CN111812685B - Signal tracking positioning deviation determining method and device - Google Patents
Signal tracking positioning deviation determining method and device Download PDFInfo
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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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
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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Abstract
The application belongs to the technical field of satellite signal quality detection, and provides a positioning deviation determining method and device for signal tracking, wherein the method comprises the following steps: tracking the navigation satellite signals to obtain a phase discrimination curve; determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in a sampling range corresponding to the characteristic points in the phase discrimination curve to obtain a sampling point set; randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value; clustering all the linear parameter information to obtain a plurality of cluster clusters; if any cluster meets the selection condition, linear parameter information positioned in the cluster center is extracted from the cluster, and positioning deviation is obtained according to the code phase difference value of the extracted linear parameter information. The embodiment of the application solves the problem that the positioning deviation of signal tracking cannot be accurately determined.
Description
Technical Field
The present invention relates to the technical field of satellite signal quality detection, and in particular, to a method and apparatus for determining positioning deviation of signal tracking.
Background
The Beidou satellite navigation system of China adopts the B1 frequency point to broadcast civil satellite navigation signals B1I and B1C. Wherein, the B1I signal is modulated by adopting the traditional BPSK (binary phase shift keying) technology; the data component of the B1C signal is modulated by BOC (binary offset carrier), and the pilot component B1Cp of the B1C signal is modulated by QMBOC (quadrature multiplexed binary offset carrier) technology with higher positioning accuracy and higher anti-interference capability. After the receiver captures satellite navigation signals, the satellite navigation signals are tracked through a tracking loop in the receiver, and carrier phases and code phases are locked in real time, so that the tracking of navigation satellites is realized. The tracking loop tracks the zero crossing point (zero point) of the lock phase discrimination curve (i.e., S-curve) as much as possible to minimize the input code tracking error. However, since the B1Cp modulated signal modulated by QMBOC has a narrower main peak of the autocorrelation function and multiple sub-peaks, which are characteristic of multiple correlation peaks, or the modulated signal is distorted, the tracking loop of the receiver erroneously recognizes that multiple lock points (zero points) exist in the S-curve, which causes the tracking loop to erroneously lock on the wrong lock point when tracking the satellite navigation signal, thereby causing a continuous and constant positioning deviation.
In the prior art, two ways are generally adopted to determine the positioning deviation generated in the signal tracking process; the first mode is to find the position closest to the zero point on the S curve, set N points in the nearby area as objects, fit a straight line by using a least square method, calculate the intercept of the fit straight line and the code phase difference coordinate axis to obtain positioning deviation; and secondly, selecting two points near the zero point on the S curve to perform first-order linear fitting, and then solving the intersection point value of the fitted straight line and the code phase difference coordinate axis to determine the positioning deviation. However, the N points of the selected nearby area introduce unstable points in the first mode, so that the finally fitted straight line has larger error, and the calculated positioning deviation is inaccurate; the two modes only select two points near the zero point, the effective data information is too little, and if the two selected points are abnormal, serious positioning errors are caused; and the two modes can not simultaneously calculate the positioning deviation of a plurality of locking points on the S curve, and the efficiency is low.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a device for determining positioning deviation of signal tracking, so as to solve the problem that the positioning deviation of signal tracking cannot be determined efficiently and accurately.
A first aspect of an embodiment of the present invention provides a positioning deviation determining method for signal tracking, including:
tracking the navigation satellite signals to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the satellite navigation signal and a local signal of a signal receiving device;
determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value;
clustering all the linear parameter information to obtain a plurality of cluster clusters;
and if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
In one implementation example, the linear parameter information includes a slope of a line formed by the two selected data points and a first intercept intersecting the autocorrelation amplitude axis;
if any cluster meets the selection condition, linear parameter information at the cluster center is extracted from the cluster, and positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, including:
obtaining a fitting straight line according to the slope and the first intercept included in the extracted linear parameter information;
and calculating a second intercept of the fit straight line intersecting the code phase difference axis, and taking the second intercept as the positioning deviation.
