CN111077545A  Straightness monitoring and judging method for Beidou and GPS satellite signal receiving  Google Patents
Straightness monitoring and judging method for Beidou and GPS satellite signal receiving Download PDFInfo
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 CN111077545A CN111077545A CN201911344427.2A CN201911344427A CN111077545A CN 111077545 A CN111077545 A CN 111077545A CN 201911344427 A CN201911344427 A CN 201911344427A CN 111077545 A CN111077545 A CN 111077545A
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 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 timestamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
 G01S19/13—Receivers
 G01S19/35—Constructional details or hardware or software details of the signal processing chain
 G01S19/37—Hardware or software details of the signal processing chain

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 timestamped 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
 G01S19/243—Demodulation of navigation message

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 timestamped 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
 G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
Abstract
The invention discloses a method for monitoring and judging the straightness of Beidou and GPS dualmode satellite signal reception, which provides a method for judging the straightness by combining the measured value output by a satellite signal tracking loop and the posterior information after PVT (wavelet transform) calculation on the basis of the traditional power or signaltonoise ratio judgment method.
Description
Technical Field
The invention relates to a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception.
Background
The Beidou and GPS satellite navigation systems are space multiconstellation orbit operation systems, and satellite signals of the Beidou and GPS satellite navigation systems are satellite broadcast signals based on a CDMA direct sequence spread spectrum technology. In Beidou and GPS systems, satellites and receivers have space motion and relativistic effect, and the receivers need to track and measure in real time based on signals of space multisatellite constellations to obtain accurate channel characteristic parameters and measurement quantities, so that passive positioning, constant speed and timing (PVT) calculation and application can be carried out. Due to the fact that the satellite orbit has a certain distance from the ground, when a satellite signal reaches the ground, the signal intensity is weak, even the satellite signal is submerged in environmental noise in many cases, and in addition, nonlinear losses of an ionosphere, a troposphere and the like caused by the fact that the satellite signal passes through the atmosphere and complexity of the ground environment when the satellite signal finally reaches the ground are added, and various noises or interferences are introduced in the satellite signal receiving process in the cases, so that the signal receiving quality is unstable. When a satellite with poor receiving quality participates in the PVT calculation, the calculation accuracy is reduced, and in the serious case, the calculation divergence or the system operation crash restart can be caused.
On the other hand, the service life of a satellite is generally 1012 years. At the present stage, the Beidou satellite navigation system is in the third strategic development stage, successfully launches 51 Beidou satellites, achieves global coverage, and is also in the system debugging and pilot service testing stage; the GPS satellite navigation system is in the stage of successively transmitting and replacing satellites and developing a new satellite for three generations; the situation that a plurality of generations of satellites coexist is formed. Therefore, the necessity and reliability of the satellite signal reception straightness monitoring and judgment, and thus the accuracy, stability and reliability of the PVT calculation are all higher requirements. The Beidou satellite is in a construction and debugging transition stage, and satellite signal broadcasting changes possibly occur; in the actual signal receiving process, signal changes caused by the radio frequency analog front end of the receiver and nonideal characteristics of electricity affect the reliability of the satellite signal receiving straightness monitoring and judgment, so that the reliability of a satellite signal set participating in PVT calculation is directly affected, and the problems of low accuracy of a calculation result, large fluctuation and stability and reliability of the whole output of the system are finally caused.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception on the basis of a traditional power or signaltonoise ratio judging method.
The invention provides a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception, which comprises the following steps: s1, establishing a signal processing channel for receiving and demodulating the current visible satellite signal through capturing and tracking, and carrying out realtime tracking, measured value calculation and updating, characteristic value calculation and updating, demodulated text content and corresponding timing information when each information is updated on the satellite signal of each channel.
S2, extracting realtime measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; and calculating the time difference between the satellite signal information time and the PVT resolving time.
S3, calculating the noise error mean square error of the satellite corresponding to each channel by using the parameters such as the signal carriertonoise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution, the timing information and the like extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the noise error mean square error and the theoretical mean square error and marking: the satellite reliability confidence coefficient value with the normalized multiplying power close to 1 is larger, and vice versa, the value is smaller.
S4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized ratio is close to 1, the larger the satellite reliability confidence measure is, and vice versa.
S5, weighting the confidence coefficient value, the carriertonoise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
wherein s is_{1}～s_{4}In order to be a coefficient of the weighting factor,andto normalize the processed carriertonoise ratio metric value,andthe power measurement value after normalization processing is carried out.
S6, after postprocessing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
Preferably, step S3 further includes: s3.1, utilizing the time difference between the updating time of each channel information and the PVT resolving time to interpolate and complement each channel information to a channel value corresponding to the PVTcnt (t) time, wherein the general method for compensation is that the variation introduced by the information is added on the basis of the updated information at the time t; because the calculation time takes the local clock drift into account, when compensating, the error introduced by the clock drift can not be further compensated.
S3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into the errors of the ranging codes, the theoretical variance formula is given by using the BDS as an example, and the GPS performs the same calculation.
Wherein A is_{1}、A_{2}Is a constant coefficient, and B is a constant coefficient associated with the radio frequency bandwidth.
The ratio of the multiplying power is obtained by dividing the variance of the two signals, and generally, the ratio of the multiplying power is less than 2.7 under an ideal signal environment; however, in practical application, due to factors such as environment change, nonideal reception of radio frequency and analog front end, and thermal dryness of a receiver, the value will change with the environment, so that the decision threshold value should be adapted to the environment for further dynamic filtering for corresponding adjustment;
and S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
Preferably, step S4 includes: s4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudorange measurement error, and the pseudorange error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock difference and the clock drift are only related to the electronic characteristics of the receiver self device, therefore, within the statistical window, the clock difference and the clock drift are set as statistical constants, and the mean square error statistics is carried out on the calculation errors of the position and the speed. It is particularly noted that since the final output will incorporate a priori and a posteriori weighting or INS inputs, the output is statistically solved for PVT here;
s4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence measure is considered to be low. And normalizing the satellite confidence coefficient value by using the proportional value sum.
The beneficial effects of the invention include: the invention can effectively eliminate satellite signals with large noise or fluctuation, so that the overall quality reliability of the satellite participating in PVT calculation is higher, thereby ensuring that the accuracy of PVT calculation is continuously converged in a better range, and obviously ensuring that the overall reception is in continuous and stable PVT calculation operation in a larger proportion.
Drawings
Fig. 1 is a flow chart of processing steps of a method for judging the orthogonality of the Beidou and GPS satellite signal reception provided by the invention.
Fig. 2 is a graph of theoretical error of different signal qualities under a certain parameter setting of the method according to the embodiment of the present invention.
Fig. 3 is a comparison of a positioning track of a certain section under different satellite selection methods before and after the method of the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
As shown in fig. 1, it is a flowchart of processing steps of a method for judging the correctness of the Beidou satellite and GPS satellite signal reception provided by the present invention.
The preferred embodiment specifically comprises the following steps:
step S1, the receiver acquires and tracks the received satellite signals, and the successfully acquired and tracked satellites are visible satellites. The receiver establishes a signal processing channel of each visible satellite, tracks the signal of each visible satellite in real time, and updates and outputs in real time:
characteristic value: including but not limited to: doppler frequencyAndsignal powerAndcarrier to noise ratioAndtracking loop bandwidthAndcoherent integrationAndcorrelator code widthAndminimum resolution of chipsAnd
satellite telegraph text: including ephemeris and parameters of each satellite, orbit, atmosphere and the like in the almanac;
and k corresponds to the kth Beidou satellite, n corresponds to the nth GPS satellite, and t represents the time corresponding to the positioning resolving time epoch cycle boundary corresponding to the current information.
S2, extracting realtime measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; calculating the time difference between the information time of each satellite signal and the PVT resolving time;
S3, calculating the noise error mean square error of the satellite corresponding to each channel by using the parameters such as the signal carriertonoise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution, the timing information and the like extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the implemented noise error mean square error and the theoretical mean square error and marking: the satellite reliability confidence coefficient value with the normalized multiplying power close to 1 is larger, and vice versa, the value is smaller.
S3.1 use of time differencesAndand interpolating and supplementing the current channel information to a channel value corresponding to PVTcnt (t) time, wherein the general method for compensation is to add the variation introduced by the information on the basis of the updated information at the time t. Because the calculation time takes the local clock drift into account, when compensating, the error introduced by the clock drift can not be further compensated. Thus, the interpolation formula for the code phase can be expressed as follows, and the carrier phase can be compensated as well.
S3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into errors of the ranging codes, the theoretical variance formula is given by taking the BDS as an example as follows, and the GPS performs the same calculation:
wherein A is_{1}、A_{2}Is a constant coefficient, and B is a constant coefficient associated with the radio frequency bandwidth.
