CN109828293A - A kind of signal processing method and its relevant device - Google Patents
A kind of signal processing method and its relevant device Download PDFInfo
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- CN109828293A CN109828293A CN201711189501.9A CN201711189501A CN109828293A CN 109828293 A CN109828293 A CN 109828293A CN 201711189501 A CN201711189501 A CN 201711189501A CN 109828293 A CN109828293 A CN 109828293A
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Abstract
The embodiment of the present application discloses a kind of signal processing method and its relevant device, calculates pseudorange for determining minimum value from least one chip offset corresponding with minimum residual value, and according to the minimum value.The embodiment of the present application method comprises determining that the smallest residual value at least two residual values, the smallest residual value is determined by the second correlated results of the first correlated results, the argument value of at least one ideal single diameter and at least one ideal single diameter according to the first formula, the argument value of at least one ideal single diameter is determined that at least one second correlated results is with the first correlated results at least one corresponding chip offset by the first correlated results and at least one the second correlated results according to the second formula；When the smallest residual value is less than the first threshold value, the minimum value at least one chip offset is determined；Pseudorange is calculated according to the minimum value in the first correlated results and chip offset.
Description
Technical field
This application involves the communications field more particularly to a kind of signal processing methods and its relevant device.
Background technique
Satellite navigation and location system be based on measurement the distance between satellite launch mouth and receiver antenna phase center come
Realize positioning.Limitation satellite precision mainly have tropospheric error, ionospheric error, clock deviation, ephemeris error, multipath error,
Noise, interference, Satellite Orbit Determination error etc..However, tropospheric error, ionospheric error, clock deviation, ephemeris error and Orbit Error are all
It can perhaps be modeled by difference to offset and have multipath error only and can not reduce or eliminate, be to influence precision further to be promoted
Key.
Existing code loop tracks algorithm is by way of pseudo-random code ranging, and receiver is receiving global positioning satellite system
It unites after (global navigation satellite system, GNSS) signal, by the signal received and locally generated
Pseudo-code synchronizes, receiver internal reproduction C/A code, this replica code is then done relevant treatment with the GPS signal received, most
Code phase is measured according to the peak value of resulting C/A code auto-correlation function afterwards, to calculate pseudorange.
Multipath phenomenon refers to receiver antenna in addition to receiving the electromagnetism letter after a navigation satellite emits through straightline propagation
Extra, it is also possible to the phenomenon that receiving one or more signals reflected by the electromagnetic wave surrounding objects, if the letter received
It number is being superimposed by direct wave and multiple back waves, then the C/A code inside receiver can be simultaneously with direct wave and to a reflection
Wave superposition, be originally only reflection direct wave phase condition triangle auto-correlation function main peak value by deformation failure, thus
The measurement accuracy of pseudorange is reduced, the purpose that photocarrier method is added is code rate deviation caused by order to correct Doppler effect, existing
The code loop tracks algorithm of technology only considers single diameter mode, and therefore, in the presence of multipath, error is will be present in measured pseudorange.
Summary of the invention
The embodiment of the present application discloses a kind of signal processing method and its relevant device, for from corresponding with minimum residual value
At least one chip offset in determine minimum value, and according to the minimum value calculate pseudorange.
The first aspect of the application provides a kind of signal processing method characterized by comprising
Determine the smallest residual value at least two residual values, the smallest residual value by the first correlated results, at least
Second correlated results of the argument value of the single diameter of one ideal and at least one ideal single diameter is determined according to the first formula, described
The argument value of at least one ideal single diameter by first correlated results and at least one second correlated results according to
Second formula determines that treated as a result, the described second related knot by correlator to receive signal for first correlated results
By correlator, treated as a result, at least one described second correlated results is related to described first for ideal single diameter for fruit
As a result there is at least one corresponding chip offset, ideal single diameter is single diameter in current tracking chip presetting range,
Ideal single diameter is the single drive signal of not noise jamming；
When the smallest residual value is less than the first threshold value, determine at least one described chip offset most
Small value；
Pseudorange is calculated according to the minimum value in first correlated results and the chip offset.
Based in a first aspect, in the first embodiment of the embodiment of the present application first aspect, which is characterized in that described
Calculating pseudorange according to the minimum value in first correlated results and the chip offset includes:
First correlated results is subjected to chip offset, offset is the minimum value in the chip offset；
Pseudorange is calculated according to first correlated results after offset.
Based on the first of first aspect and first aspect embodiment, at second of the embodiment of the present application first aspect
In embodiment, which is characterized in that first formula includes:
J(τ0)=arg ∑k|Y(k)-∑ixi×P(k-τi)|；
Wherein, the Y (k) first correlated results, the xiFor the argument value of i-th single diameter, P (the k- τi) table
Show second correlated results, wherein the τiIndicate the chip offset of i-th diameter, the value range of the i be n >=
I >=1, the i are positive integer.
Based on the first of first aspect and first aspect embodiment, in the third of the embodiment of the present application first aspect
In embodiment, which is characterized in that at least two residual value of determination before the smallest residual value, the method is also wrapped
It includes:
Determine the power of every ideal single diameter in described at least one ideal single diameter；
Determine the maximum value of the power；
The second threshold value is determined according to the maximum value；
When being less than ideal single diameter of second threshold value in described at least one ideal single diameter there are power, really
The argument value that the fixed power is less than ideal single diameter of second threshold value is zero.
Based on the first of first aspect and first aspect embodiment, at the 4th kind of the embodiment of the present application first aspect
In embodiment, before the minimum value at least one chip offset described in the determination, the method also includes:
The smallest residual value is normalized.
Based on the first of first aspect and first aspect embodiment, at the 5th kind of the embodiment of the present application first aspect
In embodiment, which is characterized in that second formula includes:
Wherein, Y indicates the Y (k),
Wherein, []N×mRepresenting matrix size is N row m column, described []N×1Representing matrix size is the column of N row 1, described
P(k-τm) indicate second correlated results, wherein the τmIndicate the chip offset of the m articles diameter, the value of the m
Range is n >=m >=1, and the m is positive integer.
The second aspect of the application provides a kind of multipath estimation device characterized by comprising
First determination unit, for determining the smallest residual value at least two residual values, the smallest residual value by
Second correlated results of the first correlated results, the argument value of at least one ideal single diameter and at least one ideal single diameter according to
First formula determines that the argument value of described at least one ideal single diameter is as described in first correlated results and described at least one
Second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knot
Fruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated results
As a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chip
Single diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit is used at least one described in determination when the smallest residual value is less than the first threshold value
Minimum value in chip offset；
Computing unit, for calculating pseudorange according to the minimum value in first correlated results and the chip offset.
Based on second aspect, in the first embodiment of the embodiment of the present application second aspect, which is characterized in that described
Computing unit includes:
Offset module, for first correlated results to be carried out chip offset, offset is in the chip offset
Minimum value；
Computing module, for calculating pseudorange according to first correlated results after offset.
Based on the first of second aspect and its second aspect embodiment, the second of the embodiment of the present application second aspect
In kind embodiment, which is characterized in that the multipath estimation device further include:
Third determination unit, for determining the power of every ideal single diameter in described at least one ideal single diameter；
4th determination unit, for determining the maximum value of the power；
5th determination unit, for determining the second threshold value according to the maximum value；
6th determination unit, when there are power to be less than described in second threshold value in described at least one ideal single diameter
When ideal list diameter, the argument value for determining that the power is less than ideal single diameter of second threshold value is zero.
Based on the first of second aspect and its second aspect embodiment, in the third of the embodiment of the present application second aspect
In kind embodiment, which is characterized in that the multipath estimation device further include:
Processing unit, for the smallest residual value to be normalized.
The application third aspect provides a kind of multipath estimation device, comprising: memory, transceiver, processor and total
Linear system system；
Wherein, the memory is for storing program and instruction；
The transceiver is for receiving or sending information under the control of the processor；
The processor is used to execute the program in the memory；
The bus system is for connecting the memory, the transceiver and the processor, so that the memory, the transceiver
And the processor is communicated；
Wherein, which is used to call the program instruction in the memory, executes such as first aspect and its first aspect
The first method being somebody's turn to do to any one of the 5th kind of implementation implementation.
A kind of computer readable storage medium, including instruction are provided in terms of the embodiment of the present application four, when instruction is calculating
When being run on machine, so that computer is executed such as the first of first aspect and first aspect to the 5th kind of implementation, second
The method of any implementation of the first of aspect and second aspect into the third implementation.
A kind of computer program product comprising instruction is provided in terms of the embodiment of the present application five, when it is transported on computers
When row so that computer execute as first aspect and first aspect the first to the 5th kind of implementation, second aspect with
And the method for any implementation of the first of second aspect into the third implementation.
The embodiment of the present application, which has the advantage that, to be determined by the argument of the ideal single diameter of the first correlated results and at least one
The minimum residual value that value and the second correlated results acquire then determines the second correlated results relative to the first phase according to the residual value
The minimum offset in the offset of result is closed, pseudorange is asked according to the minimum offset and the first correlated results.In the present embodiment
In, residual value is sought by being fitted a plurality of ideal single diameter, there are phase delay, phases relative to practical reception signal for every single drive signal
Position postpones a smallest single drive signal (assuming that delay is τ1) it is the corresponding signal of direct wave, therefore letter can be received by practical
Number correlated results postpone τ1A unit is the correlated results of direct wave, so can be according to the first correlated results and τ1It calculates pseudo-
Away to achieve the purpose that calculate pseudorange under multipath scenario.
Detailed description of the invention
Fig. 1 is a kind of typical receiver tracking loop circuit schematic diagram of the prior art；
Fig. 2 is one embodiment schematic diagram of the embodiment of the present application signal processing method；
Fig. 3, which is that the first correlated results is opposite with the second correlated results, deviates schematic diagram；
Fig. 4 is one embodiment schematic diagram of the embodiment of the present application signal processing method；
Fig. 5 is one embodiment schematic diagram of the embodiment of the present application multipath estimation device；
Fig. 6 is another embodiment schematic diagram of the embodiment of the present application multipath estimation device；
Fig. 7 is another embodiment schematic diagram of the embodiment of the present application multipath estimation device；
Fig. 8 is another embodiment schematic diagram of the embodiment of the present application multipath estimation device；
Fig. 9 is another embodiment schematic diagram of the embodiment of the present application multipath estimation device.
Specific embodiment
It is understood that the present embodiment passes through practical reception signal and a plurality of reason under virtual analog multipath effect scene
Think single drive signal, by the transmission path with signal under multiple groups multipath signal simulating multi-path scene, therefrom selects and most suitable make an uproar
The smallest one group of multipath signal of sound defaults the path as Multipath Transmission under practical multipath effect, it is to be understood that direct wave
It is to reach receiver at first, accordingly, with respect to the corresponding single diameter of reception signal correlated results phase delay minimum correlated results
Be direct wave transmission path.
In the present embodiment, first correlated results, at least one ideal single diameter are by the above-mentioned remnants thought
Value minimum is the value of corresponding selection, and minimum residual value calculates gained according to the first formula by them.
In the present embodiment, pseudo range measurement is prolonged by first calculating satellite launch moment to the time that receiver receives the moment
Late, then multiplied by the light velocity, as satellite launch moment position and user distance r, this distance is exactly pseudorange.Satellite is in t1It is raw
At navigation information code, in t2Moment reaches receiver, and receiver passes through the local reproduction code constantly generated and the letter received
Number carry out related operation, until local signal and receive signal occur it is perfectly correlated, realize signal synchronize, illustrate moment t1Then
Carve t2Between time delay ▽ t be exactly time of the satellite-signal in space propagation.
Existing typical code loop tracks are illustrated in fig. 1 shown below, by adjusting local C/A code phase, obtain Early and
Late two-way, it is related to the signal progress after mixing respectively and integrate, to obtain the road I/Q correlated results.By correlated results benefit
Current code phase tracking error is calculated with discriminator algorithm.Error is used as subsequent time local C/A code after loop filtering
Phase generates clock, carrier loop tracking is added, for correcting the code rate deviation due to caused by Doppler effect, to guarantee to carry
The accurate tracking to carrier phase may be implemented in wave tracking ring.Existing code loop tracks algorithm only considered single diameter mode, when
In the presence of multipath, code ring discriminator will fail, and there are errors for the tracing positional provided.
In the present embodiment, ranging code and navigation message data are modulated on satellite carrier signal, therefore at baseband signal
The intermediate-freuqncy signal that reason part is exported by radio-frequency front-end copies the carrier wave and ranging code signal consistent with satellite, removing packet
The carrier signal including Doppler shift is included, C/A code is obtained.
Referring to figure 2., a kind of signal processing method of the embodiment of the present application will be illustrated below.
201, the smallest residual value at least two residual values is determined；
Determine the smallest residual value at least two residual values, the smallest residual value is by the first correlated results, at least one
The argument value of the ideal single diameter of item and the second correlated results of the single diameter of at least one ideal determine that this at least one according to the first formula
The argument value of the ideal single diameter of item determines by first correlated results and at least one second correlated results according to the second formula,
At least one second correlated results has at least one corresponding chip offset, ideal list diameter with first correlated results
Currently to track single diameter in chip presetting range, ideal list diameter is the single drive signal of not noise jamming.
The signal model received under multipath scenario be typically expressed as a direct signal and multiple reflection signals and
White Gaussian noise, the first correlated results is that correlator carries out the knot that related operation obtains to the practical signal that receives in the present embodiment
Fruit, the second correlated results are every single drive signal (i.e. direct signal and transmitting signal) under multipath scenario after correlator operation
Obtained result.
In the present embodiment, due to being every ideal single diameter under simulating multi-path effect, it is therefore desirable to select from multiple groups
It is fitted in ideal list diameter set and selects, the foundation of selection is to pass through since there are noise jammings for practical reception signal and determine reality
Receive signal correlated results and every group of ideal single drive signal correlated results it is accumulative and difference, this difference is practical to receive signal
Relative to noise ideally, the smallest one group of simulation ideal single drive signal group of noise figure i.e. residual value is taken, that is, is considered
Most suitable ideal single diameter group.
In the present embodiment, it is taken from multiple residual values first one the smallest, it is to be understood that in practical operation
In, there is the step of simulation the first correlated results of multiple groups seeks corresponding residual value with ideal single diameter, the mode of specific implementation can be
First preset one group ideal single diameter, calculates residual value, then traverses the corresponding path position combination of sampled point, determines next group of ideal single diameter
And its corresponding practical reception signal, calculate next group of residual value.First correlated results in the present embodiment, it is described extremely
A few ideal single diameter corresponding that group of value when being residual value minimum, it is remaining to calculate multiple groups for multiple groups value result in practice
Value is that every group of value is brought into the process of the first formula, the second formula circulation, and the application only uses minimum residual value, therefore specific
Details are not described herein again for cyclic process.
It is understood that every single drive signal under multipath scenario is the ideal single drive signal in the present embodiment, it should
Ideal single drive signal is without the signal Jing Guo noise jamming.
In the present embodiment, into correlator is crossed, treated as a result, first phase to receive signal for first correlated results
Closing result can be after over-sampling as a result, general sampling multiple is 4 to 8 times, and up-sampling multiple is higher, and algorithm accuracy is got over
Good, complexity is also higher, and the second correlated results and the first correlated results keep identical sample rate.In the present embodiment, it samples
Mode can be using interpolation method.
In the present embodiment, there are chip offsets between the first correlated results and the second correlated results, due to the second phase
Closing result is at least one, and the first correlated results is relatively fixed, therefore there are at least one chip offsets, in the present embodiment
In, the first correlated results is first determined when the selection of the second correlated results, and the second phase is then chosen in current chip presetting range
It closes as a result, being embodied in reference axis as shown in Figure 3.On the basis of first correlated results, the second correlated results carries out unit quantity
Offset, offset can be to use τiIt indicates.
In the present embodiment, under multipath effect, chip duplication, therefore this are carried out to every single diameter for receiver
Application mainly individually receives signal by every under virtual simulating multi-path effect scene, and related with practical reception signal
As a result the second correlated results after carrying out chip offset in reference axis indicates every ideal single drive signal under the multipath scenario
Correlated results.Since direct signal is arrival receiver at first, so opposite first correlated results chip offset minimum the
The correlated results of the as direct signal of two correlated results obtains the corresponding mobile minimum chip offset of the first correlated results directly
The correlated results of signal is penetrated, to seek pseudorange according to the result.
In the present embodiment, there are certain value ranges for the ideal single drive signal of simulation, generally in currently tracking chip
Search in positive and negative 0.5 chip range.This is because the corresponding distance of solid size piece is 1/1.023MHz*3*10^8=291m, multipath
Receiving the time that signal reaches under effect has differences but not very big, since a chip is corresponding apart from excessive, choosing
Take positive and negative 0.5 chip more appropriate.
202, when the smallest residual value is less than the first threshold value, the minimum at least one chip offset is determined
Value；
In the present embodiment, it is normalized effect be avoid digital front-end quantify data there are difference in size, thus
And there are deviations when the first thresholding compares.Specific method for normalizing are as follows: by the first correlated results divided by correlated results sequence
Maximum value in column.
