CN109799517A - Anti-multipath non-fuzzy tracking method for satellite navigation receiver - Google Patents
Anti-multipath non-fuzzy tracking method for satellite navigation receiver Download PDFInfo
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Abstract
The invention belongs to the technical field of satellite navigation and discloses an anti-multipath and unambiguous tracking method of a satellite navigation receiver. The satellite navigation receiver anti-multipath unambiguous tracking method combines least square and truncated singular value decomposition; designing a CCRW discriminator function according to a target phase discrimination curve to realize the unambiguous and anti-multipath tracking of the BOC signal; and designing a local reference waveform by using a least square method and taking an identification function as a target, and compressing the condition number of a coefficient matrix in a least square equation. The DLL loop steady tracking technology of the new system signal under the band-limited channel is suitable for various BOC (m, n) modulation signals, and provides a design method for the object fuzzy and anti-multipath tracking of the DLL loop commonly adopted in the low-end application of a navigation receiver. The tracking structure provided by the invention has clear composition structure, does not need complex signal operation and is easy to realize.
Description
Technical field
The invention belongs to technical field of satellite navigation more particularly to a kind of satellite navigation receiver anti-multipath without it is fuzzy with
Track method.
Background technique
Currently, the prior art commonly used in the trade is such that multipath error is that navigation signal is reflected or scattered arrival and connects
Carrier wave caused by receipts machine antenna and pseudo-code tracing error.The location of multipath signal and receiver are closely related, time and sky
Between correlation it is weaker therefore more difficult to multipath signal modeling, and be difficult to using differential technique eliminate.Multipath has become down
The most important Measuring origin of generation satellite navigation system, position error is up to meter level caused by pseudo-code tracing.It closes at present
In BPSK (BinaryPhaseShiftKeying) signal signal processing multipaths restraint technical research it is more mature including narrow
Related, HRC (High ResolutionCorrelator) technology, CCRW (CodeCorrelationReferenceWavefo
Rm) technology etc..Narrow the relevant technologies are greatly reduced more by the interval of the wide lead and lag code in the related technology of shortening standard
Diameter error envelope size and multipath error envelope peak.HRC technology can be equivalent to the narrow relevant linear of two groups of different intervals
Combination further improves multipaths restraint performance, is only influenced by the multipath that short delay multipath and delay are 1 chip or so.
CCRW technology locally generates the reference waveform signal of the replica signal and one group of special designing that receive signal, the two in receiver
It is related to signal is received respectively, ideal phase demodulation function is constructed, is only influenced by short delay multipath signal.BOC signal
It is the modulation system that GPS updating program, Galileo system and China's Beidou satellite navigation system are widely used, BOC (1,
1) modulation is GPS and Galileo system in the modulation system that L1 frequency point is convenient for interoperability use, can regard as and believe in original BPSK
The square wave that modulation a set of frequencies is 1.023MHz on number obtains.High-order BOC signal includes the BOC (10,5) of GPS system,
BOCc (10,5), the BOCc (15,2.5) of Galileo system and BOC (15,2.5), the BOC of China's Beidou satellite navigation system
(14,2) etc..The frequency spectrum fiber thinness of high-order BOC signal is higher than low order BOC signal, can more fully utilize valuable frequency
Spectrum resource, therefore used by major satellite navigation system.The subcarrier of BOC signal makes BOC signal and traditional GPSC/A
Code has good frequency spectrum separating degree, can effectively improve the anti-interference ability of the availability of frequency spectrum and signal, but its auto-correlation letter
Number is there are other peak, and the ideal CCRW technology of multipaths restraint performance is using the waveforms such as traditional W2, W3, W4 under bpsk signal
When, obtained phase demodulation function may cause yard ring and stablize in mistake lock point, lead to biggish ranging deviation, referred to as in the presence of wrong lock point
False-lock problem.Waveform Design in CCRW technology is more flexible, it is therefore desirable for being constructed by the reasonable reference waveform of design simultaneous
Care for multipaths restraint and the phase demodulation function without fuzzy tracking.
In conclusion problem of the existing technology is: the ideal CCRW skill of multipaths restraint performance under bpsk signal
For art when using waveforms such as traditional W2, W3, W4, there is wrong lock point in obtained phase demodulation function, may cause false-lock.
Solve the difficulty and meaning of above-mentioned technical problem:
The BOC signal correction function of multi-peak gives navigation signal tracking and the anti-multipath technology band that matching is received as core
Huge challenge is carried out.BOC letter how is solved there has been no mature efficient New System signal anti-multipath reception scheme in research at present
The puzzlement of number multimodal characteristic bring, realize BOC signal without fuzzy tracking and multipaths restraint, be that Modern Satellite navigation system is necessary
The problem of solution.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of satellite navigation receiver anti-multipath without it is fuzzy with
Track method.
The invention is realized in this way a kind of satellite navigation receiver anti-multipath is without fuzzy tracking, the satellite
Navigation neceiver anti-multipath is combined without fuzzy tracking using least square and truncated singular value decomposition；It is reflected according to target
Phase curve designs CCRW discriminator function, realizes that the nothing of BOC signal obscures and anti-multipath tracking；Use least square method with
Discrimination Functions are target, design local reference waveform, compress the conditional number of coefficient matrix in least squares equation.
Further, the satellite navigation receiver anti-multipath approaches optimal mirror using multiple groups lock wave without fuzzy tracking
Code coherent reference waveform W (t) is expressed as a series of linear combination after delays by basic lock wave weighted sum by other curve:
Basic lock wave is g0(t), W (t) is by N number of by the d that is delayediWith weighting γiG0(t) it forms, it is believed that g0(t) width
It is wide for minimum lock, and W (t) waveform widths are no more than 1 chip；ForWith the cross-correlation function of W (t), and
It isAnd WΣ(t) convolution results；Represent the signal received:
It is decomposed into X (t- ε) and W0(t) linear combination of cross-correlation function by delay and weighted sum, and it is logical
The convolution results of channel filter:
The relevant discriminator and dot product discriminator of CCRW respectively indicates are as follows:
Wherein, ε=[- KTc,-KTc+Δτ,-KTc+2Δτ…KTc]T；Wherein K is integer, indicates the distribution model of correlator
It encloses, if M is the length of ε.If di=-LTc+ (i-1) μ, L≤1, N μ≤1Tc；Relevant discriminator and dot product discriminator solve equation
Are as follows:
Wherein:
Linear least squares minimization problem, i.e. system of linear equations:
Ax=b；
Minimal Norm Least Square Solutions:
Or
PAx=b；
Minimal Norm Least Square Solutions:
Wherein P and A is coefficient matrix, is made of the cross-correlation function of reception signal and local signal；Observational equation quantity
For M, unknown number number is N, M >=N；X is unknown number vector, i.e., lock wave weight to be optimized, b is ideal identification curve.
Further, the satellite navigation receiver anti-multipath uses truncated singular value decomposition most without fuzzy tracking
Small two to multiply question processing method as follows:
Singular value decomposition is done to coefficient matrices A, obtains A=U Σ VH；
The uncertainty measure tol of A is manually set；
Find Ak=U1Σ1V1 H, so that σ1≥…≥σk> tol > σk+1≥…≥σr；
By generalized inverseObtain the approximate Minimum-Norm Solution of least square problem at this time
Wherein, the singular value decomposition of A is A=U Σ VH, Σ=diag (σ1,…,σr,0,…,0),σ1≥…≥σr> 0；A
Best order-k approach Ak=U1Σ1V1 H, Σ1=diag (σ1,…,σk), U1、V1It is the preceding k column of U, V respectively.
Another object of the present invention is to provide a kind of using the satellite navigation receiver anti-multipath without fuzzy tracking
The satellite navigation platform of method.
In conclusion advantages of the present invention and good effect are as follows: combined using least square and truncated singular value decomposition
Method CCRW discriminator function is designed according to target phase demodulation curve, while the litura for avoiding the occurrence of tracking, guarantee
Multipaths restraint ability realizes that the nothing of BOC signal is fuzzy and anti-multipath tracks.Therefore, nothing provided by the invention obscure anti-multipath with
The nothing that track method can be realized satellite navigation BOC class modulated signal obscures anti-multipath tracking.
Compared with traditional CCRW method, the present invention can be realized BOC class modulated signal under the conditions of various bands limit without mould
Paste tracking, and there is preferable multipaths restraint ability, especially suitable for receiving the signal that signal is the modulation of BOC class.With BOC (1,
1) for signal, under the conditions of front end bandwidth is unlimited, it is W2 method that the multipath error envelope size of the method for the present invention is minimum
60.5%, the 38.7% of four correlator methods；Under other bandwidth conditions, the multipath error envelope size of the method for the present invention
Small, tracking accuracy improves 3 to 5dB compared to W2 method；And only with no fuzzy tracking characteristic in all methods.
BOC (1,1) signal multipath error envelope comparison of the different reception techniques of table 1
Satellite navigation signals anti-multipath provided by the invention is suitable for of less demanding to tracking accuracy without fuzzy method of reseptance
Common BOC signal receiver, especially apply the receiver under city or the more serious scene of other multi-path jammings.
Detailed description of the invention
Fig. 1 is satellite navigation receiver anti-multipath provided in an embodiment of the present invention without fuzzy tracking flow chart.
Fig. 2 is the local reference waveform schematic diagram that nothing provided in an embodiment of the present invention obscures anti-multipath tracking.
Fig. 3 is the target identification curve synoptic diagram that nothing provided in an embodiment of the present invention obscures anti-multipath tracking.
Fig. 4 is the local reference waveform figure that nothing provided in an embodiment of the present invention obscures anti-multipath tracking.
Fig. 5 is the identification curve graph that nothing provided in an embodiment of the present invention obscures anti-multipath tracking.
Fig. 6 is that the embodiment of the present invention is provided without the multipath error envelope diagram for obscuring anti-multipath tracking.
Fig. 7 is that the embodiment of the present invention is provided without the multipath error envelope diagram for obscuring anti-multipath tracking.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The method that the present invention is combined by using least square and truncated singular value decomposition, according to target phase demodulation curve,
CCRW discriminator function is designed, while the litura for avoiding the occurrence of tracking, guarantees multipaths restraint ability, realizes BOC signal
Nothing is fuzzy and anti-multipath tracking.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, satellite navigation receiver anti-multipath provided in an embodiment of the present invention includes: without fuzzy tracking
S101: it is combined using least square and truncated singular value decomposition；
S102: according to target phase demodulation curve, CCRW discriminator function is designed, in the same of the litura for avoiding the occurrence of tracking
When, guarantee multipaths restraint ability, realizes that the nothing of BOC signal obscures and anti-multipath tracking.
Application principle of the invention is further described with reference to the accompanying drawing.
Below nothing of the invention will be described in detail with reference to the attached drawings and obscure anti-multipath track side with BOC (1,1) signal for example
Method.
Fig. 1 be nothing provided by the invention obscure anti-multipath tracking principle process schematic diagram, as shown, include with
Lower step:
Step S1 obtains coefficient matrix P, A and target Discrimination Functions b.In order to realize optimal identification curve, multiple groups can be used
Lock wave approaches optimal identification curve, after code coherent reference waveform W (t) is expressed as a series of delays by basic lock wave weighted sum
Linear combination.
Basic lock wave is g0(t), N=4 is enabled, i.e. W (t) is by N number of by the d that is delayediWith weighting γiG0(t) it forms, it is believed that g0
(t) width is that minimum lock is wide, and W (t) waveform widths are no more than 1 chip.ForIt is mutual with W (t)
Function is closed,X (t- ε) and W can be decomposed into0(t) linear combination of the cross-correlation function by delay and weighted sum, with
The convolution results of path filter.X (t) is BOC (1,1) signal waveform received:
Realize the identification curve using the linear weighted combination of the basic lock wave of different delays, CCRW design parameter can be with
It is divided into two classes, basic lock wave offset diWith basic lock wave weight γi.It, can be fixed inclined according to certain resolution in order to simplify the problem
Move di, and W (t) width is limited within a chip.Two dimensional optimization problem can be reduced to One Dimension Optimization Problems in this way, i.e., only
Need to find the γ=[γ for the condition that meets1,γ2,γ3…γN]T。
Wherein, ε=[- KTc,-KTc+Δτ,-KTc+2Δτ…KTc]T.Wherein K is 1, indicates that the distribution of correlator is
± 1 chip, the length of ε are 201, and resolution ratio is 0.01 chip.If di=-0.4Tc+ (i-1) μ, μ=0.2Tc.Relevant discriminator
Equation is solved with dot product discriminator are as follows:
Wherein:
Dideal(ε) is that target identifies curvilinear function.
Step S2 establishes target and identifies curve.The basic principle of all multipath mitigation algorithms based on anti-multipath discriminator
It is to reduce the response for identifying curve to delay error, to reduce the identification output of multipath signal generation, reduces to stable point
It influences.In order to guarantee tracking performance, target, which identifies curve, should have following feature:
(1) unbiasedness tracked, i.e. Dideal(0)=0.The ε ≈ 0 when accurately tracking, at this time discriminator output should be zero
It is worth noise, guarantees the received stability of signal；
(2) there are linear pulling ranges near tenacious tracking point, when ε falls ([- 0.2T in the rangec,0.2Tc]), D
(ε)=ε can effectively draw signal to tenacious tracking point, TcFor chip width；
(3) there are good multipaths restraint ability, i.e. constraint ε < -0.2TcWhen, Dideal(ε)=0.
(4) have tracking without fuzzy behaviour, i.e. ε > 0.2TcWhen, D (ε)=0.03Tc。
Step S3 solves least squares equation.For Ax=b, singular value decomposition is done to coefficient matrices A, obtains A=U Σ
VH, Σ=diag (σ1,…,σr,0,…,0),σ1≥…≥σr> 0.The uncertainty measure that A is manually set is tol=10-5；
Find Ak=U1Σ1V1 H, so that σ1≥…≥σk> tol > σk+1≥…≥σr, wherein Σ1=diag (σ1,…,σk), U1、V1Point
It is not the preceding k column of U, V.By generalized inverseObtain the approximate Minimum-Norm Solution of least square problem at this time
For PAx=b, singular value decomposition is done to coefficient matrix B=PA, obtains PA=U Σ VH, Σ=diag (σ1,…,
σr,0,…,0),σ1≥…≥σr> 0.The uncertainty measure amount that B is manually set is tol=10-5；Find Bk=U1Σ1V1 H,
So that σ1≥…≥σk> tol > σk+1≥…≥σr, wherein Σ1=diag (σ1,…,σk), U1、V1It is the preceding k column of U, V respectively.
By generalized inverseObtain the approximate Minimum-Norm Solution of least square problem at this time
Step S4 generates local reference waveform and identifies curve.According to the basic lock wave weight γ solved in step S3iWith
Formula:
Available local reference waveform at this time.Further according to
Available identification Dependence Results.
Fig. 2 is the local reference waveform schematic diagram that nothing provided by the invention obscures anti-multipath tracking.It is local to refer to lock
Wave waveform g (t) is by multiple basic lock wave g0(t) it forms, wherein diIndicate the time delay of i-th of basic lock wave, γiIt is basic for i-th
The amplitude of lock wave, the width of basic lock wave are μ.Local reference waveform W (t) is made of lock wave waveform g (t), appears in each puppet
The fixation position of random code chip.
Fig. 3 is the target identification curve synoptic diagram that nothing provided by the invention obscures anti-multipath tracking.It is all to be based on resisting
The basic principle of the multipath mitigation algorithms of multipath discriminator is to reduce the response for identifying curve to delay error, to reduce multipath
The identification output that signal generates, reduces the influence to stable point.According to traditional multipath envelope calculation method, code tracking multipath is missed
Poor envelope is mainly determined by the part of ε < 0 of identification curve.Therefore, as long as the constraint part ε < 0 is that can guarantee resisting for identification curve
Multipath performance is best.In order to guarantee that tracking performance, best discriminant technique curve should have following feature:
(1) unbiasedness tracked, i.e. D (0)=0.The ε ≈ 0 when accurately tracking, at this time discriminator output should be zero-mean and makes an uproar
Sound guarantees the received stability of signal；
(2) there are linear pulling ranges near tenacious tracking point, when ε falls ([- pT in the rangec,pTc], 0 < p < 1),
D (ε)=ε can effectively draw signal to tenacious tracking point, TcFor chip width；
(3) there are good multipaths restraint ability, i.e. constraint ε <-pTcWhen, D (ε)=0.
(4) have tracking without fuzzy behaviour, i.e. when ε > 0, there is no tracking lituras.
For ease of calculation, when which is further limited to (4) has tracking without fuzzy behaviour, i.e. ε > pTc, D (ε)
=b > 0.
Fig. 4 is the local reference waveform figure that nothing provided by the invention obscures anti-multipath tracking.It shows in infiniband
Optimum results under the conditions of width, it is ± 0.1 chip that ideal, which identifies curve linear capture range, except linear capture range, mirror
Other curve is dropped rapidly to zero in ± 1 chip.At this point it is possible to see the optimum results of the relevant discriminator of the present invention, together
The CCRW waveform that least square method obtains under bpsk signal infinite bandwidth is closely similar, in zero crossings by identical lock wave group
At lock corrugated is long-pending and is 0.Lock wave width be respectively [0.01,0.1,0.1,0.01] chip, lock wave value be respectively [- 10,1,
1,-10].But having a shape identical near -0.5 chip but the twice lock wave of amplitude expansion, lock corrugated is long-pending and is 0.Lock
Wave width is respectively [0.01,0.1,0.1,0.01] chip, and lock wave value is respectively [- 20,2,2, -20].This is emerging
Waveform is generated to inhibit the autocorrelation sidelobe of BOC (1,1) signal.It is similar, dot product discriminator of the invention
CCRW optimum results have same rule, have a shape identical near -0.5 chip but amplitude expands twice lock wave.
Fig. 5 is the identification curve graph that nothing provided by the invention obscures anti-multipath tracking.It is BOC (1,1) signal
The linear region difference of discriminator curve, discriminator curve and W2 discriminator of the present invention is smaller, and DoubleDelta discriminator has
The zero crossing slope of 2 times of other discriminators, but it has wrong lock point at 0.5 chip, W2 discriminator equally has a mistake
Lock point.DoubleDelta and W2 discriminator linear region outer dead centre roll-offs all bigger than other discriminators to zero width, and emulates
The present invention be concerned with discriminator curve at 1 chip near have biggish fluctuating.In general, optimization obtains dot product of the present invention
CCRW discriminator curve linear region is relatively narrow, and does not have wrong lock point.
Fig. 6, Fig. 7 are the multipath error envelope diagrams that nothing provided by the invention obscures anti-multipath tracking.It is unlimited to show
Under bandwidth condition, BOC (1,1) signal uses the multipath error envelope curve of CCRW discriminator.W2 discriminator and DoubleDelta
Discriminator has multipath error envelope about the same, in addition near 0.5 chip DoubleDelta discriminator there are secondary lobe,
And W2 discriminator does not have.The multipath error envelope of two kinds of discriminators of least square method is also essentially the same, and be less than W2 lock wave and
DoubeDelta discriminator, this is because they possess smaller lock wave width.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of satellite navigation receiver anti-multipath is without fuzzy tracking, which is characterized in that the satellite navigation receiver
Anti-multipath is combined without fuzzy tracking using least square and truncated singular value decomposition；According to target phase demodulation curve, if
CCRW discriminator function is counted, realizes that the nothing of BOC signal obscures and anti-multipath tracking；The least square method is used to be with Discrimination Functions
Target designs local reference waveform, compresses the conditional number of coefficient matrix in least squares equation.
2. satellite navigation receiver anti-multipath as described in claim 1 is without fuzzy tracking, which is characterized in that described to defend
Star navigation neceiver anti-multipath approaches optimal identification curve using multiple groups lock wave without fuzzy tracking, by code coherent reference wave
Shape W (t) is expressed as a series of linear combination after delays by basic lock wave weighted sum:
Basic lock wave is g0(t), W (t) is by N number of by the d that is delayediWith weighting γiG0(t) it forms, it is believed that g0(t) width is most
Small lock is wide, and W (t) waveform widths are no more than 1 chip；ForWith the cross-correlation function of W (t), and it isAnd WΣ(t) convolution results；Represent the signal received:
It is decomposed into X (t- ε) and W0(t) linear combination of the cross-correlation function by delay and weighted sum, is filtered with channel
The convolution results of wave device:
The relevant discriminator and dot product discriminator of CCRW respectively indicates are as follows:
Wherein, ε=[- KTc,-KTc+Δτ,-KTc+2Δτ…KTc]T；Wherein K is integer, indicates the distribution of correlator, if
M is the length of ε；If di=-LTc+ (i-1) μ, L≤1, N μ≤1Tc；Relevant discriminator and dot product discriminator solve equation are as follows:
Wherein:
Linear least squares minimization problem, i.e. system of linear equations:
Ax=b；
Minimal Norm Least Square Solutions:
Or
PAx=b；
Minimal Norm Least Square Solutions:
Wherein P and A is coefficient matrix, is made of the cross-correlation function of reception signal and local signal；Observational equation quantity is M,
Unknown number number is N, M >=N；X is unknown number vector, i.e., lock wave weight to be optimized, b is ideal identification curve.
3. satellite navigation receiver anti-multipath as described in claim 1 is without fuzzy tracking, which is characterized in that described to defend
Star navigation neceiver anti-multipath uses the least square problem processing method of truncated singular value decomposition such as without fuzzy tracking
Under:
(1) singular value decomposition is done to coefficient matrices A, obtains A=U Σ VH；
(2) the uncertainty measure tol of A is manually set；
(3) A is foundk=U1Σ1V1 H, so that σ1≥…≥σk> tol > σk+1≥…≥σr；
(4) by generalized inverseObtain the approximate Minimum-Norm Solution of least square problem at this time
Wherein, the singular value decomposition of A is A=U Σ VH, Σ=diag (σ1,…,σr,0,…,0),σ1≥…≥σr> 0；A is most
Good order-k approaches Ak=U1Σ1V1 H, Σ1=diag (σ1,…,σk), U1、V1It is the preceding k column of U, V respectively.
4. it is a kind of using satellite navigation receiver anti-multipath described in claims 1 to 3 any one without fuzzy tracking
Satellite navigation platform.
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Application publication date: 20190524 |