CN112083450A - Multipath error suppression method, system and device by using circular motion of antenna - Google Patents

Multipath error suppression method, system and device by using circular motion of antenna Download PDF

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CN112083450A
CN112083450A CN202010926392.XA CN202010926392A CN112083450A CN 112083450 A CN112083450 A CN 112083450A CN 202010926392 A CN202010926392 A CN 202010926392A CN 112083450 A CN112083450 A CN 112083450A
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multipath
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CN112083450B (en
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李晚清
朱祥维
李俊志
陈正坤
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National Sun Yat Sen University
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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
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a multipath error suppression method, a system and a device by using antenna circular motion, wherein the method comprises the following steps: constructing an antenna circular motion model and obtaining the maximum multipath frequency; obtaining the minimum fault-tolerant multipath frequency according to the single reflection model; acquiring preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency; acquiring observation data and calculating actual multipath frequency; and evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof, and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency. The invention can provide a technical scheme for solving the problem of limited positioning precision caused by multipath error for a user-level navigation receiver. The method, the system and the device for restraining the multipath error by using the circular motion of the antenna can be widely applied to the field of satellite navigation.

Description

Multipath error suppression method, system and device by using circular motion of antenna
Technical Field
The invention relates to the field of satellite navigation, in particular to a multipath error suppression method, a multipath error suppression system and a multipath error suppression device by using circular motion of an antenna.
Background
For satellite navigation, multipath errors are error variables which cannot be accurately modeled and completely eliminated at present. Due to the complex and various surrounding environments of the navigation receiver and the fluctuation of the height of the shelters, the influence of multipath signals of each path on the receiver cannot be avoided, the complexity of the multipath also limits researchers to accurately model the receiver, and the influence of data correlation caused by the multipath also causes certain influence in a positioning algorithm. Thus, it is important to implement multipath mitigation techniques. In general, in order to reduce the influence caused by multipath effect, the observation environment is usually selected to have an open sky and to avoid an environment with severe multipath signal reflection, such as a hillside and a water surface, in a scene with few shelters. The multipath error time sequence is a non-stationary random process, which brings great challenges and influences to the high-precision positioning algorithm.
Multipath modeling presents a number of challenges due to its complexity and uncorrelated nature in space. The characteristics and the influence law of the multipath error are particularly important to be utilized.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a method, a system and a device for suppressing multipath errors using circular motion of an antenna, which can solve the technical problem of the limitation of the positioning accuracy of a receiver due to multipath errors at low cost.
The first technical scheme adopted by the invention is as follows: a multipath error suppression method using circular motion of an antenna includes the steps of:
constructing an antenna circular motion model and obtaining the maximum multipath frequency;
obtaining the minimum fault-tolerant multipath frequency according to the single reflection model;
acquiring preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
acquiring observation data and calculating actual multipath frequency;
and evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof, and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency.
Further, the step of constructing an antenna circular motion model and obtaining a maximum multipath frequency specifically includes:
and constructing an antenna circular motion model according to the multipath reflection model of the user receiver and obtaining preset circular motion parameters.
And obtaining the maximum multipath frequency according to the preset circular motion parameters.
Further, the expression of the maximum multipath frequency is specifically:
Figure BDA0002668494410000021
in the above formula, r represents the radius of the circular motion, ω represents the angular velocity of the object making the circular motion, and λ is the wavelength of the signal.
Further, the step of obtaining the minimum fault-tolerant multipath frequency according to the single reflection model specifically includes:
obtaining the acceptable maximum multipath error according to the user characteristics;
and obtaining the minimum fault-tolerant frequency according to the maximum multipath error and a model of multipath delay and multipath frequency deduced through a single reflection model.
Further, the expression of the model of the multipath delay and the multipath frequency is specifically as follows:
Figure BDA0002668494410000022
in the above formula, the first and second carbon atoms are,
Figure BDA0002668494410000023
is the rate of change of elevation angle expressed as multipath delay at the current time, and λ is the wavelength of the signal.
