digital signal by the signal multiplier 61. The coherent integrator 63 integrates the input signal to increase the energy of the signal;
step 3.2: the integrated signal is sent to a carrier loop phase discriminator 64, the phase discrimination is carried out by using the traditional costas loop, the phase discrimination result is taken as observed quantity and sent to a carrier loop Kalman filter 65, and simultaneously, the observed quantity is taken as a part of observed quantity and sent to the final combined navigation filtering;
step 3.3: the Kalman filter combines the INS feedback state quantity 66 to carry out filtering, the optimal estimation result of the carrier frequency is used for driving a carrier ring NCO67, and a new local copy carrier is finally generated;
step 3.4: after the steps 2.1 to 3.3, the carrier waves in the digital intermediate frequency signals are fully stripped, and only two paths of I/Q signals which modulate pseudo-random codes are reserved. The two signals are multiplied by the lead/prompt/lag code generated by the signal multiplier 71, and the multiplied result is sent to the coherent integrator 73 for integration to increase the signal energy;
step 3.5: the integrated signal is sent to a code loop phase detector 74, phase detection is performed by using a traditional incoherent integral phase detection method, the phase detection result is sent to a code loop Kalman filter 75 as observed quantity, and is sent to final combined navigation filtering as part of the observed quantity;
step 3.6: the Kalman filter combines the INS feedback state quantity 76 to filter, the optimal estimation result of the carrier frequency is used for driving a code ring NCO77, and finally a new local copy C/A code is generated;
and step four, after carrier stripping and code stripping, receiving signals only contain navigation message information, and sending the navigation message information and the ranging information into a rear-end combined navigation filter together for positioning and resolving:
step 4.1: if the signal tracking is accurate enough, the integrated signal in step 3.5 can demodulate a navigation message required by the receiver;
step 4.2: and (4) transmitting the navigation message and the ranging information to the integrated navigation filter for positioning calculation, and returning the signal tracking loop to the step 1 for processing the next epoch. It should be noted that the receiver enters the signal tracking state to skip the signal fast acquisition stage in step 2.1, and only needs to keep continuous tracking.
FIG. 4 is the results of a MATLAB simulation experiment using the method of the present invention for signal tracking. Wherein (a) is a satellite scenario for high dynamic testing; (b) the flight path of the carrier comprises stages of uniform speed, climbing, turning and the like; (c) is the flight acceleration parameter of the carrier, comprising a jerk of 5g/s, an acceleration of 5g and a jerk of-5 g/s; (d) is a reference doppler shift and a carrier doppler shift estimated using the method; (e) to estimate the error between the doppler shift and the reference value; (f) for the carrier phase error output by using the traditional signal tracking method, the tracking loop is seen to be out of lock; (g) to track the carrier phase error of the signal output using the method of the invention, it is apparent that the carrier loop remains locked.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An INS-assisted dual Kalman filter satellite signal tracking loop is characterized by comprising a satellite signal receiving antenna, a radio frequency front-end module, an inertia measurement unit, an inertial navigation resolving module, a satellite ephemeris storage module, a carrier frequency and code phase estimation module, a carrier tracking module and a code tracking module;
the inertia measurement unit measures acceleration and angular velocity of the carrier in three directions;
the inertial navigation resolving module completes positioning resolving and attitude updating according to the acceleration and the angular speed of the carrier;
the satellite ephemeris storage module is used for storing satellite ephemeris;
the carrier frequency and code phase estimation module calculates the carrier frequency offset and the code phase at the next moment according to the satellite ephemeris and the positioning calculation result;
a satellite signal receiving antenna receives a satellite signal;
the radio frequency front-end module processes the satellite signal to obtain a digital intermediate frequency signal;
the carrier tracking module corrects the carrier frequency offset locally stored by the carrier tracking module by using the digital intermediate frequency signal and the carrier frequency offset;
and the code tracking module corrects the code phase locally stored by the code tracking module by using the digital intermediate frequency signal and the code phase.