In the present embodiment, there are chip offsets with respect to the first correlated results for the second correlated results of every ideal single diameter
Amount, the present embodiment includes at least one ideal single diameter, therefore there are at least one chip offsets, due to the correlation of direct signal
As a result minimum relative to the first correlated results chip offset, it is therefore desirable to determine the minimum value in the offset.
At this time, it may be necessary to be compared with the first threshold value, if residual value is too big, then it is assumed that the multipath and reality being currently fitted
Received multipath signal is improper or noise jamming is excessive, in short, the algorithm of residual value is asked to fail, exporting is 0.
203, pseudorange is calculated according to the minimum value in the first correlated results and chip offset.
In the present embodiment, the first correlated results is subjected to chip offset, offset is the minimum value, after offset
First correlated results is the correlated results for being regarded as direct signal, then calculates pseudorange further according to the correlated results, is realized
Ask pseudorange mode identical under mode and single diameter scene, details are not described herein again.
In the present embodiment, residual value calculation expression is substituted into after the argument value of ideal single diameter is found out by LS algorithm, is taken
The ideal single diameter of that corresponding group of the smallest residual value, it is later determined that inclined relative to the first correlated results chip in the ideal single diameter of the group
The smallest shifting amount is direct wave signal, then seeks pseudorange according to the corresponding code phase of the direct wave.
In the present embodiment, a kind of possible to be achieved in that first to filter out power too small before carrying out residual value calculating
Ideal single drive signal because it can be ignored the practical influence for receiving signal under multipath effect.Referring to figure 4.,
It is described below.
401, the power of every ideal single diameter at least one ideal single diameter is determined；
The power that wherein every ideal single diameter is determined according to the argument expression formula of every group of ideal single diameter, on amplitude-phase figure
Watt level can be compared with root range degree.
402, the maximum value of power is determined；
403, the second threshold value is determined according to maximum value；
In the present embodiment, the second threshold value is determined according to the maximum value of power, and the second threshold value is with the maximum power
Basis, but it is not equal to the power, the ideal single drive signal for being far smaller than maximum power the purpose is to filter out performance number.
404, when at least one ideal single diameter there are power less than the second threshold value single diameter when, determine power less than the
The argument value of single diameter of two threshold values is zero；
When being far smaller than the ideal single drive signal of maximum power there are power, it is believed that it is acquired in LS algorithm
The error of ideal list diameter, the actually diameter may be and is not present, it is thus determined that single diameter of the power less than the second threshold value
Argument value is zero.
405, the smallest residual value at least two groups residual value is determined；
In the present embodiment, embodiment step 405 is similar with embodiment illustrated in fig. 2 step 201, does not go to live in the household of one's in-laws on getting married herein specifically
It states.
You need to add is that specific algorithm is as follows:
In the present embodiment, the formula for calculating argument value is as follows:
Second formula are as follows:
Wherein, Y indicates the Y (k),
Wherein, []N×mRepresenting matrix size is N row m column, []N×mRepresenting matrix size is the column of N row 1, P (k- τm) indicate the
Two is related as a result, wherein τiIndicate chip offset of the m articles diameter relative to the first correlated results, the value range of the m be n >=
M >=1, the i are positive integer.
In the present embodiment, Z indicates the cumulative of the second correlated results and the second phase of that is, one even a plurality of ideal single diameter
Pass result is cumulative to obtain corresponding Z.
It brings the second correlated results matrix Z of one in every group even a plurality of ideal single diameter into LS algorithm, obtains every group of reason
Think the argument value of every ideal single diameter in single diameter, it is to be understood that available every ideal from the expression formula of argument value
The amplitude and phase value of single diameter.
It then brings the argument expression formula of every acquired ideal single diameter into first formula and asks residual value, the first formula are as follows:
J(τ0)=arg ∑k|Y(k)-∑ixi×P(k-τi)|；
Wherein, the first correlated results of Y (k), xiFor the argument value of i-th single diameter, P (k- τi) indicate the second correlated results,
Middle τiIndicate the chip offset of i-th diameter, the value range of i is n >=i >=1, and i is positive integer.
In the present embodiment, a kind of possible situation be certain ideal single diameter power it is too small when, it is believed that be that LS algorithm is asked
The error of solution sets 0 for the argument expression formula of the ideal single drive signal at this time, carries out below in conjunction with specific application scenarios
Explanation.
(1) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
Work as τ1When argument value is too small, power is too low, little to the practical effect of signals that receives in multipath effect, can ignore
Disregard, the actual algorithm of above-mentioned formula is J (τ0)=arg ∑k|Y(k)-x1×P(k-τ1)+x2×P(k-τ2)|
(2) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
Work as τ1、τ2When argument value is too small, it is similarly set to 0, the actual algorithm of above-mentioned formula is J (τ0)=arg ∑k|Y(k)-x1
×P(k-τ1)|
(3) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
When there is no power too small situation, formula calculating is all brought into.
It is understood that the value of i is without limitation in this application scene.
406, when the smallest residual value is less than the first threshold value, the minimum at least one chip offset is determined
Value；
407, pseudorange is calculated according to the minimum value in the first correlated results and chip offset.
In the present embodiment, embodiment step 406,407 and embodiment illustrated in fig. 2 step 202,203 similar, specifically herein
It does not repeat.
The present embodiment is illustrated below in conjunction with concrete application scene.
Preset one group of first correlated results and virtual 4 ideal single diameters inside the multipath estimation module of receiver, four
Corresponding second correlated results of ideal list diameter is also preset by receiver, and the second correlated results exists with respect to the first correlated results
The chip offset of chip offset, four ideal single diameters is respectively τ1、τ2、τ3、τ4, the width of every ideal single diameter is found out first
Angle value, calculation formula such as formula two, details are not described herein again, the value of Z be the second correlated results of four ideal single diameters it is cumulative and,
The power of every ideal single diameter in four ideal single diameters is judged at this time, such as it is respectively a that first diameter to Article 4 diameter, which is,1, a2,
a3, a4If ai<c1*max(a1, a2, a3, a4), c1Indicate preset constant, then aiCorresponding diameter power is too small, can ignore
Disregard, first to Article 3 diameter argument value and the second correlated results calculated into residual value in conjunction with the first correlated results at this time,
Assuming that this residual value is minimum residual value, therefore first to fourth diameter is regarded as straight under practical multipath effect scene
Signal and reflection signal are penetrated, since direct wave reaches receiver at first, and since the second correlated results is relative to the first correlation
As a result the correlated results for generating chip offset, it is thus determined that τ1、τ2、τ3、τ4In the smallest offset, and by first receive signal
The result obtained after offset same chip is considered the correlated results of direct signal, then calculates pseudorange.
In the present embodiment, by filtering out the too small ideal single drive signal of power, the accuracy of residual value calculating is increased,
Also increase the diversity of scheme implementation.
The embodiment of the present application is illustrated from the angle of signal processing method above, it referring to figure 5., below will be from more
The angle of diameter multipath estimation device is illustrated the embodiment of the present application.
First determination unit 501, for determining the smallest residual value at least two residual values, the smallest residual value
By the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameter
It is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one institute
State the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knot
Fruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated results
As a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chip
Single diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 502, when the smallest residual value is less than the first threshold value, for determining described at least one
Minimum value in a chip offset；
Computing unit 503, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offset
Away from.
In the present embodiment, residual value is brought by the argument expression formula that LS algorithm finds out ideal single diameter to calculate, determine most
The ideal single diameter of that corresponding group of small residual value, it is later determined that relative to the first correlated results chip offset in the ideal single diameter of the group
The smallest is direct wave signal, and by the corresponding offset minimum offset of the first correlated results, obtained image is direct wave pair
The minimum correlated results answered, then seeks pseudorange according to the correlated results.
In the present embodiment, pseudorange is asked to can be the first related knot to the minimum value of offset according to the first correlated results
Fruit deviates corresponding chip, please refers to Fig. 6, is described below.
First determination unit 601, for determining the smallest residual value at least two residual values, the smallest residual value
By the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameter
It is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one institute
State the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knot
Fruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated results
As a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chip
Single diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 602, when the smallest residual value is less than the first threshold value, for determining described at least one
Minimum value in a chip offset；
Computing unit 603, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offset
Away from.
Wherein, computing unit includes:
Offset module 6031, for first correlated results to be carried out chip offset, offset is the chip offset
Minimum value in amount；
Computing module 6032, for calculating pseudorange according to first correlated results after offset.
In the present embodiment, the first correlated results after offset is the correlated results of direct signal, then according to routine
Algorithm calculates pseudorange, and similarly to the prior art, details are not described herein again for specific algorithm.How the present embodiment describes in detail according to
One correlated results and minimum offset calculate pseudorange, increase the feasibility of scheme.
In the present embodiment, when carrying out residual value calculating, lower-powered ideal single drive signal can be ignored, width
Angle value sets 0, please refers to Fig. 7, is described below.
Third determination unit 701, for determining the power of every ideal single diameter in described at least one ideal single diameter；
4th determination unit 702, for determining the maximum value of the power；
5th determination unit 703, for determining the second threshold value according to the maximum value；
6th determination unit 704, when there are power to be less than second threshold value in described at least one ideal single diameter
When ideal single diameter, the argument value for determining that the power is less than ideal single diameter of second threshold value is zero.
First determination unit 705, for determining the smallest residual value at least two residual values, the smallest residual value
By the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameter
It is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one institute
State the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knot
Fruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated results
As a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chip
Single diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 706, when the smallest residual value is less than the first threshold value, for determining described at least one
Minimum value in a chip offset；
Computing unit 707, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offset
Away from.
In the present embodiment, 0 is set by the ideal single drive signal argument value by power less than the second threshold value, had using residual
The accuracy that residual value calculates also increases the diversity of scheme implementation.
In the present embodiment, before residual value is compared with the first threshold value, residual value can be normalized place
Reason, effect be avoid digital front-end quantify data there are difference in size, to exist when compared with the first thresholding
Deviation please refers to Fig. 8, is described below.
First determination unit 801, for determining the smallest residual value at least two residual values, the smallest residual value
By the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameter
It is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one institute
State the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knot
Fruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated results
As a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chip
Single diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Processing unit 802, for the smallest residual value to be normalized.
Second determination unit 803, when the smallest residual value after the normalized is less than the first threshold value,
For determining the minimum value at least one described chip offset；
Computing unit 804, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offset
Away from.
In the present embodiment, by being normalized, the feasibility for thering is Utilization plan to implement.
Fig. 9 is a kind of multipath estimation device schematic diagram provided by the embodiments of the present application, which includes clear
Look at device, it may include one or one which, which can generate bigger difference because configuration or performance are different,
The above central processing unit (central processing units, CPU) 922 (for example, one or more processors) and
Storage medium 930 (such as one or one of memory 932, one or more storage application programs 942 or data 944
The above mass memory unit).Wherein, memory 932 and storage medium 930 can be of short duration storage or persistent storage.It is stored in
The program of storage medium 930 may include one or more modules (diagram does not mark), and each module may include to more
Series of instructions operation in diameter estimation device.Further, central processing unit 922 can be set to and storage medium 930
Communication executes the series of instructions operation in storage medium 930 on multipath estimation device 900.
The central processing unit 922 can operate according to instruction and execute following steps:
Determine the smallest residual value at least two residual values, the smallest residual value by the first correlated results, at least
Second correlated results of the argument value of the single diameter of one ideal and at least one ideal single diameter is determined according to the first formula, described
The argument value of at least one ideal single diameter by first correlated results and at least one second correlated results according to
Second formula determines that treated as a result, the described second related knot by correlator to receive signal for first correlated results
By correlator, treated as a result, at least one described second correlated results is related to described first for ideal single diameter for fruit
As a result there is at least one corresponding chip offset, ideal single diameter is single diameter in current tracking chip presetting range,
Ideal single diameter is the single drive signal of not noise jamming；
When the smallest residual value is less than the first threshold value, determine at least one described chip offset most
Small value；
Pseudorange is calculated according to the minimum value in first correlated results and the chip offset.
Multipath estimation device 900 can also include one or more power supplys 926, one or more wired or nothings
Wired network interface 950, one or more input/output interfaces 958, and/or, one or more operating systems 941,
Such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM etc..
The step as performed by multipath estimation device can be based on the multipath estimation device shown in Fig. 9 in above-described embodiment
Structure.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, local client or the network equipment etc.) executes each embodiment method of the application Fig. 2 and Fig. 4
All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (read-only
Memory, ROM), random access memory (random access memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
More than, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of signal processing method characterized by comprising
Determine the smallest residual value at least two residual values, the smallest residual value is by the first correlated results, at least one
Second correlated results of the argument value of ideal list diameter and at least one ideal single diameter determines according to the first formula, it is described at least
The argument value of one ideal single diameter is by first correlated results and at least one second correlated results according to second
Formula determines, first correlated results is to receive signal treated as a result, second correlated results is by correlator
Treated as a result, at least one described second correlated results and first correlated results by correlator for ideal single diameter
With at least one corresponding chip offset, ideal single diameter is single diameter in current tracking chip presetting range, described
Ideal list diameter is the single drive signal of not noise jamming；When the smallest residual value is less than the first threshold value, described in determination
Minimum value at least one chip offset；
Pseudorange is calculated according to the minimum value in first correlated results and the chip offset.
