CN112731455A - Carrier half-cycle jump detection method, baseband chip and satellite navigation receiver - Google Patents
Carrier half-cycle jump detection method, baseband chip and satellite navigation receiver Download PDFInfo
- Publication number
- CN112731455A CN112731455A CN202011531090.9A CN202011531090A CN112731455A CN 112731455 A CN112731455 A CN 112731455A CN 202011531090 A CN202011531090 A CN 202011531090A CN 112731455 A CN112731455 A CN 112731455A
- Authority
- CN
- China
- Prior art keywords
- cycle
- carrier
- jump
- symbol
- detection value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 claims abstract description 33
- 230000006641 stabilisation Effects 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a carrier wave half-cycle hopping detection method, which comprises the steps of receiving satellite signal navigation message information in real time; predicting symbols of satellite signal navigation messages; calculating a phase locking detection value in real time; judging whether carrier half-cycle hopping occurs or not; starting a timer to record and track the time at which the system is unstable; judging whether the half-cycle jump is finished; and finally judging whether half-cycle jump occurs. The invention also discloses a baseband chip comprising the carrier half-cycle hopping detection method and a satellite navigation receiver comprising the carrier half-cycle hopping detection method and the baseband chip. The method comprises the steps that at a signal processing end, whether carrier half-cycle hopping occurs is judged by monitoring the stable state of a carrier tracking loop and combining with the change of a navigation message symbol; therefore, the method solves the problem of carrier half-cycle jump detection fundamentally, is more accurate and reliable than the existing method for detecting at a resolving end, and has higher reliability, better accuracy and easier implementation.
Description
Technical Field
The invention belongs to the field of satellite navigation positioning, and particularly relates to a carrier half-cycle jump detection method, a baseband chip and a satellite navigation receiver.
Background
With the development of economic technology and the improvement of living standard of people, the satellite positioning and navigation technology is widely applied to the production and the life of people, and brings endless convenience to the production and the life of people. Therefore, ensuring the positioning accuracy and reliability becomes one of the important research points of satellite positioning and navigation technology.
In the application of high-precision dynamic positioning of satellite navigation, satellite signals are often shielded by trees, high buildings and the like, so that the signals are temporarily unlocked; a half-cycle jump (a jump value that is an integer multiple of the half-cycle) in the carrier phase measurement occurs at this time. Carrier phase half-cycle hopping causes positioning deviation, and therefore the half-cycle hopping needs to be detected to ensure the accuracy and reliability of a positioning result.
For the detection of carrier half-cycle hopping, the prior art scheme is to detect the carrier half-cycle hopping by methods such as double-frequency combination of carrier phases, difference between epochs, polynomial fitting and the like at a resolving end. The principle of the method is that carrier phase measured values at different moments are regarded as a smooth curve, and whether cycle slip occurs or not is judged by detecting a catastrophe point on the curve. However, this method can only detect large jumps over 1 week. Meanwhile, due to the existence of measurement errors, particularly in severe environments such as dynamic tree sheltering, the measurement error of the carrier phase may reach more than 5cm, and therefore half-cycle jump of only 10cm magnitude cannot be accurately detected. Therefore, in practical application, a large amount of false alarms and false detections often occur, which causes a large deviation in the positioning result and affects the accuracy and reliability of high-precision positioning.
Disclosure of Invention
One of the objectives of the present invention is to provide a carrier half-cycle skip detection method with high reliability, good accuracy and easy implementation.
The second objective of the present invention is to provide a baseband chip including the carrier half-cycle skip detection method.
The invention also aims to provide a satellite navigation receiver comprising the carrier half-cycle jump detection method and a baseband chip.
The invention provides a carrier half-cycle hopping detection method, which comprises the following steps:
s1, receiving satellite signal navigation message information in real time;
s2, predicting the symbol of the satellite signal navigation message in real time;
s3, calculating a phase locking detection value in real time according to the state of the tracking loop;
s4, judging the phase locking detection value obtained in the step S3 with a set value, and judging whether carrier half-cycle jump occurs or not;
s5, starting a timer according to the judgment result of the step S4, and recording and tracking the time when the time is unstable;
s6, calculating a phase locking detection value in real time, and judging whether the phase locking detection value is recovered to a normal set value or not so as to judge whether half-cycle jump is finished or not;
and S7, finally judging whether half-cycle jump occurs according to the judgment result obtained in the step S6 and the symbol of the satellite signal navigation message.
The real-time calculation of the phase locking detection value specifically includes calculating the phase locking detection value pld by using the following formula:
in the formula, I is a related accumulated value of the in-phase branch; q is the relevant accumulated value of the quadrature branch; pld is in the range of [ -1,1 ].
In step S4, the phase-locked detection value obtained in step S3 is compared with a set value, so as to determine whether carrier half-cycle hopping occurs, specifically, the following rule is used to determine whether carrier half-cycle hopping occurs:
the set value is-1;
if the phase locking detection value pld does not reach-1, judging that carrier half-cycle hopping does not occur; at this time, the judgment of the next period is continued;
if the phase lock detection value pld reaches-1, it is determined that the half cycle jump process has been entered.
In step S5, according to the determination result in step S4, a timer is started, and the time at which the transition is unstable is recorded and tracked, specifically, if it is determined that the transition of the half cycle is performed, the timer is started, and the time at which the transition is unstable is recorded and tracked.
Step S6, calculating the phase locking detection value in real time, and determining whether the phase locking detection value is restored to a normal set value, thereby determining whether the half cycle jump is finished, specifically, determining whether the half cycle jump is finished by using the following steps:
the normal set value is 1;
if the phase locking detection value pld is not restored to the normal set value 1, it is determined that the half-cycle jump is not finished, the tracking is still in an unstable state, and at the moment, the time of instability is continuously recorded and tracked;
if the phase lock detection value pld returns to the normal set value of 1, it is determined that the half cycle jump process has ended.
In step S7, it is finally determined whether a half-cycle skip occurs according to the determination result obtained in step S6 and the symbol of the satellite signal navigation message, specifically, it is determined whether a half-cycle skip occurs finally by the following steps:
if the recording and tracking time does not exceed one telegraph symbol period, judging that the half-cycle hopping process is completed in one telegraph symbol period; at the moment, if the symbols of the correlation values in one telegraph text symbol period are consistent, judging that half-cycle hopping does not occur finally; if the symbols of the correlation values in one telegraph text symbol period are inconsistent, judging that half-cycle hopping occurs finally;
if the recording and tracking time exceeds one telegraph symbol period, judging that the half-cycle hopping process is not completed in one telegraph symbol period; at this time, if the symbol of the navigation message after the stabilization is recovered is consistent with the symbol of the satellite signal navigation message predicted in the step S2, it indicates that half-cycle jump does not occur finally; if the symbol of the navigation message after the stabilization is recovered is not consistent with the symbol of the satellite signal navigation message predicted in the step S2, it indicates that half-cycle jump finally occurs.
The invention also provides a baseband chip which comprises the carrier half-cycle hopping detection method.
The invention also provides a satellite navigation receiver comprising the carrier half-cycle hopping detection method and the baseband chip.
According to the carrier half-cycle hopping detection method, the baseband chip and the satellite navigation receiver, whether carrier half-cycle hopping occurs or not is judged by monitoring the stable state of a carrier tracking loop and combining with the symbol change of a navigation message at a signal processing end of the baseband chip; therefore, the method is based on the principle of carrier half-cycle hopping occurrence, fundamentally solves the problem of carrier half-cycle hopping detection, is more accurate and reliable than the existing method for detecting at a resolving end, and has higher reliability, better accuracy and easier implementation.
Drawings
FIG. 1 is a schematic process flow diagram of the process of the present invention.
FIG. 2 is a schematic diagram of the tracking position of the carrier tracking loop of the satellite navigation baseband chip according to the method of the present invention.