2. The INS assisted dual Kalman filter satellite signal tracking loop of claim 1, wherein the carrier tracking module comprises a carrier loop Kalman filter, the carrier loop Kalman filter Kalman filtering based on the following model:
wherein,is the state vector of the carrier loop Kalman filter at time k, is the carrier phase error at time K,is the carrier frequency of the received signal at time K,is the rate of change of the carrier frequency at time K,a carrier ring state transfer matrix at the moment of k-1;
is the INS assisted carrier state feedback matrix at time k-1, INS-assisted carrier frequency state feedback at the time of k-1;is the measurement matrix for the time instant k, for the INS assisted carrier state measurement matrix at time k, is the average value of the output of the carrier phase discriminator at the moment k,respectively representing the process noise covariance matrix and the measurement noise covariance matrix of the carrier loop filter at time k.
3. An INS-assisted dual Kalman filter satellite signal tracking loop as claimed in claim 1 or 2, wherein the code tracking module comprises a code loop Kalman filter, the code loop Kalman filter Kalman filtering based on the following model:
wherein,is the state vector of the code loop Kalman filter at time k, is the code phase error at time k,is the C/a code frequency at time k,is the rate of change of the C/a code frequency at time k,the average value of the output of the code phase discriminator at the moment k;a code ring state transition matrix at the moment of k-1;
t is the loop filter update time;is the INS ancillary code state feedback matrix at time k-1, INS-assisted code phase error state feedback at time k-1;the system measures the matrix for the code tracking at time k, the INS helper code state measurement matrix for time k, respectively, a process noise covariance matrix and a measurement noise covariance matrix of the code loop Kalman filter at the time k-1.
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 |
| CN103995272A (en) * | 2014-06-11 | 2014-08-20 | 东南大学 | Novel inertial assisted GPS receiver achieving method |
| CN103995269A (en) * | 2014-05-26 | 2014-08-20 | 南京理工大学 | Method for inertial information assisting GNSS tracking loop |
| 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 |
|---|---|---|
| CN109307873B (en) | INS-assisted double Kalman filter satellite signal tracking loop | |
| US7274504B2 (en) | System and method for advanced tight coupling of GPS and inertial navigation sensors | |
| US7579984B2 (en) | Ultra-tightly coupled GPS and inertial navigation system for agile platforms | |
| US9513129B2 (en) | Low authority GPS aiding of navigation system for anti-spoofing | |
| US6240367B1 (en) | Full fusion positioning method for vehicle | |
| EP2064568B1 (en) | Highly integrated gps, galileo and inertial navigation system | |
| US6278945B1 (en) | Fully-coupled positioning process and system thereof | |
| US6449559B2 (en) | Fully-coupled positioning process and system thereof | |
| CN101666868B (en) | Satellite signal vector tracking method based on SINS/GPS deep integration data fusion | |
| AU2003290935B2 (en) | All-weather precision guidance and navigation system | |
| CN107656300B (en) | Satellite/inertia ultra-tight combination method based on Beidou/GPS dual-mode software receiver | |
| US20070252754A1 (en) | System and method for advanced tight coupling of GPS and navigation based on dead reckoning | |
| CN109212573B (en) | Positioning system and method for surveying and mapping vehicle in urban canyon environment | |
| CN105068102A (en) | DSP+FPGA-based ultra-tight combined navigation method | |
| CN105806339A (en) | Integrated navigation method and device based on GNSS, INS and time keeping systems | |
| CN106501832A (en) | A kind of fault-tolerant vector tracking GNSS/SINS deep integrated navigation methods | |
| WO2009112935A1 (en) | Positioning device for moving body | |
| CN115876153A (en) | High-precision angle measurement method for formation spacecraft | |
| US20060015250A1 (en) | GPS navigation with integrated phase track filter | |
| CN114325772A (en) | Environment self-adaptive navigation device and method suitable for low-orbit navigation enhancement | |
| CN106338748A (en) | Kalman filtering based GPS receiver tracking loop | |
| CN106526635B (en) | A kind of filtering method of GNSS signal carrier track and navigation calculation tight integration | |
| CN116224401A (en) | Shipborne GNSS receiver and vector tracking method thereof | |
| TW448304B (en) | Fully-coupled positioning process and system | |
| CN115712135A (en) | GNSS/INS vector deep combination system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |