CN112731455B - Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver - Google Patents
Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver Download PDFInfo
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- 230000007704 transition Effects 0.000 claims description 8
- 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
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Classifications
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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
-
- 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
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a carrier half-cycle jump detection method, which comprises the steps of receiving satellite signal navigation text information in real time; predicting the symbol of a satellite signal navigation message; calculating a phase lock detection value in real time; judging whether carrier half-cycle jumping occurs or not; starting a timer to record and track the unstable time; judging whether the half cycle jump is ended or not; and finally judging whether half cycle jump occurs. The invention also discloses a baseband chip comprising the carrier half-cycle jump detection method and a satellite navigation receiver comprising the carrier half-cycle jump detection method and the baseband chip. At a signal processing end, whether carrier half-cycle jump 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; therefore, the invention solves the problem of carrier half cycle jump detection on the root, and is more accurate and reliable than the existing method for detecting at the 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, satellite positioning and navigation technology is widely applied to the production and living of people, and brings endless convenience to the production and living of people. Therefore, ensuring the positioning accuracy and reliability becomes one of the important research points of satellite positioning navigation technology.
In satellite navigation high-precision dynamic positioning application, satellite signals are often shielded by trees, high buildings and the like, so that temporary unlocking of the signals is caused; at this point, a half-cycle transition (the transition value is an integer multiple of half the cycle) of the carrier phase measurement occurs. The carrier phase half cycle jump causes positioning deviation, so that the half cycle jump needs to be detected to ensure the accuracy and reliability of the positioning result.
Aiming at the detection of carrier half cycle hopping, the prior art scheme is to detect the carrier half cycle hopping by the methods of double-frequency combination of carrier phases, inter-epoch difference, polynomial fitting and the like at a resolving end. The principle of the method is that carrier phase measurement values at different moments are regarded as a smooth curve, and whether cycle slip occurs is judged by detecting abrupt points on the curve. However, this method can only detect large jumps exceeding 1 week. Meanwhile, due to the existence of measurement errors, particularly in severe environments such as dynamic tree shielding, the measurement errors of carrier phases can reach more than 5cm, and therefore half cycle jumps with the magnitude of only 10cm cannot be accurately detected. Therefore, a large number of missed alarms and false detections often occur in practical application, so that a large deviation occurs in a positioning result, and the accuracy and reliability of high-precision positioning are affected.
Disclosure of Invention
The invention aims to provide a carrier half-cycle jump detection method which is high in reliability, good in accuracy and easy to implement.
The second object of the present invention is to provide a baseband chip including the carrier half-cycle transition detection method.
The third objective of the present invention is to provide a satellite navigation receiver including the carrier half-cycle transition detection method and a baseband chip.
The carrier half-cycle jump detection method provided by the invention comprises the following steps:
s1, receiving satellite signal navigation text information in real time;
s2, predicting the sign 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 magnitude of the phase locking detection value obtained in the step S3 with a set value, so as to judge 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 unstable time;
s6, calculating a phase locking detection value in real time, judging whether the phase locking detection value is recovered to a normal set value, and judging whether the half cycle jump is finished;
s7, according to the judgment result obtained in the step S6 and the sign of the satellite signal navigation message, whether half cycle jump occurs is finally judged.
The real-time phase lock detection value is calculated, specifically, the phase lock detection value pld is calculated by adopting the following formula:
wherein I is the related accumulated value of the in-phase branches; q is the related accumulated value of the orthogonal branches; pld is within the range of [ -1,1].
And step S4, judging the magnitude of the phase lock detection value obtained in the step S3 with a set value so as to judge whether carrier half-cycle jump occurs, specifically judging whether carrier half-cycle jump occurs by adopting the following rule:
the set value is-1;
if the phase lock detection value pld does not reach-1, judging that carrier half cycle jump does not occur; at this time, continuing the judgment of the next period;
if the phase lock detection value pld reaches-1, it is determined that the half cycle skip has been entered.
And (5) starting a timer according to the judgment result in the step (4) and recording and tracking the unstable time, particularly starting the timer and recording and tracking the unstable time if the process of half cycle jump is judged to be entered.
The step S6 is to calculate the phase lock detection value in real time and judge whether the phase lock detection value is recovered to the normal set value, thereby judging whether the half cycle jump is ended, specifically, judging whether the half cycle jump is ended by adopting the following steps:
the normal setting value is 1;
if the phase lock detection value pld is not recovered to the normal set value 1, judging that the half cycle jump is not ended, and keeping track in an unstable state, and continuously recording and keeping track in an unstable time at the moment;
if the phase lock detection value pld returns to the normal set value 1, it is determined that the half-cycle skip process has ended.