Detailed Description
FIG. 1 is a schematic flow chart of the method of the present invention: the invention provides a carrier half-cycle hopping detection method, which comprises the following steps:
s1, receiving satellite signal navigation message information in real time;
s2, predicting the symbol of the satellite signal navigation message in real time;
and S3, calculating a phase locking detection value in real time according to the state of the tracking loop. Specifically, the phase lock detection value pld is calculated by the following equation:
in the formula, I is a related accumulated value of the in-phase branch; q is the relevant accumulated value of the quadrature branch; pld is in the range of [ -1,1 ];
s4, judging the phase locking detection value obtained in the step S3 with a set value, and judging whether carrier half-cycle jump occurs or not; specifically, the following rules are adopted to judge whether carrier half-cycle hopping occurs:
the set value is-1;
if the phase locking detection value pld does not reach-1, judging that carrier half-cycle hopping does not occur; at this time, the judgment of the next period is continued;
if the phase locking detection value pld reaches-1, judging that the process of half-cycle jump is entered;
as shown in fig. 2: fig. 2 is a coordinate system in which the energy of the I branch is taken as the X axis, the energy of the Q branch is taken as the Y axis, after the carrier tracking loop stably tracks, the signal energy is all concentrated in the I branch, and the Q branch has only noise, so that the stable tracking position is located near the X axis, when the navigation message sign is positive, the sign of the I branch energy is also positive, and at this time, the I branch energy is located at a stable point a, and when the navigation message sign is negative, the I branch energy is also negative, and at this time, the I branch energy is located at a stable point B. The symbol of the navigation message is continuously changed in a certain period (the period of the navigation message is 20ms by an L1CA signal of a GPS system), and the stable tracking point of the loop is also changed back and forth at the point A and the point B; when the satellite signal is blocked by trees, high buildings and the like to cause unstable tracking, the signal energy is not concentrated in the branch I any more, but is dispersed in the branch I, Q, and the tracking position may fall at any position of a coordinate system of the figure. In an extreme case, when the signal energy is totally concentrated in the Q branch, the tracking position falls to the C position in fig. 1, which is called an unstable point;
the stability of the loop tracking can be judged according to a phase locking detection index, and the definition of the phase locking detection value is as follows:
pld is in the range of [ -1,1 [ ]]At stable points A and B, pld values1, at unstable point C, pld a value of-1;
according to the principle of cycle slip generation, the cycle slip generation process is as follows: the tracking is changed from a stable point to an unstable point, pld is gradually changed from 1 to-1; after the satellite signal is stable, the loop rapidly returns to a stable state, but whether the loop returns to a stable point A or a stable point B is uncertain, if the loop returns to a correct stable point, half-cycle jump does not occur, if the loop returns to an incorrect side, half-cycle jump occurs, and whether the restored stable point is correct or not is determined by the current navigation message symbol; therefore, in order to accurately judge whether half-cycle jump exists after stable tracking is restored, the navigation message symbol at the moment must be known; the purpose of predicting the sign of the navigation message is therefore;
s5, starting a timer according to the judgment result of the step S4, and recording and tracking the time when the time is unstable; specifically, if the process of half-cycle jump is judged to be carried out, a timer is started, and the time in unstable state is recorded and tracked;
s6, calculating a phase locking detection value in real time, and judging whether the phase locking detection value is recovered to a normal set value or not so as to judge whether half-cycle jump is finished or not; specifically, the following steps are adopted to judge whether the half-cycle jump is finished or not:
the normal set value is 1;
if the phase locking detection value pld is not restored to the normal set value 1, it is determined that the half-cycle jump is not finished, the tracking is still in an unstable state, and at the moment, the time of instability is continuously recorded and tracked;
if the phase locking detection value pld returns to the normal set value 1, it is determined that the half-cycle jump process has ended;
s7, finally judging whether half-cycle jump occurs according to the judgment result obtained in the step S6 and the symbol of the satellite signal navigation message; specifically, the following steps are adopted to judge whether half-cycle jump occurs finally:
if the recording and tracking time does not exceed one telegraph symbol period, judging that the half-cycle hopping process is completed in one telegraph symbol period; at the moment, if the symbols of the correlation values in one telegraph text symbol period are consistent, judging that half-cycle hopping does not occur finally; if the symbols of the correlation values in one telegraph text symbol period are inconsistent, judging that half-cycle hopping occurs finally;
if the recording and tracking time exceeds one telegraph symbol period, judging that the half-cycle hopping process is not completed in one telegraph symbol period; at this time, if the symbol of the navigation message after the stabilization is recovered is consistent with the symbol of the satellite signal navigation message predicted in the step S2, it indicates that half-cycle jump does not occur finally; if the symbol of the navigation message after the stabilization is recovered is inconsistent with the symbol of the satellite signal navigation message predicted in the step S2, indicating that half-cycle jump finally occurs;
as shown in fig. 2: the navigation message symbol judgment is divided into two cases. In the first case: when the half-cycle hopping is completed within one telegraph symbol period, the correlation value of one telegraph symbol period can be used for judgment. The period of the satellite signal navigation message is typically 20ms (taking the L1CA signal navigation message of the GPS system as an example), i.e. a correlation value of 20ms corresponds to one symbol. When the half-cycle hopping is completed within 20ms, if the correlation value symbols within 20ms are not consistent, it indicates that symbol hopping occurs, and the carrier phase also has half-cycle hopping, and the tracking position change corresponding to this case is: from a to C to B within 20 ms. In the second case: when the half-cycle jump duration is long, the tracking position stays at the unstable point C, and does not return to the stable point a or B within 20ms, because 1 telegraph text symbol period is exceeded, it is necessary to judge whether the position after the stable tracking is restored is the correct position according to the predicted telegraph text symbol, and if the restored stable point position is inconsistent with the predicted telegraph text symbol, it indicates that the half-cycle jump occurs at this time.
In addition, the invention also provides a baseband chip which comprises the carrier half-cycle hopping detection method and adopts the carrier half-cycle hopping detection method to detect the carrier half-cycle hopping in the navigation process.
Finally, the invention also provides a satellite navigation receiver which comprises the carrier half-cycle jump detection method and the baseband chip.
Claims (8)
1. A carrier half-cycle hopping detection method comprises the following steps:
s1, receiving satellite signal navigation message information in real time;
s2, predicting the symbol of the satellite signal navigation message in real time;
s3, calculating a phase locking detection value in real time according to the state of the tracking loop;
s4, judging the phase locking detection value obtained in the step S3 with a set value, and judging whether carrier half-cycle jump occurs or not;
s5, starting a timer according to the judgment result of the step S4, and recording and tracking the time when the time is unstable;
s6, calculating a phase locking detection value in real time, and judging whether the phase locking detection value is recovered to a normal set value or not so as to judge whether half-cycle jump is finished or not;
and S7, finally judging whether half-cycle jump occurs according to the judgment result obtained in the step S6 and the symbol of the satellite signal navigation message.
2. The method according to claim 1, wherein the phase-lock detection value is calculated in real time by using the following equation pld:
in the formula, I is a related accumulated value of the in-phase branch; q is the relevant accumulated value of the quadrature branch; pld is in the range of [ -1,1 ].
3. The method of claim 2, wherein the phase-locked detection value obtained in step S3 is compared with a set value in step S4 to determine whether the carrier half cycle skip occurs, specifically, the following rules are used to determine whether the carrier half cycle skip occurs:
the set value is-1;
if the phase locking detection value pld does not reach-1, judging that carrier half-cycle hopping does not occur; at this time, the judgment of the next period is continued;
if the phase lock detection value pld reaches-1, it is determined that the half cycle jump process has been entered.
4. The method of claim 3, wherein the step S5 is to start a timer and record and track the time of instability according to the determination result of the step S4, specifically, if the half cycle skip process is determined to be entered, the timer is started and the time of instability is recorded and tracked.
5. The method according to claim 4, wherein the step S6 of calculating the phase-lock detection value in real time and determining whether the phase-lock detection value is recovered to a normal setting value to determine whether the half cycle jump is completed or not, specifically, the following steps are adopted to determine whether the half cycle jump is completed or not:
the normal set value is 1;
if the phase locking detection value pld is not restored to the normal set value 1, it is determined that the half-cycle jump is not finished, the tracking is still in an unstable state, and at the moment, the time of instability is continuously recorded and tracked;
if the phase lock detection value pld returns to the normal set value of 1, it is determined that the half cycle jump process has ended.
6. The method of claim 5, wherein the step S7 of finally determining whether the half cycle skip occurs according to the determination result obtained in the step S6 and the symbol of the navigation message of the satellite signal is performed by:
if the recording and tracking time does not exceed one telegraph symbol period, judging that the half-cycle hopping process is completed in one telegraph symbol period; at the moment, if the symbols of the correlation values in one telegraph text symbol period are consistent, judging that half-cycle hopping does not occur finally; if the symbols of the correlation values in one telegraph text symbol period are inconsistent, judging that half-cycle hopping occurs finally;
if the recording and tracking time exceeds one telegraph symbol period, judging that the half-cycle hopping process is not completed in one telegraph symbol period; at this time, if the symbol of the navigation message after the stabilization is recovered is consistent with the symbol of the satellite signal navigation message predicted in the step S2, it indicates that half-cycle jump does not occur finally; if the symbol of the navigation message after the stabilization is recovered is not consistent with the symbol of the satellite signal navigation message predicted in the step S2, it indicates that half-cycle jump finally occurs.
7. A baseband chip comprising the carrier half-cycle skip detection method according to any one of claims 1 to 6.
8. A satellite navigation receiver, characterized in that the carrier half-cycle jump detection method of any one of claims 1 to 6 and the baseband chip of claim 7 are included.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011531090.9A CN112731455B (en) | 2020-12-22 | 2020-12-22 | Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011531090.9A CN112731455B (en) | 2020-12-22 | 2020-12-22 | Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112731455A true CN112731455A (en) | 2021-04-30 |
| CN112731455B CN112731455B (en) | 2024-01-23 |
Family
ID=75605738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011531090.9A Active CN112731455B (en) | 2020-12-22 | 2020-12-22 | Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112731455B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675310A (en) * | 2022-05-30 | 2022-06-28 | 长沙金维信息技术有限公司 | Carrier half-cycle repair method and RTK integer ambiguity fixing method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2806609A1 (en) * | 2013-05-24 | 2014-11-26 | O2 Micro, Inc. | Receivers and methods for detecting false lock of a carrier tracking loop |
| CN105301618A (en) * | 2015-10-22 | 2016-02-03 | 北京理工大学 | Method of fixing integer ambiguity when carrier phase generates half cycle slip |
| CN105607084A (en) * | 2015-09-09 | 2016-05-25 | 湖南北云科技有限公司 | High-precision directional-receiver carrier-wave semi-cycle jump detection device and method thereof |
| CN106707307A (en) * | 2016-12-21 | 2017-05-24 | 湖南北云科技有限公司 | Method and device for detecting semi-cycle hopping of satellite navigation |
| CN106842243A (en) * | 2016-12-21 | 2017-06-13 | 湖南北云科技有限公司 | A kind of satellite navigation half cycle transition detection method and device |
| CN108873025A (en) * | 2018-06-05 | 2018-11-23 | 上海司南卫星导航技术股份有限公司 | GNSS satellite signal trace method, carrier tracking loop and receiver |
| CN109782307A (en) * | 2018-09-28 | 2019-05-21 | 和芯星通科技(北京)有限公司 | A kind of polarity judging method and device of carrier phase |
