CN109975842A - A kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation - Google Patents
A kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation Download PDFInfo
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- CN109975842A CN109975842A CN201910161390.3A CN201910161390A CN109975842A CN 109975842 A CN109975842 A CN 109975842A CN 201910161390 A CN201910161390 A CN 201910161390A CN 109975842 A CN109975842 A CN 109975842A
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
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Abstract
The blind catching method of Big Dipper satellite signal high-precision that the invention discloses a kind of based on wavelet transformation, comprising the following steps: S1: acquisition satellite-signal carries out background noise reduction to sampled signal using Threshold Denoising Method, the sampled signal after obtaining noise reduction；S2: the satellite-signal model that satellite receiver receives and the blind separation model for being converted into single input and multi-output are established, using the sampled signal after noise reduction as the input signal of the blind separation model；S3: using the new space spectral function of blind separation Construction of A Model, space spectral function is scanned for, the frequency of satellite-signal is obtained；S4: according to the frequency of satellite-signal, signal initial phase is solved, the capture of satellite is completed.Present invention incorporates blind separation model and wavelet transformation theories, and the Doppler effect frequency and phase of Big Dipper satellite signal are solved using the satellite-signal blind separating method based on subspace estimation algorithm, and anti-noise ability is strong, and performance is stablized, and precision is high.
Description
Technical field
The present invention relates to field of satellite navigation, high more particularly, to a kind of Big Dipper satellite signal based on wavelet transformation
The blind catching method of precision.
Background technique
21 century, each field such as national defence, civil aviation mangement and agricultural have obtained tremendous development, and wherein satellite navigation is sent out wherein
Wave positive effect.With user's increased dramatically for location-based service demand, satellite is led in civil field or even military domain
Rapidity, the real-time demand of boat receiver positioning constantly increase.On the one hand, due to signal capture Beidou satellite navigation receiver
It is the basic steps of baseband signal processing unit point, it is the premise of tracking and positioning, therefore the superiority and inferiority of acquisition algorithm performance is also straight
Connect the performance indicators such as the acquisition speed for determining receiver, acquisition accuracy.On the other hand, since satellite-signal is in very noisy ring
It under border, or is reflected in communication process by mountain range building or is blocked by trees, signal strength will be weaker than normal signal at this time
Very much, cause receiver that can not obtain direct effective satellite-signal, therefore, improve existing acquisition algorithm to improve satellite letter
Number acquisition accuracy is of great practical significance.
In a noisy environment due to traditional serial, parallel capture algorithm, it is especially difficult under weak signal environment accurate
This kind of Beidou signal is captured, non-coherent accumulation catching method is usually taken to improve the sensitivity of capture, however this method is deposited
In defect, because non-coherent accumulation method, there are Squared Error Loss, Squared Error Loss is increased with the increase of accumulative frequency, institute
Longer with accumulated time, noise and increasing is also faster, acquisition accuracy decline, therefore this method can not by infinitely increase accumulation when
Between to improve be captured as power.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of Beidou based on wavelet transformation
The blind catching method of satellite-signal high-precision.
In order to solve the above technical problems, technical scheme is as follows:
A kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation, comprising the following steps:
S1: acquisition satellite-signal carries out background noise reduction to sampled signal using Threshold Denoising Method, after obtaining noise reduction
Sampled signal；
S2: the satellite-signal model that satellite receiver receives and the blind separation mould for being converted into single input and multi-output are established
Type, using the sampled signal after noise reduction as the input signal of the blind separation model；
S3: using the new space spectral function of blind separation Construction of A Model, space spectral function is scanned for, satellite-signal is obtained
Frequency；
S4: according to the frequency of satellite-signal, signal initial phase is solved, the capture of satellite is completed.
Above scheme combines wavelet transformation and Blind Signal Separation, first using wavelet thresholding method to Big Dipper satellite signal into
Row noise reduction improves signal-to-noise ratio, can effectively reduce the influence of noise, to improve the acquisition performance of Beidou satellite receiver, then
Satellite-signal after noise reduction is converted into blind separation model, constructs space spectral function according to the signal after noise reduction, optimizes search,
After obtaining the Doppler effect frequency of satellite-signal, then with Subspace algorithm the estimated value of phase is obtained, thus to satellite-signal
It realizes accurate capture, improves capture gain.
Preferably, satellite-signal is acquired in step S1, background noise reduction is carried out to satellite-signal using Threshold Denoising Method,
Sampled signal after obtaining noise reduction, comprising the following steps:
S1.1: selection wavelet function simultaneously determines decomposition level, carries out small wavelength-division to the satellite-signal for adulterating ambient noise
Solution calculates, and is divided into several levels；
S1.2: given threshold simultaneously obtains high frequency coefficient progress quantification treatment to each layer of decomposition computation according to threshold value；
S1.3: small echo is carried out to satellite-signal according to the high frequency coefficient after the detail coefficients and quantization obtained after wavelet decomposition
Reconstruct, the signal after reconstruct are the sampled signal after noise reduction.
Preferably, the satellite-signal model that satellite receiver receives is established in step S2 and is converted into single input and multi-output
Blind separation model, using the sampled signal after noise reduction as the input signal of the blind separation model, comprising the following steps:
S2.1: the satellite-signal model that satellite receiver receives is established:
In formula, t is time, AnFor the amplitude of n-th of satellite C/A code, C (t) is C/A code；D (t) is navigation data code, is
A string of binary codes comprising navigation message；fIFFor IF carrier frequency, on the basis of Big Dipper satellite signal plus an intermediate frequency is carried
Wave frequency rate realizes spread spectrum, reduces loss；fnAnd θn,0It is for the Doppler effect frequency and phase, n (t) of n-th satellite-signal
Ambient noise, ambient noise Gaussian distributed, the mean value of noise are 0, variance σ2；
S2.2: by believing blind separation model of the frequency sampling mode by satellite-signal model conversation for single input and multi-output:
R=Ax+n
In formula:
In above-mentioned formula, T indicates that transposition, H indicate that Hermetian transposition, r represent the satellite of same sampled point difference channel acquisition
Signal, A are coefficient matrix, FN=fIF+fn, M indicates m-th sampling channel, the parameter A in column vector xNFor satellite carrier signal
Intensity, θN,0For satellite carrier signal initial phase, P is the product of C/A code and navigation message code, and navigation message code is that user connects
Receipts machine to the satellite-signal progress carrier wave demodulation and pseudo-code that receive by de-spreading to obtain numeric data code, then according to navigation message
Numeric data code is compiled into navigation message by format, and it is fixed to be used in navigation message containing having time, satellite transit track, ionosphere delay etc.
The important information of position；
Preferably, space spectral function is scanned for using the space spectral function that blind separation Construction of A Model is new in step S3,
Obtain the frequency of satellite-signal, comprising the following steps:
S3.1: it seeks autocorrelation matrix simultaneously according to blind separation model calculation formula both sides and combines sinusoidal signal correlation function
The constant characteristic of frequency, obtains matrix Q:
Q=E (rrH)=AE (xxH)·AH+σ2I=ARxx·AH+σ2I
Wherein, Rxx=E (xxH), RxxIt is the covariance matrix of satellite-signal, I is unit matrix, and E is to seek mathematic expectaion,
σ2For the variance of ambient noise；
S3.2: Eigenvalues Decomposition is carried out to matrix Q:
To there are N number of big characteristic value, M-N small characteristic values after matrix Q mathematic decomposition, matrix Q can be decomposed into signal message
With noise information two parts, UXIt is by the signal subspace of the corresponding characteristic vector of big characteristic value, UNIt is by small characteristic value pair
The noise subspace of a characteristic vector answered；
S3.3: due to signal subspace and noise subspace be it is mutually orthogonal, using the orthogonality of the two, construct new
Space spectral function:
Wherein, P is the space spectral function of construction；
S3.4: by scanning for space spectral function, the corresponding frequency of extreme point is required satellite-signal
Frequency.
