CN109471137A - A kind of implementation method of adaptive vector tracking loop - Google Patents

A kind of implementation method of adaptive vector tracking loop Download PDF

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Publication number
CN109471137A
CN109471137A CN201811248920.XA CN201811248920A CN109471137A CN 109471137 A CN109471137 A CN 109471137A CN 201811248920 A CN201811248920 A CN 201811248920A CN 109471137 A CN109471137 A CN 109471137A
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tracking
noise
carrier
code
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CN109471137B (en
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刘宇
陈鼎
王新龙
王盾
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Beihang University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/35Constructional details or hardware or software details of the signal processing chain
    • G01S19/37Hardware or software details of the signal processing chain
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/21Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30Acquisition or tracking or demodulation of signals transmitted by the system code related

Abstract

The present invention provides a kind of implementation method of adaptive vector tracking loop, and steps are as follows: one: vector tracking parameter initialization;Two: intermediate-freuqncy signal is sent into noise and estimates channel, estimating noise power;Three: intermediate-freuqncy signal is sent into tracking channel, carries out relevant calculation;Four: estimation carrier-to-noise ratio, to adjust the measurement noise matrix of path filter;Five: measurement information of the correlated results as path filter, estimating carrier frequency error delta fiWith code phase error Δ τiEtc. parameters;Six: Δ fi、ΔτiAfter ratio is converted, pseudorange error Δ ρ is obtainediAnd pseudorange rates errorIt is sent into Navigation Filter, estimated location correction amountSpeed correction amountSeven: calculating code phase correction valueCarrier frequency correction valueFed back to carrier wave digital controlled oscillator (NCO) and code digital controlled oscillator (NCO);The present invention realizes the joint tracking to different satellite-signals in addition, being a measurement vector by the information tissue in each channel to the tenacious tracking of navigation signal under the conditions of realizing high dynamic, strong jamming.

Description

A kind of implementation method of adaptive vector tracking loop
Technical field
The present invention provides a kind of implementation method of adaptive vector tracking loop, and this method is applied to the tracking ring of receiver Road can effectively improve tracking performance of the receiver under the complex environments such as high dynamic, strong jamming, belong to field of navigation technology.
Background technique
Satellite navigation system can provide round-the-clock, round-the-clock, high-precision positioning, navigation and time service service, have ten Divide wide purposes and development prospect.Satellite navigation can be used for the essence in the fields such as motor vehicles, unmanned plane, guided missile, manned space flight Really navigation.In above-mentioned application field, the complex environments such as high dynamic, strong jamming bring huge choose to the track loop of receiver War mainly has following two aspect to influence:
(1) under high dynamic condition, the position of receiver, speed acute variation will lead to carrier frequency, phase occurs substantially Degree variation.For traditional track loop, the identification range and precision of phase discriminator are limited, and amplitude of variation will be more than the line of phase discriminator Property section, introduce unmodeled error, and biggish carrier frequency variation can be more than the bandwidth of track loop, cause track loop Losing lock.
(2) under the conditions of strong jamming, phase discriminator in traditional track loop and loop filter be difficult to differentiate between interference noise with Signal causes parameter estimating error to increase with noise and increase, and when evaluated error is more than tracking threshold, receiver will be unable to mention For accurate navigation information.
In view of the above problems, the present invention provides a kind of implementation methods of adaptive vector tracking loop.By making an uproar to load The real-time estimation of ratio, the adaptive measurement noise covariance matrix for adjusting path filter, while utilizing Unscented kalman filtering Device (UKF) is used as path filter, to improve tracking performance of the receiver under the complex environments such as high dynamic, strong jamming.
Summary of the invention
1. goal of the invention
The purpose of the invention is to overcome traditional track loop to be difficult to accurately track letter under the conditions of high dynamic, strong jamming Number the shortcomings that, provide a kind of implementation method of adaptive vector tracking loop.
By establishing the relationship of carrier-to-noise ratio and each branch correlated results, carrier frequency error, code phase error, to each channel Carrier-to-noise ratio carry out real-time estimation, and then the measurement noise covariance matrix of path filter is adaptively adjusted, in structure It makes during measuring noise covariance matrix, fully considers influence of the correlator spacing between correlation each branch noises, with suppression Influence of the noise processed to track loop parameter Estimation.
Using there is the Unscented kalman filtering device (UKF) compared with strong nonlinearity tracking ability as path filter, replace Phase discriminator, loop filter directly extract tracking parameter from in-phase branch, quadrature branch, avoid introducing phase discriminator itself not The limitation of modeling error and loop bandwidth, so that it is not guidable preferably to have adapted to the non-linear strong and partial dot of measurement equation Feature.
2. technical solution
The present invention is a kind of implementation method of adaptive vector tracking loop, method includes the following steps:
Step 1: vector tracking parameter initialization;
Step 2: intermediate-freuqncy signal is sent into noise and estimates channel, and correlated results is used for estimating noise power;
Step 3: intermediate-freuqncy signal be sent into tracking channel, respectively with local carrier, advanced code (E), i.e. time-code (P), lag code (L) relevant calculation, i.e. in-phase branch corresponding to time-code, quadrature branch correlated results I are carried outP、QPFor estimating signal and noise General power;
Step 4: estimate the carrier-to-noise ratio (C/N of input signal0), and in-phase branch (I), quadrature branch (Q) are calculated with this Noise variance
Step 5: six road correlated results are sent into path filter, to estimating carrier frequency error delta as measurement information fi, code phase error Δ τiEqual tracking parameters;
Step 6: the carrier frequency error Δ f of each tracking channeli, code phase error Δ τiAfter ratio is converted, puppet is obtained Away from error delta ρi, pseudorange rates errorIt is organized as a measurement vector, Navigation Filter is sent into, to estimate the position of carrier Set correction amountSpeed correction amount
Step 7: carrier positions, velocity information combination satellite ephemeris after being corrected calculate each tracking channel code phase and repair Positive valueCarrier frequency correction valueFed back to carrier wave digital controlled oscillator (NCO), code digital controlled oscillator (NCO), to Track parameter is modified.
Wherein, at " vector tracking parameter initialization " described in step 1, the practice is as follows:
Through capture, scalar tracking, the estimated value of every tracking parameter is obtained, as the initial value of vector tracking parameter;
Wherein, described in step 2 " intermediate-freuqncy signal is sent into noise and estimates channel, and correlated results is for estimating noise function Rate ", the practice are as follows: intermediate-freuqncy signal and local carrier, one group of pseudo-code being not used by being carried out relevant calculation, correlated results is made For the sample value of noise power;
Wherein, " the i.e. in-phase branch corresponding to time-code, quadrature branch correlated results I described in step 3P、QPFor Estimate the general power of signal and noise ", refer to IP、QPSample value as signal and noise general power;
Wherein, the " carrier-to-noise ratio (C/N of estimation input signal described in step 40), and in-phase branch is calculated with this (I), the noise variance of quadrature branch (Q)", the practice is as follows:
According to Step 2: carrier-to-noise ratio (C/N is calculated in the correlated results that step 3 obtains0), utilize carrier-to-noise ratio (C/N0) with The relationship of each branch noises variance, is calculated
Wherein, " the six road correlated results " described in step 5, refer to intermediate-freuqncy signal in step 3 and local carrier, Advanced code (E), i.e. time-code (P), the in-phase branch (I) for lagging code (L), quadrature branch (Q) correlated results IE、QE、IP、QP、IL、 QL
Wherein, " the carrier frequency error Δ f described in step 5i, code phase error Δ τi" in subscript i, refer to I-th of tracking channel;
Wherein, described in step 5 " six road correlated results are sent into path filter, to estimate as measurement information Count carrier frequency error Δ fi, code phase error Δ τiEqual tracking parameters ", the practice is as follows:
The measurement equation that path filter is established according to the relationship of six road correlated results and every tracking parameter, utilizes items Relationship between tracking parameter establishes state equation, thus by measurement information to carrier frequency error Δ fi, code phase error Δ τi Equal tracking parameters are estimated;
Wherein, Step 6: symbol subscript i described in seven is consistent with subscript i described in step 5, meaning phase Together.
By above step and operation, the present invention carries out real-time estimation to carrier-to-noise ratio, the noise side of each branch is calculated Difference, while considering influence of the correlator spacing between correlation each branch noises, adjust the measurement noise association of path filter Variance matrix inhibits influence of the noise to track loop parameter Estimation, to realize the tenacious tracking under the conditions of strong jamming to signal; Using Unscented kalman filtering device (UKF), replace phase discriminator, loop filter, have compared with strong nonlinearity in measurement equation and Under conditions of partial dot can not be led, directly from in-phase branch, quadrature branch correlated results in accurately extract tracking parameter, keep away The limitation for having exempted to introduce phase discriminator itself unmodeled dynamiocs and loop bandwidth, establish UKF state equation, measurement equation mistake Cheng Zhong fully considers influence of the movement of carrier to every tracking parameter, accurately tracks under high dynamic condition to realize Signal;Due to by the information tissue in each channel be a measurement vector, improve the tracking performance in the weaker channel of signal indirectly, To realize that the joint to different satellite-signals tracks.
3. advantage and effect
The present invention provides a kind of implementation method of adaptive vector tracking loop, this method is had the advantage that
(1) pass of the invention by establishing carrier-to-noise ratio and each branch correlated results, carrier frequency error, code phase error System, real-time estimation carrier-to-noise ratio so that the measurement noise covariance matrix to path filter is adjusted, while being measured in construction During noise covariance matrix, it is contemplated that influence of the correlator spacing between correlation each branch noises, to realize capable and experienced To the tenacious tracking of signal under the conditions of disturbing;
(2) using the Unscented kalman filtering device (UKF) having compared with strong nonlinearity tracking ability, replace phase discriminator, loop Filter carries out every tracking parameter quasi- in the case where measurement equation has can not lead compared with strong nonlinearity and partial dot Really estimation avoids the limitation for introducing phase discriminator itself unmodeled dynamiocs, loop bandwidth, in the state equation for establishing UKF, measures During equation, influence of the movement of carrier to every tracking parameter is fully considered, to realize accurate under high dynamic condition Track signal;
(3) vector tracking by each tracking channel as a whole, can mutually be assisted between different tracking channels, The tracking performance for improving the weaker channel of signal is connect, realizes and the joint of different satellite-signals is tracked.
Detailed description of the invention
Fig. 1 is a kind of adaptive vector tracking loop structure figure of the present invention.
Fig. 2 is code auto-correlation function curve graph.
Fig. 3 is the operational flowchart of the method for the invention.
Symbol description is as follows in Fig. 2:
ε: code phase error
M: for advanced code (E), i.e. time-code (P), lag code (L), value is respectively -1,0,1
δ: correlator spacing, value are 0.5 chip
Specific embodiment
The present invention is described in further details below in conjunction with attached drawing.