And step S7, finally judging whether half cycle jump occurs according to the judging result obtained in the step S6 and the sign of the satellite signal navigation message, specifically judging whether half cycle jump occurs finally by adopting the following steps:
if the recorded and tracked time does not exceed one message symbol period, judging that the half-cycle jump process is completed in one message symbol period; at this time, if the symbols of the correlation values in one message symbol period are consistent, judging that half-cycle jump does not occur finally; if the symbols of the correlation values in one message symbol period are inconsistent, judging that half-cycle jump finally occurs;
if the recorded and tracked time exceeds one text symbol period, judging that the half-cycle jump process is not completed in one text symbol period; at this time, if the sign of the navigation message after the stabilization is recovered is consistent with the sign of the satellite signal navigation message predicted in the step S2, the result indicates that half cycle jump does not occur finally; and if the sign of the navigation message after the stabilization is recovered is inconsistent with the sign of the satellite signal navigation message predicted in the step S2, the sign indicates that half cycle jump finally occurs.
The invention also provides a baseband chip, which comprises the carrier half cycle jump detection method.
The invention also provides a satellite navigation receiver comprising the carrier half-cycle jump detection method and the baseband chip.
According to the carrier half-cycle jump detection method, the baseband chip and the satellite navigation receiver, provided by the invention, at a signal processing end of the baseband chip, whether carrier half-cycle jump occurs is judged by monitoring the stable state of a carrier tracking loop and combining with the symbol change of a navigation message; therefore, the invention is based on the principle of carrier half cycle hopping, solves the carrier half cycle hopping detection problem fundamentally, and is more accurate and reliable than the existing method for detecting at the resolving end, and has higher reliability, better accuracy and easier implementation.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of a tracking position of a carrier tracking loop of a satellite navigation baseband chip according to the method of the present invention.
Detailed Description
A schematic process flow diagram of the method of the present invention is shown in fig. 1: the carrier half-cycle jump detection method provided by the invention comprises the following steps:
s1, receiving satellite signal navigation text information in real time;
s2, predicting the sign 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. Specifically, the phase lock detection value pld is calculated by the following expression:
wherein I is the related accumulated value of the in-phase branches; q is the related accumulated value of the orthogonal branches; pld has a value of [ -1,1];
s4, judging the magnitude of the phase locking detection value obtained in the step S3 with a set value, so as to judge whether carrier half-cycle jump occurs or not; specifically, the following rule is adopted to determine whether carrier half-cycle hopping occurs:
the set value is-1;
if the phase lock detection value pld does not reach-1, judging that carrier half cycle jump does not occur; at this time, continuing the judgment of the next period;
if the phase lock detection value pld reaches-1, determining that the process of half cycle jump is entered;
as shown in fig. 2: in fig. 2, 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 concentrated in the I branch, the Q branch only has noise, so that the stably tracked position is located near the X axis, when the sign of the navigation message is positive, the sign of the energy of the I branch is also positive, and at the stable point a, when the sign of the navigation message is negative, the energy of the I branch is also negative, and at the stable point B. The sign of the navigation message is continuously transformed in a certain period (the period of the navigation message of the L1CA signal of the GPS system is 20 ms), and the loop stable tracking point is also transformed back and forth between the point A and the point B; when satellite signals are blocked by trees, high buildings and the like to cause unstable tracking, signal energy is not concentrated in the I branch, but is scattered in the I, Q branches, and at the moment, the tracking position may fall at any position of a coordinate system of the graph. In the extreme case, when the signal energy is concentrated in the Q branch entirely, the tracking position falls to the C position in fig. 1, which is called an unstable point;
the stability of loop tracking can be judged according to the phase lock detection index, and the definition of the phase lock detection value is as follows:pld has a value of [ -1,1]Values 1 at stable points A and B, pld, and-1 at unstable point C, pld;
according to the principle of cycle slip generation, the cycle slip generation process comprises the following steps: tracking changes from stable point to unstable point first, pld gradually changes from 1 to-1; after the satellite signal is stabilized, the loop quickly returns to a stable state, but at the moment, whether the loop returns to the stable point A or the stable point B is uncertain, if the loop returns to a correct stable point, no half cycle jump occurs, if the loop returns to an incorrect side, half cycle jump occurs, and whether the recovered stable point is correct or not is determined by the current navigation message symbol; therefore, in order to accurately judge whether the half cycle jump exists after the stable tracking is restored, the navigation text 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 unstable time; specifically, if the process of entering the half cycle jump is judged, starting a timer, and recording and tracking unstable time;
s6, calculating a phase locking detection value in real time, judging whether the phase locking detection value is recovered to a normal set value, and judging whether the half cycle jump is finished; specifically, the following steps are adopted to judge whether the half cycle jump is ended:
the normal setting value is 1;
if the phase lock detection value pld is not recovered to the normal set value 1, judging that the half cycle jump is not ended, and keeping track in an unstable state, and continuously recording and keeping track in an unstable time at the moment;
if the phase lock detection value pld is recovered to the normal set value 1, judging that the half cycle jump process is finished;