In an implementation example, the determining the feature point in the phase-discrimination curve, and obtaining a plurality of data points in the phase-discrimination curve within a sampling range corresponding to the feature point to obtain a sampling point set includes:
determining a data point in the phase discrimination curve, wherein the autocorrelation amplitude value of the data point is zero and the code phase difference value is closest to zero value as the characteristic point;
acquiring a plurality of data points positioned in the sampling range corresponding to the characteristic points in the phase discrimination curve to obtain a sampling point set; the sampling range includes a preset code phase difference value range centered on the code phase difference value corresponding to the zero point.
In an implementation example, if any one of the cluster clusters satisfies a selection condition, linear parameter information located in a cluster center is extracted from the cluster clusters, and positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, including:
determining the cluster with the highest concentration degree and the most linear parameter information as a target cluster;
and extracting linear parameter information positioned in the center of the target cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
In one implementation example, the selection condition is that the number of linear parameter information and the concentration degree in the cluster reach preset standards.
In an implementation example, if any one of the cluster clusters satisfies a selection condition, linear parameter information located in a cluster center is extracted from the cluster clusters, and a positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, and the method further includes:
if any cluster meets the selection condition, linear parameter information at the cluster center is searched from the cluster by a clustering algorithm, and positioning deviation is obtained according to the code phase difference value corresponding to the searched linear parameter information.
A second aspect of an embodiment of the present invention provides a positioning deviation determining apparatus for signal tracking, including:
the phase discrimination curve generating module is used for tracking the navigation satellite signals to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the satellite navigation signal and a local signal of a signal receiving device;
the sampling module is used for determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, so as to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
the linear parameter information generation module is used for randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value;
the clustering module is used for clustering all the linear parameter information to obtain a plurality of clustering clusters;
and the positioning deviation calculation module is used for extracting linear parameter information positioned in the cluster center from the cluster clusters if any cluster meets the selection condition, and obtaining positioning deviation according to the code phase difference value corresponding to the extracted linear parameter information.
In one implementation example, the linear parameter information includes a slope of a line formed by the two selected data points and a first intercept intersecting the autocorrelation amplitude axis;
the positioning deviation calculation module includes:
a fitting straight line generating unit, configured to obtain a fitting straight line according to the slope and the first intercept included in the extracted linear parameter information;
and the positioning deviation calculation unit is used for calculating a second intercept of the fitting straight line intersecting with the code phase difference axis, and taking the second intercept as the positioning deviation.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above.
A fourth aspect of an embodiment of the present invention provides a signal receiving apparatus, including: the system comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning deviation determining method of signal tracking in the first aspect when executing the computer program.
In the method and the device for determining the positioning deviation of signal tracking, in the process of tracking a navigation satellite signal, the satellite navigation signal and a local signal of a signal receiving device are subjected to autocorrelation operation to obtain a phase discrimination curve; the phase detection curve is provided with a locking point which causes the error locking of a tracking loop of the signal receiving device, a sampling point set is obtained by determining characteristic points in the phase detection curve and acquiring a plurality of data points which are positioned in a sampling range corresponding to the characteristic points in the phase detection curve, so that the data points which are positioned near the locking point on the phase detection curve are sampled, and the data of a nonlinear area on the phase detection curve is prevented from being introduced; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude. And randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value, thereby extracting the linear characteristic mapped by every random two data points in the sampling point set. Clustering all the extracted linear parameter information to obtain a plurality of cluster clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points; and if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information. And screening out the isolated linear parameter information in the cluster by setting selection conditions, so that errors caused by introducing abnormal data points to the determined positioning deviation are avoided. And the sampling range can be expanded according to the requirements, so that the number of clustering clusters is increased, positioning deviation corresponding to a plurality of locking points in the sampling range is determined simultaneously, and the calculation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a positioning deviation determining method for signal tracking according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a phase discrimination curve according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of clustering linear parameter information to obtain a plurality of clusters according to the first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning deviation determining device for signal tracking according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a signal receiving apparatus according to a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution of an embodiment of the present invention will be clearly described below with reference to the accompanying drawings in the embodiment of the present invention, and it is apparent that the described embodiment is a part of the embodiment of the present invention, but not all the embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The term "comprising" in the description of the invention and the claims and in the above figures and any variants thereof is intended to cover a non-exclusive inclusion. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include additional steps or elements not listed or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used for distinguishing between different objects and not for describing a particular sequential order.
Example 1
Fig. 1 is a schematic flow chart of a positioning deviation determining method for signal tracking according to an embodiment of the present invention. The embodiment is applicable to an application scene in which a signal receiving device tracks captured satellite navigation information, the method can be executed by a positioning deviation determining device for signal tracking, and the device can be a processor or MCU (micro control unit) and the like in the signal receiving device; in the embodiment of the application, a positioning deviation determining device for signal tracking is taken as an execution main body for description, and the method specifically comprises the following steps:
Because the method in the prior art carries out straight line fitting by sampling N data points or two data points in the area near the zero point on the phase discrimination curve (namely the S curve) and determines positioning deviation according to the intersection point value of the fitted straight line and the code phase difference coordinate axis, the method has the defects of introducing data points in a nonlinear area and discarding effective data information, thereby leading to inaccurate positioning deviation. In order to solve the technical problem, the embodiment of the application obtains a sampling point set by determining the characteristic points in the phase discrimination curve and acquiring a plurality of data points in a sampling range corresponding to the characteristic points in the phase discrimination curve, so as to realize sampling of the data points near the locking points on the phase discrimination curve and avoid introducing data of a nonlinear region on the phase discrimination curve; extracting linear characteristics mapped by every random two data points in the sampling point set, and clustering all extracted linear parameter information to obtain a plurality of cluster clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points; and extracting linear parameter information positioned in the center of the cluster from the cluster meeting the selection condition, obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information, screening out abnormal data points, and improving the accuracy of the determined positioning deviation.
S110, tracking a navigation satellite signal to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the satellite navigation signal and a local signal of a signal receiving device.
Specifically, the signal receiving apparatus includes a tracking loop, through which the navigation satellite signal can be tracked. In this process, an autocorrelation function curve is calculated according to a satellite navigation signal currently received by the signal receiving device and a local signal of the signal receiving device, the autocorrelation function curve is moved leftwards to obtain an advanced correlation function, the autocorrelation function curve is moved rightwards to obtain a lagged correlation function, and then the advanced correlation function and the lagged correlation function are subtracted by a code phase discriminator in a tracking loop to obtain a phase discrimination curve (i.e. an S curve), wherein the phase discrimination curve is a curve in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude, as shown in fig. 2. The code phase difference and the Doppler frequency shift between the navigation satellite signal and the local signal of the signal receiving device are obtained by tracking the navigation satellite signal, and the carrier wave and the pseudo code phase of the local signal of the signal receiving device are synchronized with the navigation satellite signal according to the determined code phase difference and Doppler frequency shift, so that the normal running of navigation satellite tracking is ensured.
S120, determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, to obtain a sampling point set; each of the data points is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude.
In theory, the signal receiving apparatus includes a tracking loop that tracks a zero crossing point (zero point) of a lock-in phase discrimination curve (i.e., S-curve), which is a data point on the phase discrimination curve (i.e., S-curve) where the autocorrelation amplitude is zero and the code phase difference is zero. However, due to the fact that the B1Cp modulated signal modulated by the QMB OC has a narrower main peak of an autocorrelation function and a plurality of secondary peaks, or due to the fact that the modulated signal is distorted, a plurality of locking points (zero points) exist in the S curve, the tracking loop of the signal receiving device is locked on the locking points in a wrong mode, and positioning deviation is introduced. Because the code phase discriminator works in a linear area, the positioning deviation introduced when the code phase discriminator is locked at a locking point can be determined by fitting a straight line where the locking point is located and calculating the intersection point of the straight line obtained by fitting and the code phase difference coordinate axis.
Specifically, after the navigation satellite signal is tracked to obtain a phase discrimination curve, in order to realize fitting of a straight line where a locking point in the phase discrimination curve is located, a positioning deviation determining device for signal tracking determines a characteristic point in the phase discrimination curve, wherein the characteristic point can be the locking point which causes error locking of a tracking loop; and acquiring a plurality of data points positioned in a sampling range corresponding to the characteristic point in the phase discrimination curve to obtain a sampling point set, so as to realize sampling of the data points positioned near the locking point on the phase discrimination curve and avoid introducing data of a nonlinear region on the phase discrimination curve when fitting a straight line where the locking point in the phase discrimination curve is positioned.