The present invention is a kind of implementation method of adaptive vector tracking loop, adaptive vector tracking loop structure such as Fig. 1 It is shown, the implementation method process as shown in figure 3, the specific steps of which are as follows:
Step 1: tracking link by capture, scalar, obtain the estimated value of every tracking parameter, assign it to vector with Track parameter completes initialization;
Step 2: intermediate-freuqncy signal is sent into noise and estimates channel, intermediate-freuqncy signal and local carrier, one group of pseudo-code being not used by Carry out relevant calculation, correlated results IP0、QP0For estimating noise power;
Step 3: intermediate-freuqncy signal be sent into tracking channel, respectively with local carrier, advanced code (E), i.e. time-code (P), lag code (L) relevant calculation is carried out, for i-th of tracking channel, the i.e. in-phase branch (I) of time-code (P), quadrature branch (Q) correlated results IPi、QPiFor estimating the general power of signal and noise;
Step 4: estimate the carrier-to-noise ratio (C/N of input signal0), and in-phase branch (I), quadrature branch (Q) are calculated with this Noise variance σnI、σnQ
Carrier-to-noise ratio C/N0Calculation formula are as follows:
In formula, T is coherent integration time, and N is coherent integration points.
By calculating carrier-to-noise ratio C/N0It realizes to I, Q branch noises variances sigmanI、σnQEstimation, σnI、σnQCalculation formula is
Step 5: six road correlated results are sent into path filter, to estimating carrier frequency error delta as measurement information fi, code phase error Δ τiEqual tracking parameters
The path filter quantity of state of i-th of tracking channel be defined as (following symbol omits subscript i) in this step:
In formula, φ is carrier phase error,For carrier phase rate error (corresponding bearer rate variation),To carry Wave phase second order leads error (corresponding carrier acceleration change),Error (corresponding carrier acceleration is led for three rank of carrier phase Variation), Δ τ is code phase error, and A is normalized signal strength.
Normalised navigation signal intensity A is defined as:
In formula, ASFor signal strength, TSFor sampling time interval,For the noise variance of I, Q branch, It is sought by step 4.
The state equation of path filter are as follows:
In formula, [w1 w2 w3 w4 w5 w6]TFor the corresponding noise of each quantity of state, K0It is for what radian was converted to chip Number, wherein
In formula, fcarr、fcodeRespectively carrier wave, pseudo-code frequency.
The measurement equation of path filter are as follows:
Z=h (X)+v (7)
After the expansion of its concrete form are as follows:
In formula, T=MTSFor coherent integration time, δ is correlator interval, [v1 v2 v3 v4 v5 v6]TFor making an uproar for each branch Sound, R () are auto-correlation function, and function curve is as shown in Figure 2.
In measurement equation, the variance matrix of noise is measured are as follows:
Carrier frequency error Δ f can be obtained by the state estimation result of path filter, its calculation formula is
According to established state equation, measurement equation, using Unscented kalman filtering device (UKF), the side converted using UT Method, the non-linear of function is showed by Sigma sampling point set, and Sigma sampling policy is ratio symmetric sampling method, sampling ginseng Number is set as α=10-3, β=2;
Step 6: the carrier frequency error Δ f of each tracking channeli, code phase error Δ τiAfter ratio is converted, obtain Pseudorange error Δ ρi, pseudorange rates errorIts proportionate relationship is
ΔρicodeΔτi(11)
In formula, λcode、λcarrRespectively pseudo-code, carrier wave wavelength.
By the pseudorange error Δ ρ in each channeli, pseudorange rates errorTissue is a measurement vector, is sent into Navigation Device, to estimate the position correction amount of carrierSpeed correction amountTo correct carrier positions, speed.
The quantity of state of Navigation Filter is defined as
X=[δ x δ y δ z δ vx δvy δvz δax δay δaz bclk dclk]T (13)
In formula, δ x, δ y, δ z, δ vx、δvy、δvy、δax、δay、δayRespectively carrier three sides under ECEF coordinate system To location error, velocity error, acceleration error, bclk、dclkRespectively clocking error equivalent distances error, clock frequency are missed Poor equivalent distances rate error.
When establishing n tracking channel, then the state equation of Navigation Filter is
In formula, F is Matrix of shifting of a step, and W is system noise, TruFor correlation time
W=[wx wy wz wvx wvy wvz wax way waz wb wd]T (16)
The state equation of Navigation Filter is
Z=HX+V (17)
In formula, Z is to measure vector, and H is measurement matrix, and V is to measure noise matrix, [ei1 ei2 ei3]TFor carrier and navigation Unit vector between satellite on direction of visual lines, i=1 ..., n
Step 7: by carrier positions, velocity information and the satellite ephemeris after calibrated, each channel can be calculated Pseudorange ρi, pseudorange ratesUsing formula (12), (13), each tracking channel can be calculated by the variable quantity of pseudorange, pseudorange rates Code phase correction valueCarrier frequency correction valueCarrier wave NCO, code NCO are fed back to, tracking parameter is modified.
By above step, real-time estimation is carried out to the carrier-to-noise ratio of each tracking channel, adaptive adjustment path filter Noise covariance matrix is measured, using Unscented kalman filtering device (UKF) as path filter, every tracking parameter is carried out Estimation accurately tracks signal under the conditions of high dynamic, strong jamming with realizing.

Claims (7)

1. a kind of implementation method of adaptive vector tracking loop, it is characterised in that: method includes the following steps:
Step 1: vector tracking parameter initialization;
Step 2: intermediate-freuqncy signal is sent into noise and estimates channel, and correlated results is used for estimating noise power;
Step 3: intermediate-freuqncy signal be sent into tracking channel, respectively with local carrier, advanced code (E), i.e. time-code (P), lag code (L) Carry out relevant calculation, i.e. in-phase branch corresponding to time-code, quadrature branch correlated results IP、QPFor estimating signal and noise General power;
Step 4: estimate the carrier-to-noise ratio (C/N of input signal0), and calculate with this noise of in-phase branch (I), quadrature branch (Q) Variance
Step 5: six road correlated results are sent into path filter, to estimating carrier frequency error delta f as measurement informationiWith Code phase error Δ τiAll tracking parameters;
Step 6: the carrier frequency error Δ f of each tracking channeli, code phase error Δ τiAfter ratio is converted, pseudorange mistake is obtained Poor Δ ρi, pseudorange rates errorIt is organized as a measurement vector, Navigation Filter is sent into, to estimate that the position of carrier is repaired Positive quantitySpeed correction amount
Step 7: carrier positions, velocity information combination satellite ephemeris after being corrected calculate each tracking channel code phase correction valueWith carrier frequency correction valueCarrier wave digital controlled oscillator NCO and code digital controlled oscillator NCO are fed back to, tracking is joined Number is modified;
By above step and operation, the noise side of each branch is calculated by carrying out real-time estimation to carrier-to-noise ratio in the present invention Difference, while considering influence of the correlator spacing between correlation each branch noises, adjust the measurement noise association of path filter Variance matrix inhibits influence of the noise to track loop parameter Estimation, to realize the tenacious tracking under the conditions of strong jamming to signal; Using Unscented kalman filtering device, that is, UKF, replace phase discriminator and loop filter, there is strong nonlinearity and portion in measurement equation Under conditions of branch can not be led, tracking parameter is accurately directly extracted from the correlated results of in-phase branch and quadrature branch, is kept away The limitation for having exempted from introducing phase discriminator itself unmodeled dynamiocs and loop bandwidth, in the state equation and measurement equation for establishing UKF In the process, fully consider influence of the movement of carrier to every tracking parameter, thus realize under high dynamic condition accurately with Track signal;Due to being a measurement vector by the information tissue in each channel, the tracing property in the weaker channel of signal is improved indirectly Can, the joint of different satellite-signals is tracked to realize.
2. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
At " vector tracking parameter initialization " described in step 1, the practice is as follows: tracking through capture, scalar, obtains items The estimated value of tracking parameter, as the initial value of vector tracking parameter.
3. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
" intermediate-freuqncy signal is sent into noise and estimates channel, and correlated results is used for estimating noise power " described in step 2, makees Method is as follows: intermediate-freuqncy signal and local carrier, one group of pseudo-code being not used by being carried out relevant calculation, result is as noise power Sample value.
4. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
" i.e. in-phase branch corresponding to time-code, quadrature branch correlated results I described in step 3P、QPFor estimating signal With the general power of noise ", refer to IP、QPSample value as signal and noise general power.
5. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
" carrier-to-noise ratio (the C/N of estimation input signal described in step 40), and in-phase branch (I), quadrature branch are calculated with this (Q) noise variance", the practice is as follows:
According to Step 2: carrier-to-noise ratio (C/N is calculated in the correlated results that step 3 obtains0), utilize carrier-to-noise ratio (C/N0) and each The relationship of road noise variance, is calculated
6. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
" six road correlated results " described in step 5 refers to intermediate-freuqncy signal and local carrier, advanced code in step 3 (E), i.e. time-code (P), lag the in-phase branch (I) of code (L), quadrature branch (Q) correlated results IE、QE、IP、QP、IL、QL
" carrier frequency error Δ f described in step 5i, code phase error Δ τi" in subscript i, refer to i-th of tracking Channel.
7. a kind of implementation method of adaptive vector tracking loop according to claim 1, it is characterised in that:
Described in step 5 " six road correlated results are sent into path filter, to estimating carrier frequency as measurement information Error delta fi, code phase error Δ τiAll tracking parameters ", the practice is as follows:
The measurement equation that path filter is established according to the relationship of six road correlated results and every tracking parameter, is tracked using items Relationship between parameter establishes state equation, thus by measurement information to carrier frequency error Δ fiWith code phase error Δ τiIt is all Tracking parameter is estimated.
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CN112672283B (en) * 2020-12-28 2022-04-05 北京邮电大学 Processing device and method for tracking loop error in positioning receiver
CN116309730A (en) * 2022-12-16 2023-06-23 北京邮电大学 Intermittent signal open-loop tracking method and related device based on vector tracking
CN116309730B (en) * 2022-12-16 2024-01-09 北京邮电大学 Intermittent signal open-loop tracking method and related device based on vector tracking

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