Further, the step of acquiring observation data and calculating an actual multipath frequency specifically includes:
collecting a group of GNSS observation data with preset sampling frequency;
and performing fast Fourier transform processing on the GNSS observation, and extracting to obtain the actual multipath frequency.
Further, the GNSS observation data includes carrier-to-noise ratio data and pseudorange observation data.
Further, the step of evaluating the multipath inhibition performance by using the code multipath error and the statistical characteristics thereof and adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency specifically comprises the following steps:
and judging that the multipath error suppression performance of the circular motion of the antenna exceeds a preset range according to the code multipath error and the statistical characteristic thereof, recalculating the code multipath error and the statistical characteristic thereof after adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency until the multipath error suppression performance of the circular motion of the antenna, which is judged by using the code multipath error and the statistical characteristic thereof, is within the preset range.
The second technical scheme adopted by the invention is as follows: a multipath error mitigation system using circular motion of an antenna, comprising: the upper limit module is used for constructing an antenna circular motion model and obtaining the maximum multipath frequency;
the lower limit module is used for obtaining the minimum fault-tolerant multipath frequency according to the single reflection model;
the circular motion parameter module is used for obtaining preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
the multipath frequency extraction module is used for collecting observation data and calculating actual multipath frequency;
and the multipath performance evaluation module is used for evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant multipath frequency and the actual multipath frequency.
The third technical scheme adopted by the invention is as follows: a multipath error suppressing apparatus using circular motion of an antenna, comprising: at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may be caused to implement a multipath error mitigation method using antenna circular motion as described above.
The method, the system and the device have the advantages that: the invention obtains the preset circular motion parameter according to the theoretical limit value of the multipath frequency, evaluates the multipath inhibition performance by calculating the code multipath error and the statistical characteristic thereof, adjusts the circular motion parameter or determines the circular motion parameter according to the evaluation result, obtains the final circular motion parameter which can be used for the subsequent multipath inhibition, and solves the problem of poor positioning precision caused by the multipath error for the user-level navigation receiver with low cost.
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FIG. 1 is a flow chart of the steps of multipath error mitigation using circular motion of an antenna according to the present invention;
FIG. 2 is a block diagram of a multipath error mitigation system using circular motion of an antenna according to the present invention;
FIG. 3 illustrates a multi-path reflection model under circular motion according to an embodiment of the present invention;
fig. 4 is a single-path multi-path signal reflection model at any time according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
As shown in fig. 1, the present invention provides a multipath error mitigation method using circular motion of an antenna, the method comprising the steps of:
s101, constructing an antenna circular motion model and obtaining the maximum multipath frequency.
S102, obtaining minimum fault-tolerant multipath frequency according to a single reflection model;
s103, acquiring preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
and S104, acquiring observation data and calculating actual multipath frequency.
And S105, evaluating the multipath inhibition performance by adopting the code multipath error and the statistical characteristics thereof, and adjusting the circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency.
Further, as a preferred embodiment of the method, the step of constructing the antenna circular motion model and obtaining the maximum multipath frequency specifically includes:
constructing an antenna circular motion model according to a multipath reflection model of a user receiver and obtaining preset circular motion parameters;
and obtaining the maximum multipath frequency according to the preset circular motion parameters.
Specifically, under the circular motion of the antenna, the multipath reflection model of the user receiver is shown in fig. 3, and the expression of the multipath delay distance can be obtained according to the model as follows:
Figure BDA0002668494410000041
wherein m (t) is PU(t)-PF(t) is the distance vector of the multipath delays from the reflection point position to the user receiver position, d (t) is PU(t)-PS(t) as a distance vector of the direct signal directed by the satellite to the position of the user receiver, time t representing the current observation epoch, PS(t) is expressed as the real-time position of the satellite as a function of the trajectory, PU(t)、PFAnd (t) respectively representing the real-time positions of the antenna of the user receiver and the multipath reflection point in the ECEF coordinate system.
The multipath phase can be calculated from the multipath delay distance:
Figure BDA0002668494410000042
wherein λ is the wavelength of a frequency band signal, for example, the wavelength of a frequency band signal of a GPS satellite L1 is 19.04 cm.
To further obtain multipath variation under circular motion, multipath frequencies are introduced, which are further expressed as:
Figure BDA0002668494410000043
wherein, P⊥d(t)A projection matrix that is an orthogonal space projected to d (t); v. ofU(t) is PU(t)/dt，vF(t) and vS(t) the same applies. Since | d (t) | is much larger than the relative motion between the satellite and the receiver, further simplification results:
Figure BDA0002668494410000044
and further obtaining the upper limit of the multipath frequency by using the circular motion parameters.
Further as a preferred embodiment of the method, the expression of the maximum multipath frequency is specifically:
Figure BDA0002668494410000045
in the above formula, r represents the radius of the circular motion, ω represents the angular velocity of the object making the circular motion, and λ is the wavelength of the signal.
In particular, an upper limit on the multipath frequency may be used to control the circular motion parameter r, ω.
Further, as a preferred embodiment of the method, the step of obtaining the minimum fault-tolerant multipath frequency according to the single reflection model specifically includes:
obtaining the acceptable maximum multipath error according to the user characteristics;
and obtaining the minimum fault-tolerant frequency according to the maximum multipath error and a model of multipath delay and multipath frequency deduced through a single reflection model.
Specifically, referring to fig. 4, using a static terrestrial single reflection model, the multipath delay at that time may be expressed as:
＝2h sin(β)
where h is the vertical distance between the antenna of the receiver and the ground, and β is the angle between the multipath signal and the ground, and is particularly referred to herein as the elevation angle of the receiver relative to the satellite. The phase delay can be expressed as:
Figure BDA0002668494410000051
further, as a preferred embodiment of the method, the expression of the model of the multipath delay and the multipath frequency is specifically as follows:
Figure BDA0002668494410000052
in the above formula, the first and second carbon atoms are,
Figure BDA0002668494410000053
is the rate of change of elevation angle expressed as multipath delay at the current time, and λ is the wavelength of the signal.
Specifically, from the above equation, it can be known that in a short time, the multipath frequency generated by the reflecting object close to the receiver is small, and the multipath frequency is reflected on the carrier-to-noise ratio time series to be a slow oscillation with a small amplitude; the multipath frequency generated by a distant reflecting object is larger, and reflects the oscillation with quicker carrier-to-noise ratio time sequence and larger amplitude. The long-delay reflected signal is filtered out when the receiver is in the signal tracking stage. The multipath frequency expression can determine the minimum theoretical value which the multipath frequency needs to reach according to the maximum fault-tolerant multipath error.
Further, as a preferred embodiment of the method, the step of acquiring observation data and calculating an actual multipath frequency specifically includes:
collecting a group of GNSS observation data with preset sampling frequency;
and performing fast Fourier transform processing on the GNSS observation, and extracting to obtain the actual multipath frequency.
Specifically, in the actual observation, the receiver mainly stores four types of observations of pseudo range, carrier phase, carrier-to-noise ratio and Doppler frequency shiftMeasuring data, and carrier-to-noise ratio (C/N)0) The change caused by the multipath effect can be reflected most.
C/N under circular motion0The mathematical model can be expressed as:
C/N0≡AC＝Ad+Af cos(ΔΦ(t))
wherein A isCRepresenting the amplitude of the composite signal, AdAnd AfRepresenting the amplitude of the direct and reflected signals, respectively, and Δ Φ (t), which is 2 π f, represents the carrier phase deviation due to the extra propagation distance, which can be represented by the multipath frequencympt+Δφ0. Since the multi-path frequency oscillation caused by the antenna motion should be independent of the initial phase, the C/N ratio can be adjusted0Conversion to:
C/N0≡AC＝Ad+Af cos(2πfmpt)
the carrier-to-noise ratio variation caused by multipath effects can be represented by a carrier-to-noise ratio residual:
C/N0_RES＝C/N0-MA(C/N0)
wherein, MA (C/N)0) Represents the pair C/N0A moving average process is performed. And performing Fast Fourier Transform (FFT) on the carrier-to-noise ratio residual sequence to extract multipath frequency.