2. the method according to claim 1, wherein described inclined according to first correlated results and the chip
Minimum value in shifting amount calculates pseudorange
First correlated results is subjected to chip offset, offset is the minimum value in the chip offset；
Pseudorange is calculated according to first correlated results after offset.
3. method according to claim 1 or 2, which is characterized in that first formula includes:
J(τ0)=arg ∑k|Y(k)-∑ixi×P(k-τi)|；
Wherein, the Y (k) first correlated results, the xi are the argument value of i-th single diameter, P (the k- τi) indicate institute
The second correlated results is stated, wherein the τiIndicate the chip offset of i-th diameter, the value range of the i be n >=i >=
1, the i are positive integer.
4. method according to claim 1 or 2, which is characterized in that the smallest residual at least two residual value of determination
Before residual value, the method also includes:
Determine the power of every ideal single diameter in described at least one ideal single diameter；
Determine the maximum value of the power；
The second threshold value is determined according to the maximum value；
When being less than ideal single diameter of second threshold value in described at least one ideal single diameter there are power, institute is determined
The argument value that power is stated less than ideal single diameter of second threshold value is zero.
5. method according to claim 1 or 2, which is characterized in that at least one chip offset described in the determination
Minimum value before, the method also includes:
The smallest residual value is normalized.
6. method according to claim 1 or 2, which is characterized in that second formula includes:
Wherein, Y indicates the Y (k),
Wherein, []N×mRepresenting matrix size is N row m column, described []N×1Representing matrix size is the column of N row 1, the P (k-
τm) indicate second correlated results, wherein the τmIndicate the chip offset of the m articles diameter, the value range of the m
For n >=m >=1, the m is positive integer.
7. a kind of multipath estimation device characterized by comprising
First determination unit, for determining the smallest residual value at least two residual values, the smallest residual value is by first
Second correlated results of correlated results, the argument value of at least one ideal single diameter and at least one ideal single diameter is according to first
Formula determines that the argument value of described at least one ideal single diameter is by first correlated results and described at least one described second
Correlated results determines that treated as a result, institute by correlator to receive signal for first correlated results according to the second formula
State the second correlated results be the ideal single diameter by correlator treated as a result, at least one described second correlated results with
First correlated results has at least one corresponding chip offset, and ideal single diameter is the current tracking preset model of chip
Interior single diameter is enclosed, ideal single diameter is the single drive signal of not noise jamming；
Second determination unit, when the smallest residual value is less than the first threshold value, for determining at least one described chip
Minimum value in offset；
Computing unit, for calculating pseudorange according to the minimum value in first correlated results and the chip offset.
8. multipath estimation device according to claim 7, which is characterized in that the computing unit includes:
Offset module, for first correlated results to be carried out chip offset, offset in the chip offset most
Small value；
Computing module, for calculating pseudorange according to first correlated results after offset.
9. multipath estimation device according to claim 7 or 8, which is characterized in that the multipath estimation device further include:
Third determination unit, for determining the power of every ideal single diameter in described at least one ideal single diameter；
4th determination unit, for determining the maximum value of the power；
5th determination unit, for determining the second threshold value according to the maximum value；
6th determination unit, when there are the ideals that power is less than second threshold value in described at least one ideal single diameter
When single diameter, the argument value for determining that the power is less than ideal single diameter of second threshold value is zero.
10. multipath estimation device according to claim 7 or 8, which is characterized in that the multipath estimation device further include:
Processing unit, for the smallest residual value to be normalized.
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| CN107255822A (en) * | 2017-06-01 | 2017-10-17 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | GNSS receiver modulated parameter estimating method under multi-path environment |
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| US20030030584A1 (en) * | 2000-05-31 | 2003-02-13 | Mitsubishi Denki Kabushiki Kaisha | Global positioning system and global positioning apparatus |
| CN201130246Y (en) * | 2007-12-13 | 2008-10-08 | 西安华迅微电子有限公司 | Code tracking loop for multi-path resistance GPS spread spectrum receiver |
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