In an implementation example, determining a feature point in the phase-discrimination curve, and acquiring a plurality of data points in the phase-discrimination curve within a sampling range corresponding to the feature point to obtain a sampling point set may include: determining a data point in the phase discrimination curve, wherein the autocorrelation amplitude value of the data point is zero and the code phase difference value is closest to zero value as the characteristic point; acquiring a plurality of data points positioned in the sampling range corresponding to the characteristic points in the phase discrimination curve to obtain a sampling point set; the sampling range comprises a preset code phase difference value range taking the code phase difference value corresponding to the characteristic point as a center.
Because the locking points locked when the tracking loop of the signal receiving device is locked by mistake are all data points with zero autocorrelation amplitude on the phase discrimination curve, the differences among a plurality of locking points are that the corresponding code phase difference values are different; the "zero" on the phase discrimination curve becomes zero in the autocorrelation amplitude and shifts to a data point near the zero value of the code phase difference coordinate axis after signal distortion and is centered at the other lock point, point 2 of fig. 2. Therefore, the locking point corresponding to the zero point on the phase discrimination curve can be determined by searching the data point with zero autocorrelation amplitude value and closest code phase difference value to the zero value in the phase discrimination curve as the characteristic point. To illustrate in detail, a specific process for determining feature points in a phase-discrimination curve may include: and screening out data points with zero autocorrelation amplitude values from the phase discrimination curve, comparing the screened data points pairwise, eliminating the data points with large absolute values of the code phase difference values in the comparison process until one data point with the minimum absolute values of the code phase difference values is obtained from the screened data points, and determining the data point as a characteristic point.
Optionally, since the locking point corresponding to the "zero point" on the phase discrimination curve is located at the center of other locking points on the phase discrimination curve, the sampling range of the data point may be set as a preset code phase difference value range centered on the code phase difference value corresponding to the feature point. The magnitude of the preset code phase difference value range is set according to the requirement, and data points near the locking points corresponding to the zero point on the phase discrimination curve or data points near a plurality of locking points including the locking points corresponding to the zero point on the phase discrimination curve can be sampled. Since the phase discrimination curve is a curve in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude, each sampled data point is a two-dimensional data point in the coordinate system constructed based on the code phase difference and the autocorrelation amplitude.
S130, randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value.
After a plurality of data points in a sampling range corresponding to the determined characteristic points in the phase discrimination curve are obtained to obtain a sampling point set, a straight line where the locking points are located is finally required to be fitted, so that abnormal data points caused by signal distortion and the like in the sampled data points can be screened out, linear characteristics mapped by every two random data points in the sampling point set can be extracted, and the abnormal data points can be screened out in a clustering mode according to the extracted linear characteristics. Specifically, two data points are randomly selected from a sampling point set; after randomly selecting two data points each time, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from a sampling set; repeating the selection operation until the selection times reach a preset threshold value. Optionally, the preset threshold may be set according to the number of data points in the collection of sampling points, so that at least two thirds of the data points in the collection of sampling points can be selected, thereby avoiding omission of data information. The method for obtaining the linear parameter information according to the straight line formed by the two selected data points can adopt random Hough transformation.
In one embodiment, the linear parameter information corresponding to the straight line composed of the two selected data points can be obtained by performing polar coordinate conversion on the straight line composed of the two data points, wherein the linear parameter information comprises the distance and the angle corresponding to the straight line composed of the two selected data points in the distance-angle parameter space.
In another embodiment, the linear parameter information corresponding to the selected straight line composed of two data points may be obtained by performing the parameter coordinate conversion on the straight line composed of two data points. The linear parameter information includes a slope of a line of the two selected data points and a first intercept intersecting the autocorrelation amplitude axis.
Of course, the above-mentioned method for extracting the linear feature of the two data point mapping is merely an example, and other linear feature extraction methods may be set according to practical situations when implementing the embodiment of the present invention, which is not limited in this embodiment of the present invention.
And S140, clustering all the linear parameter information to obtain a plurality of cluster clusters.
Since each linear parameter information includes the linear characteristic of the straight line formed by the two corresponding data points, if a plurality of linear parameter information are clustered together, it is indicated that the data points corresponding to the clustered linear parameter information are all on the same straight line or are near the same straight line. After the selection times reach a preset threshold, clustering all the linear parameter information to obtain a plurality of clustering clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points. As shown in fig. 3, a schematic diagram of a plurality of cluster clusters is obtained by clustering the linear parameter information.
And S150, if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
In order to avoid error caused by abnormal data points to the determined positioning deviation, the isolated linear parameter information in the cluster can be screened out by setting a selection condition, so that the abnormal data points in the sampling point collection are filtered. Specifically, the concentration degree requirement of the cluster in the selection condition and the number requirement of the linear parameter information of the clusters in the cluster are preset according to the requirement. If the cluster obtained by any cluster meets the selection condition, the data points corresponding to the linear parameter information contained in the cluster are distributed on the straight line where the locking points on the phase discrimination curve are located or around the straight line where the locking points on the phase discrimination curve are located, the linear parameter information positioned in the center of the cluster is extracted from the cluster, positioning deviation is obtained according to the code phase difference value corresponding to the extracted linear parameter information, and the positioning deviation is determined in the signal tracking process. And converting the determined positioning deviation from the code phase deviation value into time according to the pseudo code rate and then converting the time into a distance unit, thereby obtaining the visual positioning distance error.
By sampling data points located near the locking point on the phase discrimination curve, data introducing a nonlinear region on the phase discrimination curve is avoided; extracting linear characteristics mapped by every random two data points in the sampling point set, and clustering all extracted linear parameter information to obtain a plurality of cluster clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points; and extracting linear parameter information positioned in the center of the cluster from the cluster meeting the selection condition, obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information, screening out abnormal data points, and improving the accuracy of the determined positioning deviation.
In one embodiment, the linear parameter information corresponding to the straight line composed of the two selected data points can be obtained by performing polar coordinate conversion on the straight line composed of the two data points, wherein the linear parameter information comprises the distance and the angle corresponding to the straight line composed of the two selected data points in the distance-angle parameter space. Specifically, when a certain cluster in the plurality of cluster clusters meets a selection condition, extracting linear parameter information located in the cluster center from the cluster clusters, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information includes: extracting linear parameter information positioned at the center of a cluster from the cluster meeting the selection condition, and obtaining a fitting straight line according to the corresponding distance and angle of a straight line formed by two data points included in the extracted linear parameter information in a distance-angle parameter space; and calculating the intercept (namely the intersection point) of the fitting straight line and the code phase difference coordinate axis, taking the code phase difference value corresponding to the calculated intersection point as the positioning deviation, and finishing the determination of the positioning deviation in the signal tracking process.
In another embodiment, the linear parameter information corresponding to the selected straight line composed of two data points may be obtained by performing the parameter coordinate conversion on the straight line composed of two data points. The linear parameter information includes a slope of a line of the two selected data points and a first intercept intersecting the autocorrelation amplitude axis. Specifically, when a certain cluster in the plurality of cluster clusters meets a selection condition, extracting linear parameter information located in the cluster center from the cluster clusters, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information includes: extracting linear parameter information positioned at the center of a cluster from the cluster meeting the selection condition, and obtaining a fitting straight line according to a corresponding slope value and a first intercept value of a straight line formed by two data points included in the extracted linear parameter information in a first intercept parameter space of which the slope is intersected with an autocorrelation amplitude axis; and calculating a second intercept (namely an intersection point) of the fitting straight line and the code phase difference axis, and taking the code phase difference value corresponding to the calculated intersection point as a positioning deviation to finish the determination of the positioning deviation in the signal tracking process.
In one implementation example, since the sampling range of the data points is set to be a preset code phase difference value range centered on the code phase difference value corresponding to the feature point, the sampling point set can be made to contain the most data points overlapped with the straight line where the locking point corresponding to the zero point on the phase discrimination curve is located by reasonably setting the code phase difference value range to be near the locking point corresponding to the zero point on the phase discrimination curve. In order to determine only the positioning deviation introduced when locking the locking point corresponding to the zero point on the phase discrimination curve, the selection condition of the cluster clusters can be preset as the cluster with the highest concentration degree and the largest linear parameter information in a plurality of cluster clusters obtained by selecting the clusters. Specifically, when a certain cluster in the plurality of cluster clusters meets a selection condition, extracting linear parameter information located in the cluster center from the cluster clusters, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information includes: determining the cluster with the highest concentration degree and the most linear parameter information as a target cluster; and extracting linear parameter information positioned in the center of the cluster from the target cluster, and obtaining positioning deviation according to the code phase difference value corresponding to the extracted linear parameter information.
In an implementation example, the sampling range can be further expanded according to requirements, so that the number of clustering clusters is increased, and positioning deviations corresponding to a plurality of locking points in the sampling range are determined simultaneously. Specifically, since the sampling range of the data points is set as the preset code phase difference value range taking the code phase difference value corresponding to the characteristic point as the center, the sampling point collection set can contain the data points which are overlapped with the straight lines where the locking points corresponding to the zero point on the phase discrimination curve and other locking points are located by reasonably setting the code phase difference value range to be close to the locking points corresponding to the zero point on the phase discrimination curve and close to other locking points on the phase discrimination curve.
In order to determine the locking point corresponding to the zero point and the positioning deviation introduced when other locking points are locked on the phase discrimination curve, the selection condition of the clustering cluster can be preset, and the number and the concentration degree of the linear parameter information in the clustering cluster reach preset standards. Specifically, when a certain cluster in the plurality of cluster clusters meets a selection condition, linear parameter information at the cluster center is extracted from the cluster clusters, positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, positioning deviation corresponding to a plurality of locking points in a sampling range is determined simultaneously, and computing efficiency is improved.
In one implementation example, linear parameter information located at the center of the cluster may be looked up from the cluster set by a clustering algorithm. Alternatively, the clustering algorithm may employ K-Means clustering, mean shift clustering, or graph group clustering, among others.
In the positioning deviation determining method for signal tracking provided by the embodiment of the invention, in the process of tracking a navigation satellite signal, the satellite navigation signal and a local signal of a signal receiving device are subjected to autocorrelation operation to obtain a phase discrimination curve; the phase detection curve is provided with a locking point which causes the error locking of a tracking loop of the signal receiving device, a sampling point set is obtained by determining characteristic points in the phase detection curve and acquiring a plurality of data points which are positioned in a sampling range corresponding to the characteristic points in the phase detection curve, so that the data points which are positioned near the locking point on the phase detection curve are sampled, and the data of a nonlinear area on the phase detection curve is prevented from being introduced; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude. And randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value, thereby extracting the linear characteristic mapped by every random two data points in the sampling point set. Clustering all the extracted linear parameter information to obtain a plurality of cluster clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points; and if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information. And screening out the isolated linear parameter information in the cluster by setting selection conditions, so that errors caused by introducing abnormal data points to the determined positioning deviation are avoided. And the sampling range can be expanded according to the requirements, so that the number of clustering clusters is increased, positioning deviation corresponding to a plurality of locking points in the sampling range is determined simultaneously, and the calculation efficiency is improved.
Example two
Fig. 4 shows a positioning deviation determining device for signal tracking according to a third embodiment of the present invention. On the basis of the first embodiment, the embodiment of the invention also provides a positioning deviation determining device 4 for signal tracking, which comprises:
the phase discrimination curve generating module 401 is configured to track the navigation satellite signal to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the satellite navigation signal and a local signal of a signal receiving device;
the sampling module 402 is configured to determine a feature point in the phase-discrimination curve, and acquire a plurality of data points in a sampling range corresponding to the feature point in the phase-discrimination curve to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
a linear parameter information generating module 403, configured to randomly select two data points from the sampling point set, obtain linear parameter information according to a straight line formed by the two selected data points, and remove the two selected data points from the sampling set until the number of times of selection reaches a preset threshold;
a clustering module 404, configured to cluster all the linear parameter information to obtain a plurality of cluster clusters;
And the positioning deviation calculation module 405 is configured to extract linear parameter information located at a cluster center from any cluster group if any cluster group meets a selection condition, and obtain positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
In one implementation example, the linear parameter information includes a slope of a line formed by the two selected data points and a first intercept intersecting the autocorrelation amplitude axis;
the positioning deviation calculation module 405 includes:
a fitting straight line generating unit, configured to obtain a fitting straight line according to the slope and the first intercept included in the extracted linear parameter information;
and the positioning deviation calculation unit is used for calculating a second intercept of the fitting straight line intersecting with the code phase difference axis, and taking the second intercept as the positioning deviation.
In one implementation example, the sampling module 402 includes:
the characteristic point determining unit is used for determining that the self-correlation amplitude value in the phase discrimination curve is zero and the data point of the code phase difference value closest to zero value is the characteristic point;
the sampling unit is used for acquiring a plurality of data points which are positioned in the sampling range corresponding to the characteristic points in the phase discrimination curve to obtain a sampling point set; the sampling range includes a preset code phase difference value range centered on the code phase difference value corresponding to the zero point.
In one implementation example, the positioning deviation calculation module 405 further includes:
the target cluster determining unit is used for determining a cluster with the highest concentration degree and the most linear parameter information as a target cluster;
and the second positioning deviation calculation unit is used for extracting linear parameter information positioned in the center of the cluster from the target cluster and obtaining positioning deviation according to the code phase difference value corresponding to the extracted linear parameter information.
In the positioning deviation determining device for signal tracking provided by the embodiment of the invention, in the process of tracking a navigation satellite signal, the satellite navigation signal and a local signal of a signal receiving device are subjected to autocorrelation operation to obtain a phase discrimination curve; the phase detection curve is provided with a locking point which causes the error locking of a tracking loop of the signal receiving device, a sampling point set is obtained by determining characteristic points in the phase detection curve and acquiring a plurality of data points which are positioned in a sampling range corresponding to the characteristic points in the phase detection curve, so that the data points which are positioned near the locking point on the phase detection curve are sampled, and the data of a nonlinear area on the phase detection curve is prevented from being introduced; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude. And randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value, thereby extracting the linear characteristic mapped by every random two data points in the sampling point set. Clustering all the extracted linear parameter information to obtain a plurality of cluster clusters so as to disperse and isolate the linear parameter information mapped by the abnormal data points; and if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information. And screening out the isolated linear parameter information in the cluster by setting selection conditions, so that errors caused by introducing abnormal data points to the determined positioning deviation are avoided. And the sampling range can be expanded according to the requirements, so that the number of clustering clusters is increased, positioning deviation corresponding to a plurality of locking points in the sampling range is determined simultaneously, and the calculation efficiency is improved.
Example III
Fig. 5 is a schematic structural diagram of a signal receiving apparatus according to a third embodiment of the present invention. The signal receiving apparatus includes: a processor 51, a memory 52 and a computer program 53 stored in the memory 52 and executable on the processor 51, for example a program for a positioning deviation determination method for signal tracking. The processor 51, when executing the computer program 53, implements the steps of the above-described embodiment of the signal tracking positioning deviation determining method, such as steps S110 to S150 shown in fig. 1.
For example, the computer program 53 may be divided into one or more modules, which are stored in the memory 52 and executed by the processor 51 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program 53 in the signal receiving apparatus. For example, the computer program 53 may be divided into a phase-discrimination curve generating module, a sampling module, a linear parameter information generating module, a clustering module, and a positioning deviation calculating module, where each module specifically functions as follows:
The phase discrimination curve generating module is used for tracking the navigation satellite signals to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the satellite navigation signal and a local signal of a signal receiving device;
the sampling module is used for determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, so as to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
the linear parameter information generation module is used for randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling set until the selection times reach a preset threshold value;
the clustering module is used for clustering all the linear parameter information to obtain a plurality of clustering clusters;
and the positioning deviation calculation module is used for extracting linear parameter information positioned in the cluster center from the cluster clusters if any cluster meets the selection condition, and obtaining positioning deviation according to the code phase difference value corresponding to the extracted linear parameter information.
The signal receiving means may include, but is not limited to, a processor 51, a memory 52 and a computer program 53 stored in the memory 52. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a signal receiving apparatus and does not constitute a limitation of a positioning deviation determining apparatus of signal tracking, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the positioning deviation determining apparatus of signal tracking may further include an input-output device, a network access device, a bus, etc.
The processor 51 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 52 may be an internal storage unit of the signal tracking positioning deviation determining device, such as a hard disk or a memory of the signal tracking positioning deviation determining device. The memory 52 may also be an external storage device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the positioning deviation determining apparatus of signal tracking. Further, the memory 52 may also comprise both an internal memory unit and an external memory device of the positioning deviation determination device of the signal tracking. The memory 52 is used for storing the computer program as well as other programs and data required for the positioning deviation determining method of signal tracking. The memory 52 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A method for determining a positioning deviation of signal tracking, comprising:
tracking the navigation satellite signals to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the navigation satellite signal and a local signal of a signal receiving device;
determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling point set until the selection times reach a preset threshold value;
Clustering all the linear parameter information to obtain a plurality of cluster clusters;
and if any cluster meets the selection condition, extracting linear parameter information positioned in the cluster center from the cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
2. The method of determining a positional deviation of signal tracking of claim 1 wherein the linear parameter information comprises a slope of a line of the two selected data points and a first intercept intersecting the autocorrelation amplitude axis;
if any cluster meets the selection condition, linear parameter information at the cluster center is extracted from the cluster, and positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, including:
obtaining a fitting straight line according to the slope and the first intercept included in the extracted linear parameter information;
and calculating a second intercept of the fit straight line intersecting the code phase difference axis, and taking the second intercept as the positioning deviation.
3. The method for determining a positioning deviation of signal tracking according to claim 1, wherein determining a feature point in the phase-discrimination curve, and obtaining a plurality of data points in a sampling range corresponding to the feature point in the phase-discrimination curve to obtain a sampling point set, includes:
Determining a data point in the phase discrimination curve, wherein the autocorrelation amplitude value of the data point is zero and the code phase difference value is closest to zero value as the characteristic point;
acquiring a plurality of data points positioned in the sampling range corresponding to the characteristic points in the phase discrimination curve to obtain a sampling point set; the sampling range comprises a preset code phase difference value range taking the code phase difference value corresponding to the characteristic point as a center.
4. The method for determining positioning deviation of signal tracking according to any one of claims 1-3, wherein if any one of the cluster clusters satisfies a selection condition, linear parameter information located in a cluster center is extracted from the cluster clusters, and positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, including:
determining the cluster with the highest concentration degree and the most linear parameter information as a target cluster;
and extracting linear parameter information positioned in the center of the target cluster, and obtaining positioning deviation according to a code phase difference value corresponding to the extracted linear parameter information.
5. A method for determining a positioning deviation of signal tracking according to any one of claims 1-3, wherein the selection condition is that the number of linear parameter information and the concentration degree in the cluster reach preset standards.
6. The method for determining a positioning deviation of signal tracking according to claim 1, wherein if any one of the cluster clusters satisfies a selection condition, linear parameter information located in a cluster center is extracted from the cluster clusters, and the positioning deviation is obtained according to a code phase difference value corresponding to the extracted linear parameter information, further comprising:
if any cluster meets the selection condition, linear parameter information at the cluster center is searched from the cluster by a clustering algorithm, and positioning deviation is obtained according to the code phase difference value corresponding to the searched linear parameter information.
7. A positioning deviation determining apparatus for signal tracking, comprising:
the phase discrimination curve generating module is used for tracking the navigation satellite signals to obtain a phase discrimination curve; the phase discrimination curve is obtained by performing autocorrelation operation on the navigation satellite signal and a local signal of a signal receiving device;
the sampling module is used for determining characteristic points in the phase discrimination curve, and acquiring a plurality of data points in the phase discrimination curve, which are positioned in a sampling range corresponding to the characteristic points, so as to obtain a sampling point set; each data point is a two-dimensional data point in a coordinate system constructed based on the code phase difference and the autocorrelation amplitude;
The linear parameter information generation module is used for randomly selecting two data points from the sampling point set, obtaining linear parameter information according to a straight line formed by the two selected data points, and removing the two selected data points from the sampling point set until the selection times reach a preset threshold value;
the clustering module is used for clustering all the linear parameter information to obtain a plurality of clustering clusters;
and the positioning deviation calculation module is used for extracting linear parameter information positioned in the cluster center from the cluster clusters if any cluster meets the selection condition, and obtaining positioning deviation according to the code phase difference value corresponding to the extracted linear parameter information.
8. The signal tracking positioning bias determination device of claim 7 wherein said linear parameter information includes a slope of a line of said selected two of said data points and a first intercept intersecting said autocorrelation amplitude axis;
the positioning deviation calculation module includes:
a fitting straight line generating unit, configured to obtain a fitting straight line according to the slope and the first intercept included in the extracted linear parameter information;
And the positioning deviation calculation unit is used for calculating a second intercept of the fitting straight line intersecting with the code phase difference axis, and taking the second intercept as the positioning deviation.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the positioning deviation determination method of signal tracking according to any of claims 1 to 6.
10. A signal receiving apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for determining a positioning deviation of signal tracking according to any one of claims 1 to 6 when the computer program is executed by the processor.
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