Given a time sequence of random samples taken at time intervals T as x [ k ], the Discrete Fourier Transform (DFT) mathematical definition is:
Figure BDA0002668494410000061
in the formula (I), the compound is shown in the specification,
Figure BDA0002668494410000062
for the twiddle factor, N is the total number of discrete samples. Simplified calculation by frequency decimation 2FFT, where N is 2MX [ k ] is]The following decomposition is carried out in two parts:
Figure BDA0002668494410000063
the parity differences according to m are divided into two groups, and the following results are obtained:
Figure BDA0002668494410000064
Figure BDA0002668494410000065
in the formula, l is 0,1, N/2-1. And converting the DFT operation of N points into the FFT operation of M points, and decomposing and iterating to complete the calculation. Thus, the multipath frequency under the actual circular motion can be extracted from the result of the FFT operation.
Further as a preferred embodiment of the method, said GNSS observation data comprises carrier to noise ratio data and pseudorange observation data.
Further, as a preferred embodiment of the method, the step of evaluating the multipath suppression performance by using the code multipath error and the statistical characteristics thereof and adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency specifically comprises:
and judging that the multipath error suppression performance of the circular motion of the antenna exceeds a preset range according to the code multipath error and the statistical characteristic thereof, recalculating the code multipath error and the statistical characteristic thereof after adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency until the multipath error suppression performance of the circular motion of the antenna, which is judged by the calculated code multipath error and the statistical characteristic thereof, is within the preset range.
Specifically, the carrier-to-noise ratio sequence is used for carrying out FFT to extract multipath frequency, and the multipath frequency is fed back to the selection of the upper limit of the multipath frequency in combination with the statistical characteristics obtained by code multipath error calculation, so that the motion parameters are further adjusted.
The multipath error suppression performance of the antenna circular motion is evaluated by adopting code multipath errors and statistical characteristics thereof, and a pseudo-range mathematical model of any frequency band signal of any satellite is expressed as follows:
P＝ρ+c(tr-ts)+I+T+MPP+dr+ds+p
where P is the pseudorange observation in m, ρ is the relative distance between the satellite and the user receiver in m, c is the speed of light, t is the velocity of the user receiverrAnd tsExpressed as the clock offset at the receiver and satellite, respectively, in units of s, and I and T, expressed as the delay in the signal through the ionosphere and troposphere, respectively, in units of m, MPPExpressed as multipath error on pseudorange observations, also known as code multipath error, in units of m, dr，dsRepresenting the hardware delays at the receiver and the satellite respectively,pas random error in pseudorange, dr，ds，pGenerally smaller and negligible.
After a Position Velocity Time (PVT) solution is performed, the code multipath error can be calculated, with the mathematical expression:
MPP＝P-(ρ+c(tr-ts)+I+T)
the specific embodiment of the invention is as follows:
the method comprises the steps of collecting a group of GNSS observation data (comprising carrier-to-noise ratio observation data and pseudo-range observation data) with the sampling frequency of 1Hz, carrying out fast Fourier transform on the carrier-to-noise ratio data to calculate the multipath frequency, and determining the multipath frequency characteristic in the static environment and the statistical characteristic (probability distribution, STD, RMS and the like) of code multipath errors according to the pseudo-range observation value and the navigation message data. Acquiring a group of observation data with the motion parameters under the empirical value, determining circular motion parameters suitable for the navigation equipment according to the flow of figure 1, evaluating the multipath inhibition effect of the method, and readjusting the motion parameters if the multipath inhibition performance is not good; if the performance is good, the determined motion parameters are used for subsequent multipath mitigation.