s7, judging whether half cycle jumping occurs or not finally according to the judging result obtained in the step S6 and the sign of the satellite signal navigation message; specifically, the method comprises the following steps of determining whether half cycle jump finally occurs:
if the recorded and tracked time does not exceed one message symbol period, judging that the half-cycle jump process is completed in one message symbol period; at this time, if the symbols of the correlation values in one message symbol period are consistent, judging that half-cycle jump does not occur finally; if the symbols of the correlation values in one message symbol period are inconsistent, judging that half-cycle jump finally occurs;
if the recorded and tracked time exceeds one text symbol period, judging that the half-cycle jump process is not completed in one text symbol period; at this time, if the sign of the navigation message after the stabilization is recovered is consistent with the sign of the satellite signal navigation message predicted in the step S2, the result indicates that half cycle jump does not occur finally; if the sign of the navigation message after the stabilization is recovered is inconsistent with the sign of the satellite signal navigation message predicted in the step S2, the sign indicates that half cycle jump finally occurs;
as shown in fig. 2: the navigation message symbol judgment is divided into two cases. First case: when the half cycle jump is completed in one text symbol period, the correlation value of one text symbol period can be used for judging. The period of the satellite signal navigation message is generally 20ms (taking the L1CA signal navigation message of the GPS system as an example), that is, the correlation value of 20ms corresponds to one symbol. When the half cycle jump is completed within 20ms, if the correlation value symbols within 20ms are inconsistent, the symbol jump occurs, the carrier phase also occurs, and the tracking position corresponding to the situation changes as follows: from a to C to B within 20 ms. Second case: when the duration of the half cycle jump is longer, the tracking position stays at the unstable point C and does not return to the stable point A or B within 20ms, because the tracking position exceeds 1 telegram symbol period, whether the position after stable tracking is recovered is a correct position or not needs to be judged according to the predicted telegram symbol, and if the recovered stable point position is inconsistent with the predicted telegram symbol, the half cycle jump is indicated.
In addition, the invention also provides a baseband chip, which comprises the carrier half-cycle hopping detection method, and the carrier half-cycle hopping detection method is adopted to detect 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 (3)
1. A carrier half-cycle jump detection method comprises the following steps:
s1, receiving satellite signal navigation text information in real time;
s2, predicting the sign 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; specifically, the phase lock detection value pld is calculated by the following expression:
wherein I is the related accumulated value of the in-phase branches; q is the related accumulated value of the orthogonal branches; pld has a value of [ -1,1];
s4, judging the magnitude of the phase locking detection value obtained in the step S3 with a set value, so as to judge whether carrier half-cycle jump occurs or not; specifically, the following rule is adopted to determine whether carrier half-cycle hopping occurs:
the set value is-1;
if the phase lock detection value pld does not reach-1, judging that carrier half cycle jump does not occur; at this time, continuing the judgment of the next period;
if the phase lock detection value pld reaches-1, determining that the process of half cycle jump is entered;
s5, starting a timer according to the judgment result of the step S4, and recording and tracking unstable time; specifically, if the process of half cycle jump is judged to be entered, a timer is started, and unstable time is recorded and tracked;
s6, calculating a phase locking detection value in real time, judging whether the phase locking detection value is recovered to a normal set value, and judging whether the half cycle jump is finished; specifically, the following steps are adopted to judge whether the half cycle jump is ended:
the normal setting value is 1;
if the phase lock detection value pld is not recovered to the normal set value 1, judging that the half cycle jump is not ended, and keeping track in an unstable state, and continuously recording and keeping track in an unstable time at the moment;
if the phase lock detection value pld is recovered to the normal set value 1, judging that the half cycle jump process is finished;
s7, judging whether half cycle jumping occurs or not finally according to the judging result obtained in the step S6 and the sign of the satellite signal navigation message; specifically, the method comprises the following steps of determining whether half cycle jump finally occurs:
if the recorded and tracked time does not exceed one message symbol period, judging that the half-cycle jump process is completed in one message symbol period; at this time, if the symbols of the correlation values in one message symbol period are consistent, judging that half-cycle jump does not occur finally; if the symbols of the correlation values in one message symbol period are inconsistent, judging that half-cycle jump finally occurs;
if the recorded and tracked time exceeds one text symbol period, judging that the half-cycle jump process is not completed in one text symbol period; at this time, if the sign of the navigation message after the stabilization is recovered is consistent with the sign of the satellite signal navigation message predicted in the step S2, the result indicates that half cycle jump does not occur finally; and if the sign of the navigation message after the stabilization is recovered is inconsistent with the sign of the satellite signal navigation message predicted in the step S2, the sign indicates that half cycle jump finally occurs.
2. A baseband chip, characterized in that the carrier half-cycle transition detection method of claim 1 is used for carrier half-cycle transition detection.
3. A satellite navigation receiver, comprising the baseband chip of claim 2, wherein the baseband chip performs carrier half-cycle transition detection by using the carrier half-cycle transition detection method of claim 1.
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| CN113933880B (en) * | 2021-10-18 | 2024-10-01 | 湖南北云科技有限公司 | Carrier phase half-cycle ambiguity determination method, carrier phase half-cycle ambiguity cancellation method and receiver |
| CN114675310B (en) * | 2022-05-30 | 2022-09-30 | 长沙金维信息技术有限公司 | Carrier half-cycle repair method and RTK integer ambiguity fixing method thereof |
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