Preferably, signal initial phase is solved, the capture of satellite is completed according to the frequency of satellite-signal in step S4, wrapped
Include following steps:
S4.1: least square method is made to the sampled signal after noise reduction:
In formula,For the inverse pseudo- matrix of A；
S4.2: signal initial phase is solved:
θ=[θ1,0 θ2,0 … θN,0]T
Complete the capture of satellite.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
Present invention incorporates blind separation model and wavelet transformation theories, using the satellite-signal based on subspace estimation algorithm
Blind separating method solves the Doppler effect frequency and phase of Big Dipper satellite signal, compares traditional catching method, and the algorithm is anti-
Ability of making an uproar is stronger, and performance is relatively stable, and precision is higher.Background is carried out to Big Dipper satellite signal based on the method for Threshold Denoising
Noise reduction, carrying out noise reduction process using Threshold Denoising Method can be improved the signal-to-noise ratio of satellite-signal, to effectively improve Beidou
Receiver performance, and anti-noise ability is strong, performance are stablized, precision compared with.
Detailed description of the invention
Fig. 1 is a kind of blind catching method flow diagram of Big Dipper satellite signal high-precision based on wavelet transformation.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be understood that certain known features and its explanation, which may be omitted, in attached drawing
's.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
A kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation, such as Fig. 1, comprising the following steps:
S1: acquisition satellite-signal carries out background noise reduction to sampled signal using Threshold Denoising Method, after obtaining noise reduction
Sampled signal；
S1 comprising steps of
S1.1: selection wavelet function simultaneously determines decomposition level, carries out small wavelength-division to the satellite-signal for adulterating ambient noise
Solution calculates, and is divided into several levels；
S1.2: given threshold simultaneously obtains high frequency coefficient progress quantification treatment to each layer of decomposition computation according to threshold value；
S1.3: small echo is carried out to satellite-signal according to the high frequency coefficient after the detail coefficients and quantization obtained after wavelet decomposition
Reconstruct, the signal after reconstruct are the sampled signal after noise reduction.
S2: the satellite-signal model that satellite receiver receives and the blind separation mould for being converted into single input and multi-output are established
Type, using the sampled signal after noise reduction as the input signal of the blind separation model；
S2 comprising steps of
S2.1: the satellite-signal model that satellite receiver receives is established:
In formula, t is time, AnFor the amplitude of n-th of satellite C/A code, C (t) is C/A code, and D (t) is navigation data code, fIF
For IF carrier frequency, fnAnd θn,0For the Doppler effect frequency and phase of n-th of satellite-signal, n (t) is ambient noise；
S2.2: by believing blind separation model of the frequency sampling mode by satellite-signal model conversation for single input and multi-output:
R=Ax+n
In formula:
In above-mentioned formula, T indicates that transposition, H indicate that Hermetian transposition, r represent the satellite of same sampled point difference channel acquisition
Signal, A are coefficient matrix, FN=fIF+fn, M indicates m-th sampling channel, the parameter A in column vector xNFor satellite carrier signal
Intensity, θN,0For satellite carrier signal initial phase, P is the product of C/A code and navigation message code.
S3: using the new space spectral function of blind separation Construction of A Model, space spectral function is scanned for, satellite-signal is obtained
Frequency；
S3 comprising steps of
S3.1: it seeks autocorrelation matrix simultaneously according to blind separation model calculation formula both sides and combines sinusoidal signal correlation function
The constant characteristic of frequency, obtains matrix Q:
Q=E (rrH)=AE (xxH)·AH+σ2I=ARxx·AH+σ2I
Wherein, Rxx=E (xxH), RxxIt is the covariance matrix of satellite-signal, I is unit matrix, and E is to seek mathematic expectaion,
σ2For the variance of ambient noise；
S3.2: Eigenvalues Decomposition is carried out to matrix Q:
To there are N number of big characteristic value, M-N small characteristic values, U after matrix Q mathematic decompositionXIt is by the corresponding feature of big characteristic value
The signal subspace of vector, UNIt is by the noise subspace of the corresponding characteristic vector of small characteristic value；
S3.3: new space spectral function is constructed:
Wherein, P is the space spectral function of construction；
S3.4: by scanning for space spectral function, the corresponding frequency of extreme point is required satellite-signal
Frequency.
S4: according to the frequency of satellite-signal, signal initial phase is solved, the capture of satellite is completed；
S4 comprising steps of
S4.1: least square method is made to the sampled signal after noise reduction:
In formula,For the inverse pseudo- matrix of A；
S4.2: signal initial phase is solved:
θ=[θ1,0 θ2,0 … θN,0]T
Complete the capture of satellite.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (5)
1. a kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation, which comprises the following steps:
S1: acquisition satellite-signal carries out background noise reduction to sampled signal using Threshold Denoising Method, the sampling after obtaining noise reduction
Signal；
S2: establishing the satellite-signal model that satellite receiver receives and the blind separation model for being converted into single input and multi-output, will
Input signal of the sampled signal as the blind separation model after noise reduction；
S3: using the new space spectral function of blind separation Construction of A Model, space spectral function is scanned for, the frequency of satellite-signal is obtained
Rate；
S4: according to the frequency of satellite-signal, signal initial phase is solved, the capture of satellite is completed.
2. the Big Dipper satellite signal high-precision blind catching method according to claim 1 based on wavelet transformation, feature exist
In, acquire satellite-signal in step S1, using Threshold Denoising Method to satellite-signal carry out background noise reduction, after obtaining noise reduction
Sampled signal, comprising the following steps:
S1.1: selection wavelet function simultaneously determines decomposition level, carries out wavelet decomposition meter to the satellite-signal for adulterating ambient noise
It calculates, is divided into several levels；
S1.2: given threshold simultaneously obtains high frequency coefficient progress quantification treatment to each layer of decomposition computation according to threshold value；
S1.3: small echo weight is carried out to satellite-signal according to the high frequency coefficient after the detail coefficients and quantization obtained after wavelet decomposition
Structure, the signal after reconstruct are the sampled signal after noise reduction.
3. the Big Dipper satellite signal high-precision blind catching method according to claim 2 based on wavelet transformation, feature exist
In establishing the satellite-signal model that satellite receiver receives and the blind separation mould for being converted into single input and multi-output in step S2
Type, using the sampled signal after noise reduction as the input signal of the blind separation model, comprising the following steps:
S2.1: the satellite-signal model that satellite receiver receives is established:
In formula, t is time, AnFor the amplitude of n-th of satellite C/A code, C (t) is C/A code, and D (t) is navigation data code, fIFFor in
Frequency carrier frequency, fnAnd θn,0For the Doppler effect frequency and phase of n-th of satellite-signal, n (t) is ambient noise；
S2.2: by believing blind separation model of the frequency sampling mode by satellite-signal model conversation for single input and multi-output:
R=Ax+n
In formula:
In above-mentioned formula, T indicates that transposition, H indicate that Hermetian transposition, r represent the satellite-signal of same sampled point difference channel acquisition,
A is coefficient matrix, FN=fIF+fn, M indicates m-th sampling channel, the parameter A in column vector xNFor satellite carrier signal intensity,
θN,0For satellite carrier signal initial phase, P is the product of C/A code and navigation message code.
4. the Big Dipper satellite signal high-precision blind catching method according to claim 3 based on wavelet transformation, feature exist
In the space spectral function for utilizing blind separation Construction of A Model new in step S3 scans for space spectral function, obtains satellite-signal
Frequency, comprising the following steps:
S3.1: it seeks autocorrelation matrix simultaneously according to blind separation model calculation formula both sides and combines sinusoidal signal correlation function frequency
Constant characteristic obtains matrix Q:
Q=E (rrH)=AE (xxH)·AH+σ2I=ARxx·AH+σ2I
Wherein, Rxx=E (xxH), RxxIt is the covariance matrix of satellite-signal, I is unit matrix, and E is to ask mathematic expectaion, σ2For
The variance of ambient noise；
S3.2: Eigenvalues Decomposition is carried out to matrix Q:
To there are N number of big characteristic value, M-N small characteristic values, U after matrix Q mathematic decompositionXIt is by the corresponding characteristic vector of big characteristic value
The signal subspace opened, UNIt is by the noise subspace of the corresponding characteristic vector of small characteristic value；
S3.3: new space spectral function is constructed:
Wherein, P is the space spectral function of construction；
S3.4: by scanning for space spectral function, the corresponding frequency of extreme point is the frequency of required satellite-signal.
5. the Big Dipper satellite signal high-precision blind catching method according to claim 4 based on wavelet transformation, feature exist
According to the frequency of satellite-signal in step S4, solution signal initial phase completes the capture of satellite, comprising the following steps:
S4.1: least square method is made to the sampled signal after noise reduction:
In formula,For the inverse pseudo- matrix of A；
S4.2: signal initial phase is solved:
θ=[θ1,0 θ2,0…θN,0]T
Complete the capture of satellite.
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