The ratio of the multiplying power is obtained by dividing the variance of the two signals, and generally, the ratio of the multiplying power is less than 2.7 under an ideal signal environment; however, in practical application, due to factors such as environment variation, nonideal reception of radio frequency and analog front end, and thermal dryness of the receiver, the value will vary with the environment, and therefore, the decision threshold should be adapted to the environment for further dynamic filtering and corresponding adjustment.
And S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
S4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized ratio is close to 1, the larger the satellite reliability confidence measure is, and vice versa.
S4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudorange measurement error, and the pseudorange error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock difference and the clock drift are only related to the electronic characteristics of the receiver self device, therefore, within the statistical window, the clock difference and the clock drift are set as statistical constants, and the mean square error statistics is carried out on the calculation errors of the position and the speed. It is particularly noted that the output is statistically solved for PVT here, since the final output will incorporate a priori and a posteriori weighting or INS inputs.
S4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence measure is considered to be low. And normalizing the satellite confidence coefficient value by using the proportional value sum.
S5, weighting the confidence coefficient value, the carriertonoise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
wherein s is_{1}～s_{4}In order to be a coefficient of the weighting factor,andto normalize the processed carriertonoise ratio metric value,andthe power measurement value after normalization processing is carried out.
S6, after postprocessing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
Those skilled in the art will recognize that numerous variations are possible in light of the above description, and therefore the examples and drawings are merely intended to describe one or more specific embodiments.
While there has been described and illustrated what are considered to be example embodiments of the present invention, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit of the invention. In addition, many modifications may be made to adapt a particular situation to the teachings of the present invention without departing from the central concept described herein. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments and equivalents falling within the scope of the invention.
Claims (3)
1. A method for monitoring and judging the straightness of Beidou and GPS satellite signal receiving is characterized by comprising the following steps: s1, establishing a signal processing channel for receiving and demodulating the current visible satellite signal through capturing and tracking, and carrying out realtime tracking, measured value calculation and updating, characteristic value calculation and updating, demodulated text content and corresponding timing information when updating each information on the satellite signal of each channel;
s2, extracting realtime measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; calculating the time difference between the information time of each satellite signal and the PVT resolving time;
s3, calculating the noise error mean square error of the satellite corresponding to each channel by using the signal carriertonoise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution and the timing information parameters extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the noise error mean square error and the theoretical mean square error and marking: the larger the satellite reliable confidence coefficient value of which the normalized multiplying power is close to 1 is, and the smaller the satellite reliable confidence coefficient value is, otherwise;
s4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized proportion is close to 1, the larger the satellite reliability confidence coefficient value is, and the smaller the value is otherwise;
s5, weighting the confidence coefficient value, the carriertonoise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
wherein s is_{1}～s_{4}In order to be a coefficient of the weighting factor,andto normalize the processed carriertonoise ratio metric value,andthe power measurement value after normalization processing is carried out;
s6, after postprocessing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
2. The method for monitoring and determining the orthogonality of the Beidou and GPS satellite signal reception according to claim 1, wherein step S3 further comprises:
s3.1, utilizing the time difference between the updating time of each channel information and the PVT resolving time to interpolate and complement each channel information to a channel value corresponding to the PVTcnt (t) time, wherein the general method for compensation is that the variation introduced by the information is added on the basis of the updated information of the time t, and as the local clock drift is considered in the calculation time, the error introduced by the clock drift can not be further compensated in the compensation process;
s3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into errors of the ranging codes, the theoretical variance formula is given by taking the BDS as an example as follows, and the GPS performs the same calculation:
wherein A is_{1}、A_{2}Is a constant coefficient, B is a constant coefficient related to the radio frequency bandwidth;
the two variances are divided to obtain a multiplying power ratio, and under an ideal signal environment, the multiplying power ratio is smaller than 2.7; in practical application, due to environmental change, nonideal reception of radio frequency and analog front ends and thermal dryness factors of a receiver, the value can change along with the environment, so that the judged threshold value is adapted to the environment to further perform dynamic filtering for corresponding adjustment;
and S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
3. The method for monitoring and determining the orthogonality of the Beidou and GPS satellite signal reception according to claim 1, wherein the step S4 includes:
s4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudorange measurement error, and the pseudorange error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock error and the clock drift are only related to the electronic characteristics of the receiver, so that the clock error and the clock drift are set as statistical constants in a statistical window, and mean square error statistics is carried out on the calculation errors of the position and the speed; it is particularly noted that since the final output will incorporate a priori and a posteriori weighting or INS inputs, the output is statistically solved for PVT here;
s4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence coefficient value is considered to be low; and normalizing the satellite confidence coefficient value by using the proportional value sum.
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