-
2020
- 2020-12-22 CN CN202011531090.9A patent/CN112731455B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2806609A1 (en) * | 2013-05-24 | 2014-11-26 | O2 Micro, Inc. | Receivers and methods for detecting false lock of a carrier tracking loop |
| CN105607084A (en) * | 2015-09-09 | 2016-05-25 | 湖南北云科技有限公司 | High-precision directional-receiver carrier-wave semi-cycle jump detection device and method thereof |
| CN105301618A (en) * | 2015-10-22 | 2016-02-03 | 北京理工大学 | Method of fixing integer ambiguity when carrier phase generates half cycle slip |
| CN106707307A (en) * | 2016-12-21 | 2017-05-24 | 湖南北云科技有限公司 | Method and device for detecting semi-cycle hopping of satellite navigation |
| CN106842243A (en) * | 2016-12-21 | 2017-06-13 | 湖南北云科技有限公司 | A kind of satellite navigation half cycle transition detection method and device |
| CN108873025A (en) * | 2018-06-05 | 2018-11-23 | 上海司南卫星导航技术股份有限公司 | GNSS satellite signal trace method, carrier tracking loop and receiver |
| CN109782307A (en) * | 2018-09-28 | 2019-05-21 | 和芯星通科技(北京)有限公司 | A kind of polarity judging method and device of carrier phase |
Non-Patent Citations (1)
| Title |
|---|
| "高速通信中的载波相位跟踪", 《物联网技术》, no. 3, pages 63 - 65 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675310A (en) * | 2022-05-30 | 2022-06-28 | 长沙金维信息技术有限公司 | Carrier half-cycle repair method and RTK integer ambiguity fixing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112731455B (en) | 2024-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105044737A (en) | Method for detecting observed quantity validity in navigation receiver | |
| TWI474691B (en) | Data signal phase reversal correction method and system implementing the same | |
| CN105277955A (en) | Baseband signal processing method used for GPS satellite navigation | |
| CN102426368B (en) | Losing lock detection method based on extended Kalman filter tracking loop in GPS receiver | |
| CN107505642B (en) | INS-assisted real-time BDS single-frequency cycle slip detection method | |
| TWI524082B (en) | Satellite positioning receivers and methods for detecting false lock of carrier tracking loop | |
| US7869485B2 (en) | Method and apparatus for detecting lock status of a GPS signal | |
| CN103344971A (en) | Optimization method suitable for GNSS real-time data processing | |
| CN112731455B (en) | Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver | |
| CN102176032B (en) | Nonlinear-filtering-based satellite navigation tracking loop lock loss detection method | |
| CN102176034B (en) | Satellite losing lock judging method of GPS (Global Positioning System) receiver | |
| CN113534205A (en) | Satellite navigation signal abnormality determination method, satellite navigation method, and receiver | |
| CN106054221A (en) | Bit synchronization method and device thereof | |
| EP2806609A1 (en) | Receivers and methods for detecting false lock of a carrier tracking loop | |
| CN108627863B (en) | GNSS navigation message data demodulation method and device based on DFT and GNSS receiving terminal | |
| CN116736338A (en) | BDS satellite space signal availability evaluation method, BDS satellite space signal availability evaluation system and electronic equipment | |
| CN108627857B (en) | Multipath detection method and device and GNSS receiver | |
| CN111343118A (en) | Synchronous circuit and synchronous detection method | |
| CN112698367B (en) | Anti-forwarding type interference processing method of satellite navigation receiver | |
| CN111366955B (en) | Method for quickly recovering positioning of GNSS receiver after long-time lock losing and recapture | |
| CN115201867A (en) | Baseband signal processing method and device | |
| US8363682B2 (en) | Pseudo noise code tracking circuit and pseudo noise code tracking method | |
| US9287923B2 (en) | Method of detecting interference in a satellite radio-navigation signal based on the monitoring of a temporal correlation coefficient | |
| Babu et al. | Dynamics performance of carrier and code tracking loops in ultra-tight GPS/INS/PL integration | |
| US7050001B2 (en) | Carrier signal phase error estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |