CN109581439A - A kind of phaselocked loop tracking, phaselocked loop, terminal and computer-readable medium - Google Patents
A kind of phaselocked loop tracking, phaselocked loop, terminal and computer-readable medium Download PDFInfo
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- CN109581439A CN109581439A CN201811351882.0A CN201811351882A CN109581439A CN 109581439 A CN109581439 A CN 109581439A CN 201811351882 A CN201811351882 A CN 201811351882A CN 109581439 A CN109581439 A CN 109581439A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention provides a kind of phaselocked loop tracking, comprising steps of (1) receives input signal；(2) input signal is mixed, and after integral-cleaning of coherent integration time with local carrier, obtains kth time coherent integration results IPkAnd QPk；(3) coherent integration results on the secondary road I and the road Q in -1 coherent integration time of kth kth-(N-1) are calculated:And calculate the coherent integration results on the secondary road I and the road Q in kth time coherent integration time kth-(N-1):(4) result in step (3) is inputted into phase discriminator, obtains the first identified result φe(N‑1)mWith the second identified result φeNm；(5) the mean carrier frequency error f in kth time coherent integration time is calculated according to formula aek；(6) the secondary mean carrier frequency error f in (k-1) secondary coherent integration time of kth-(N-1) is acquirede(k‑(N‑1))~fe(k‑1), the carrier-phase measurement through overcompensation is obtained according to formula b(7) oscillator receives the carrier-phase measurement through overcompensationUpdate local carrier oscillation frequency.
Description
Technical field
The present invention relates to GNSS technical fields, more particularly, to a kind of phaselocked loop tracking, phaselocked loop, terminal and meter
Calculation machine readable medium.
Background technique
Instantly, the field GNSS is more and more popular.In real work, during receiving and handling GNSS signal, at least deposit
In following one of problem: long coherent integration times can reduce signal noise bandwidth, promote signal-to-noise ratio, and then improve signal trace
Sensitivity, but long coherent integration times will lead to the loss of biggish frequency error, furthermore carrier oscillator update cycle elongated volume
Outer increase frequency error loss influences phase-detect measurement result precision, while loop bandwidth reduces the dynamic for causing carrier tracking loop
Adaptability is deteriorated.
Summary of the invention
In view of this, the present invention provides a kind of phaselocked loop tracking, phaselocked loop, terminal and computer-readable medium.
On the one hand, the present invention provides a kind of phaselocked loop tracking, comprising steps of
(1) phaselocked loop receives input signal；
(2) input signal is mixed with local carrier signal by frequency mixer, and is m by coherent integration time
After integral-cleaning of millisecond, kth time coherent integration results I is obtainedPkAnd QPk；
(3) coherent integration results on the secondary road I and the road Q in -1 coherent integration time of kth kth-(N-1) are calculated:
And
Calculate the coherent integration results on the secondary road I and the road Q in kth time coherent integration time kth-(N-1):
(4) result obtained in step (3) is inputted into phase discriminator respectively, accordingly obtains the first identified result φe(N-1)mWith
Second identified result φeNm；
(5) on the basis of step (4), according to formula a,Calculate the
Mean carrier frequency error f in k coherent integration timeek；
(6) step (1)-(5) are based on, the secondary mean carrier frequency in -1 coherent integration time of kth of kth-(N-1) is acquired
Rate error fe(k-(N-1))~fe(k-1), to obtain the carrier-phase measurement through overcompensation
(7) oscillator receives the carrier-phase measurement through overcompensationLocal carrier oscillation frequency is updated,
Wherein, TcohFor coherent integration time, θeFor phase error, n, k, N, m are positive integer,.
Wherein, step (7) specifically includes: loop filter filter out the high frequency in the carrier-phase measurement through overcompensation at
Point and noise, and result is exported and gives oscillator (NCO), so that oscillator updates local carrier oscillation frequency.