As shown in fig. 2, a multipath error mitigation system using circular motion of an antenna, includes:
the upper limit module is used for constructing an antenna circular motion model and obtaining the maximum multipath frequency;
the lower limit module is used for obtaining the minimum fault-tolerant multipath frequency according to the single reflection model;
the circular motion parameter module is used for obtaining preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
the multipath frequency extraction module is used for collecting observation data and calculating actual multipath frequency;
and the multipath performance evaluation module is used for evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
A multipath error suppressing apparatus using circular motion of an antenna:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may be caused to implement a multipath error mitigation method using antenna circular motion as described above.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A multipath error suppression method using circular motion of an antenna, comprising the steps of:
constructing an antenna circular motion model and obtaining the maximum multipath frequency;
obtaining the minimum fault-tolerant multipath frequency of a user according to the single reflection model;
acquiring preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
acquiring observation data and calculating actual multipath frequency;
and evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof, and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency.
2. The method as claimed in claim 1, wherein the step of constructing the antenna circular motion model and obtaining the maximum multipath frequency comprises:
and constructing an antenna circular motion model according to a multipath delay mathematical model of the user receiver and obtaining preset circular motion parameters.
And obtaining the maximum multipath frequency according to the preset circular motion parameters.
3. The method for multipath error mitigation using antenna circular motion according to claim 2, wherein the expression of the maximum multipath frequency is specifically:
Figure FDA0002668494400000011
in the above formula, r represents the radius of the circular motion, ω represents the angular velocity of the object making the circular motion, and λ is the wavelength of the satellite signal.
4. The method as claimed in claim 3, wherein the step of obtaining the minimum fault-tolerant multipath frequency of the user according to the single reflection model comprises:
obtaining the acceptable maximum multipath error according to the user characteristics;
and deducing a model of multipath delay and multipath frequency according to the maximum multipath error and through a single reflection model to obtain the minimum fault-tolerant frequency.
5. The method for multipath error mitigation using antenna circular motion according to claim 4, wherein the expression of the model of the multipath delay and the multipath frequency is specifically:
Figure FDA0002668494400000012
in the above formula, the first and second carbon atoms are,
Figure FDA0002668494400000013
is the rate of change of elevation angle expressed as multipath delay at the current time, and λ is the wavelength of the signal.
6. The method as claimed in claim 5, wherein the step of acquiring the observation data and calculating the actual multipath frequency specifically comprises:
collecting a group of GNSS observation data with preset sampling frequency;
and performing fast Fourier transform processing on the GNSS observation, and extracting to obtain the actual multipath frequency.
7. The method as claimed in claim 6, wherein the GNSS observation data includes carrier-to-noise ratio data and pseudo-range observation data.
8. The method as claimed in claim 7, wherein the step of estimating the multipath mitigation performance using the code multipath error and the statistical characteristics thereof and adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency comprises:
and judging that the multipath error suppression performance of the circular motion of the antenna exceeds a preset range according to the code multipath error and the statistical characteristic thereof, recalculating the code multipath error and the statistical characteristic thereof after adjusting the circular motion parameter according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency until the multipath error suppression performance of the circular motion of the antenna is judged to be in the preset range by utilizing the code multipath error and the statistical characteristic thereof.
9. A multipath error mitigation system utilizing antenna circular motion, comprising:
the upper limit module is used for constructing an antenna circular motion model and obtaining the maximum multipath frequency;
the lower limit module is used for obtaining the minimum fault-tolerant multipath frequency according to the single reflection model;
the circular motion parameter module is used for obtaining preset circular motion parameters according to the maximum multipath frequency and the minimum fault-tolerant multipath frequency;
the multipath frequency extraction module is used for collecting observation data and calculating actual multipath frequency;
and the multipath performance evaluation module is used for evaluating the multipath inhibition performance by adopting code multipath errors and statistical characteristics thereof and adjusting circular motion parameters according to the maximum multipath frequency, the minimum fault-tolerant frequency and the actual multipath frequency.
10. A multipath error suppressing apparatus using circular motion of an antenna, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a method of multipath error mitigation using antenna circular motion as claimed in any one of claims 1 to 8.
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