On the other hand, the present invention also provides a kind of phaselocked loops, for executing method and step as described above, comprising:
Frequency mixer, by input signal ui(t) it is mixed with local carrier wave NCO, the signal after output mixing；
Integral removes module, is connected to frequency mixer, and the signal after mixing is passed through to integral-cleaning of coherent integration time
Afterwards, kth time coherent integration results I is accordingly exportedPkAnd QPk；
Computing module is connected to integral and removes module, and integral removes the kth time phase that module removes module output according to integral
Dry integral result IPkAnd QPk, calculate and export the phase on the secondary road I and the road Q in -1 coherent integration time of kth of kth-(N-1)
Dry integral result:
And
Calculate and export the coherent integration results on the secondary road I and the road Q in kth time coherent integration time of kth-(N-1):
Phase discriminator is connected to computing module, and the kth-(N-1) according to computing module output is secondary to -1 coherent integration of kth
The coherent integration results on the road I and the road Q in the timeIt is secondary to kth time coherent integration time with kth-(N-1)
The coherent integration results on the interior road I and the road QExport the first identified result φe(N-1)mWith the second identified result
φeNm；
Frequency error logging modle is connected to phase discriminator by subtracter, and subtracter is by the first identified result φe(N-1)mWith
Second identified result φeNmIt makes the difference, and further according to formula a,Calculate the
Mean carrier frequency error f in k coherent integration timeek, mean carrier frequency error in kth time coherent integration time
fekIt is stored in frequency error logging modle；And
Phase estimating device, is connected to frequency error logging modle and subtracter, and phase estimating device is calculated according to formula b
Carrier-phase measurement through overcompensationAnd by the carrier-phase measurement through overcompensationIt exports and gives carrier wave NCO,
So that oscillator updates local carrier oscillation frequency；
Further include loop filter, be connected to phase estimating device, loop filter filters out the survey of the carrier phase through overcompensation
Radio-frequency component and noise in magnitude, and result is exported and gives oscillator (NCO), so that oscillator updates local carrier concussion
Frequency.
It on the other hand, include phaselocked loop as described above the present invention also provides terminal described in a kind of terminal.
On the other hand, the present invention also provides a kind of computer-readable mediums for being stored thereon with executable instruction, when described
When instruction is executed by one or more processors, one or more of processors is made to carry out phaselocked loop track side as described above
Method.
The embodiment of the present invention at least can achieve one of beneficial effect below:
On the one hand, with same initial time carrier wave identified results obtained by Nm milliseconds of coherent integrations with by (N-1) m milliseconds of phases
Dry integral gained carrier wave identified result obtains (N-1) m milliseconds to Nm milliseconds average frequency errors.Average frequency error is used for
Long coherent integration phase-detect measurement value is compensated, realizes and reduces phaselocked loop phase measurement error.Meanwhile the carrier oscillator update cycle takes
M milliseconds, frequency difference loss can be reduced and improve dynamic adaptable.
On the other hand, it with the short coherent integration composition long coherent integration of continuous several times and time long coherent integration, is reflected using the two
Phase result obtains average frequency error in differential time.Average frequency error is real for compensating long coherent integration phase-detect measurement value
Now reduce phaselocked loop phase measurement error.Meanwhile the carrier oscillator update cycle is unit time coherent integration time, be can reduce
Frequency difference loss, moreover it is possible to improve dynamic adaptable.
Therefore, the embodiment of the present invention reduces phaselocked loop phase measurement error, can reduce the frequency of long coherent integration times
Differential loss consumption, can also improve phaselocked loop tracking sensitivity.Both guaranteed that long coherent integration times improved signal-to-noise ratio and reduce loop band
Wide advantage, and keep good dynamic adaptable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the phaselocked loop of the embodiment of the present invention；
Fig. 2 is the time diagram of the phaselocked loop tracking of the embodiment of the present invention.
Specific embodiment
In view of this, the embodiment of the present invention provides a kind of phaselocked loop tracking, phaselocked loop, terminal and computer-readable
Medium.
On the one hand, as shown in Figs. 1-2, the present invention provides a kind of phaselocked loop tracking, comprising steps of
(1) phaselocked loop receives input signal；
(2) input signal is mixed with local carrier signal by frequency mixer, and is m by coherent integration time
After integral-cleaning of millisecond, kth time coherent integration results I is obtainedPkAnd QPk；
(3) coherent integration results on the secondary road I and the road Q in -1 coherent integration time of kth kth-(N-1) are calculated:
And
Calculate the coherent integration results on the secondary road I and the road Q in kth time coherent integration time kth-(N-1):
(4) result obtained in step (3) is inputted into phase discriminator respectively, accordingly obtains the first identified result φe(N-1)mIt is (right
Should be in (N-1) shown in Fig. 2 m milliseconds of coherent integrations) and the second identified result φeNm(correspond to Nm milliseconds shown in Fig. 2
Coherent integration))；
(5) on the basis of step (4), according to formula a,Calculate the
Mean carrier frequency error f in k coherent integration timeek；
(6) step (1)-(5) are based on, the secondary mean carrier frequency in -1 coherent integration time of kth of kth-(N-1) is acquired
Rate error fe(k-(N-1))~fe(k-1), to obtain the carrier-phase measurement through overcompensation
(7) oscillator receives the carrier-phase measurement through overcompensationLocal carrier oscillation frequency is updated,
Wherein, TcohFor coherent integration time, θeFor phase error, n, k, N, m are positive integer, and m can be with for 4, N
It is 5 or 10, it should be noted that the value of m and N is only for example herein rather than limits, in real work, those skilled in the art
Member can be accordingly arranged according to actual demand.
Wherein, step (7) specifically includes: loop filter filter out the high frequency in the carrier-phase measurement through overcompensation at
Point and noise, and result is exported and gives oscillator (NCO), so that oscillator updates local carrier oscillation frequency.
On the other hand, the present invention also provides a kind of phaselocked loops, for executing method and step as described above, comprising:
Frequency mixer, by input signal ui(t) it is mixed with local carrier wave NCO, the signal i after output mixingPkAnd qPk；
Integral removes module, is connected to frequency mixer, and the signal after mixing is passed through to integral-cleaning of coherent integration time
Afterwards, kth time coherent integration results I is accordingly exportedPkAnd QPk；
Computing module is connected to integral and removes module, and integral removes the kth time phase that module removes module output according to integral
Dry integral result IPkAnd QPk, calculate and export the phase on the secondary road I and the road Q in -1 coherent integration time of kth of kth-(N-1)
Dry integral result:
And
Calculate and export the coherent integration results on the secondary road I and the road Q in kth time coherent integration time of kth-(N-1):
Phase discriminator is connected to computing module, and the kth-(N-1) according to computing module output is secondary to -1 coherent integration of kth
The coherent integration results on the road I and the road Q in the timeIt is secondary to kth time coherent integration time with kth-(N-1)
The coherent integration results on the interior road I and the road QExport the first identified result φe(N-1)mWith the second identified result
φeNm；
Frequency error logging modle is connected to phase discriminator by subtracter, and subtracter is by the first identified result φe(N-1)mWith
Second identified result φeNmIt makes the difference, and further according to formula a,Calculate the
Mean carrier frequency error f in k coherent integration timeek, mean carrier frequency error in kth time coherent integration time
Fek is stored in frequency error logging modle；And
Phase estimating device, is connected to frequency error logging modle and subtracter, and phase estimating device is calculated according to formula b
Carrier-phase measurement through overcompensationAnd by the carrier-phase measurement through overcompensationIt exports and gives carrier wave NCO,
So that oscillator updates local carrier oscillation frequency；
Further, further include loop filter, be connected to phase estimating device, loop filter filters out the load through overcompensation
Radio-frequency component and noise in wave phase measured value, and result is exported and gives oscillator (NCO), so that oscillator updates locally
Carrier wave oscillation frequency.
Further, it may also include adder, loop filter is connected to carrier wave NCO by adder, and adder is used for
Compensate carrier wave NCO offset.
It on the other hand, include phaselocked loop as described above the present invention also provides terminal described in a kind of terminal.
On the other hand, the present invention also provides a kind of computer-readable mediums for being stored thereon with executable instruction, when described
When instruction is executed by one or more processors, one or more of processors is made to carry out phaselocked loop track side as described above
Method.
The embodiment of the present invention at least can achieve one of beneficial effect below:
On the one hand, with same initial time carrier wave identified results obtained by Nm milliseconds of coherent integrations with by (N-1) m milliseconds of phases
Dry integral gained carrier wave identified result obtains (N-1) m milliseconds to Nm milliseconds average frequency errors.Average frequency error is used for
Long coherent integration phase-detect measurement value is compensated, realizes and reduces phaselocked loop phase measurement error.Meanwhile the carrier oscillator update cycle takes
M milliseconds, frequency difference loss can be reduced and improve dynamic adaptable.
On the other hand, it with the short coherent integration composition long coherent integration of continuous several times and time long coherent integration, is reflected using the two
Phase result obtains average frequency error in differential time.Average frequency error is real for compensating long coherent integration phase-detect measurement value
Now reduce phaselocked loop phase measurement error.Meanwhile the carrier oscillator update cycle is unit time coherent integration time, be can reduce
Frequency difference loss, moreover it is possible to improve dynamic adaptable.
Therefore, the embodiment of the present invention reduces phaselocked loop phase measurement error, can reduce the frequency of long coherent integration times
Differential loss consumption, can also improve phaselocked loop tracking sensitivity.Both guaranteed that long coherent integration times improved signal-to-noise ratio and reduce loop band
Wide advantage, and keep good dynamic adaptable.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can be by
Software adds the mode of required hardware platform to realize, naturally it is also possible to all be implemented by hardware.Based on this understanding,
Technical solution of the present invention can be embodied in the form of software products in whole or in part to what background technique contributed,
The computer software product can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are to make
It obtains a computer equipment (can be personal computer, server or the network equipment etc.) and executes each embodiment of the present invention
Or the method for certain parts of embodiment.
In embodiments of the present invention, units/modules/device can use software realization, so as to by various types of processors
It executes.For example, one mark executable code module may include computer instruction one or more physics or
Logical block, for example, it can be built as object, process or function.Nevertheless, the executable code of institute's mark module
It needs not be physically located together, but may include the different instructions being stored in different positions, when in these command logics
When being combined together, Component units/modules/devices and units/modules/device regulation purpose is realized.
When units/modules/device can use software realization, it is contemplated that the level of existing hardware technique, it is possible to
Units/modules/device implemented in software, without considering the cost, those skilled in the art can build correspondence
Hardware circuit realize corresponding function, hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array
And the existing semiconductor of such as logic chip, transistor etc either other discrete elements.Module can also be with can compile
Journey hardware device, field programmable gate array, programmable logic array, programmable logic device etc. are realized.
The present invention is described in detail above, specific case used herein is to the principle of the present invention and embodiment party
Formula is expounded, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile it is right
In those of ordinary skill in the art, according to the thought of the present invention, change is had in specific embodiments and applications
Place, to sum up, the contents of this specification are not to be construed as limiting the invention.
Claims (6)
1. a kind of phaselocked loop tracking, comprising steps of
(1) phaselocked loop receives input signal；
(2) input signal is mixed with local carrier signal by frequency mixer, and is m by coherent integration time
After integral-cleaning of millisecond, kth time coherent integration results I is obtainedPkAnd QPk；
(3) coherent integration results on the secondary road I and the road Q in -1 coherent integration time of kth kth-(N-1) are calculated:
And
Calculate the coherent integration results on the secondary road I and the road Q in kth time coherent integration time kth-(N-1):
(4) result obtained in step (3) is inputted into phase discriminator respectively, accordingly obtains the first identified result φe(N-1)mWith the second mirror
Phase result φeNm；
(5) on the basis of step (4), according to formula a,Calculate kth time
Mean carrier frequency error f in coherent integration timeek；
(6) step (1)-(5) are based on, the secondary mean carrier frequency in (k-1) secondary coherent integration time of kth-(N-1) is acquired
Error fe(k-(N-1))~fe(k-1), to obtain the carrier-phase measurement through overcompensation
(7) oscillator receives the carrier-phase measurement through overcompensationUpdate local carrier oscillation frequency, wherein
TcohFor coherent integration time, θeFor phase error, n, k, N, m are positive integer.
2. phaselocked loop tracking as described in claim 1, which is characterized in that step (7) specifically includes: loop filter filter
Except the radio-frequency component and noise in the carrier-phase measurement through overcompensation, and result is exported and gives oscillator (NCO), with
So that the oscillator updates local carrier oscillation frequency.
3. a kind of phaselocked loop, for executing the method as described in claim 1 step, comprising:
Frequency mixer, by input signal ui(t) it is mixed with local carrier wave NCO, the signal after output mixing；
Integral removes module, is connected to the frequency mixer, and the signal after the mixing is clear by the integral-of coherent integration time
It is corresponding to export kth time coherent integration results I after washingPkAnd QPk；
Computing module is connected to the integral and removes module, and the integral removes module and removes module output according to the integral
Kth time coherent integration results IPkAnd QPk, calculate and export the secondary road I in -1 coherent integration time of kth of kth-(N-1)
With the coherent integration results on the road Q:
And
Calculate and export the coherent integration results on the secondary road I and the road Q in kth time coherent integration time of kth-(N-1):
Phase discriminator is connected to the computing module, and the kth-(N-1) according to computing module output is secondary to (k-1) secondary phase
The coherent integration results on the road I and the road Q in the dry time of integrationIt is secondary to the relevant product of kth time with kth-(N-1)
The coherent integration results on the road I and the road Q in timesharingExport the first identified result φe(N-1)mWith the second phase demodulation
As a result φeNm；
Frequency error logging modle is connected to the phase discriminator by subtracter, and the subtracter is by the first identified result
φe(N-1)mWith the second identified result φeNmIt makes the difference, and further according to formula a, Calculate the mean carrier frequency error f in kth time coherent integration timeek, in the kth time coherent integration time
Mean carrier frequency error fekIt is stored in the frequency error logging modle；And
Phase estimating device, is connected to the frequency error logging modle and subtracter, and phase estimating device is calculated according to the formula b
Obtain the carrier-phase measurement through overcompensationAnd by the carrier-phase measurement through overcompensationExport to
The carrier wave NCO, so that the oscillator updates local carrier oscillation frequency.
4. phaselocked loop as claimed in claim 4, which is characterized in that further include loop filter, be connected to the phase estimation
Device, the loop filter filter out radio-frequency component and noise in the carrier-phase measurement through overcompensation, and by result
It exports and gives oscillator (NCO), so that the oscillator updates local carrier oscillation frequency.
5. a kind of terminal, which is characterized in that the terminal includes the phaselocked loop as described in any one of claim 3-4.
6. a kind of computer-readable medium for being stored thereon with executable instruction, which is characterized in that when described instruction by one or
When multiple processors execute, make one or more of processors carry out phaselocked loop of any of claims 1-2 with
Track method.
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