CN115542350A - Multipath signal detection device and method - Google Patents
Multipath signal detection device and method Download PDFInfo
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- CN115542350A CN115542350A CN202210975356.1A CN202210975356A CN115542350A CN 115542350 A CN115542350 A CN 115542350A CN 202210975356 A CN202210975356 A CN 202210975356A CN 115542350 A CN115542350 A CN 115542350A
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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
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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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- 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
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- 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)
- Noise Elimination (AREA)
Abstract
The invention relates to a multipath signal detection device and a method, wherein the device comprises a radio frequency processing module, a carrier tracking loop, a code tracking loop and a multipath detector which are sequentially connected, the radio frequency processing module receives satellite signals, carries out radio frequency processing and then sends the satellite signals to the carrier tracking loop, the carrier tracking loop strips carriers of the received signals and then sends the stripped signals to the code tracking loop, the code tracking loop strips pseudo codes of the received signals and then outputs the signals to the multipath detector, and the multipath detector is used for detecting whether the received satellite signals are multipath signals. The invention can effectively detect the multipath signals.
Description
Technical Field
The present invention relates to the field of signal receiving and detecting technologies, and in particular, to a multipath signal detecting apparatus and method.
Background
The satellite navigation positioning device receives signals sent by satellites, measures distances and realizes three-dimensional positioning through a plurality of distance measurement values. However, when a signal is received in a complex environment such as an urban building, there is a chance that a signal reflected by the building is received, and this signal causes an error in the distance measurement value to become large, which is called multipath; errors in positioning of tens or even hundreds of meters may occur due to multipath errors.
The satellite navigation positioning device suffers from the influence of multipath signals and is divided into the following three cases:
one situation is that during tracking of a normal direct signal, a reflected signal is suddenly received, in which case the frequency of loop tracking is normal, two peaks are formed in the autocorrelation result of the code loop and are superimposed together, and the influence on the code loop is large, and the carrier-to-noise ratio is reduced.
In the two cases, the tracked direct signal enters a shielding environment to cause energy reduction of the direct signal, and in the process, the reflected signal is suddenly received, two peak values are superposed together in an autocorrelation result of a code loop to further weaken energy of the direct signal, and the energy of the reflected signal is higher than that of the direct signal.
In the three cases, during the tracking process when the direct signal is lost, the reflected signal is suddenly received, and only one peak value exists in the code loop autocorrelation result, wherein the energy of the peak value is weaker than that of the direct signal.
Under the three conditions, the common characteristic exists, after the multipath signal is received, the satellite signal energy can be reduced, and if the normal signal energy can be accurately predicted, the three satellite observed quantities suffering from the multipath can be detected. For the second case, the result of the front and back related branches of the code ring can also be used for judgment.
As the carrier-to-noise ratios of the satellites are different in the traditional method, the multipath is judged by using the carrier-to-noise ratios of other satellites, so that the multipath is inevitably detected by mistake or the success rate of detecting the multipath is low. Moreover, the conventional multipath detection method refers to the carrier-to-noise ratio of other satellites to judge whether the current satellite is influenced by multipath, and a method for predicting the carrier-to-noise ratio of a normal satellite is rarely used to judge whether the satellite is influenced by multipath.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multipath signal detection device and method, which can effectively detect multipath signals.
The technical scheme adopted by the invention for solving the technical problems is as follows: the multipath signal detection device comprises a radio frequency processing module, a carrier tracking loop, a code tracking loop and a multipath detector which are connected in sequence, wherein the radio frequency processing module receives satellite signals, carries out radio frequency processing and then sends the satellite signals to the carrier tracking loop, the carrier tracking loop strips the received signals and then conveys the stripped signals to the code tracking loop, the code tracking loop strips pseudo codes of the received signals and then outputs the stripped signals to the multipath detector, and the multipath detector is used for detecting whether the received satellite signals are multipath signals.
The carrier tracking loop comprises a frequency mixer, a low-pass filter, a discriminator and a carrier loop filter which are connected in sequence, wherein the carrier loop filter is connected with the frequency mixer.
The code tracking loop comprises an E branch correlator, an L branch correlator, a P branch correlator, a code loop discriminator, a code loop filter and a shift register;
the output signals from the carrier tracking loop respectively enter an E-branch correlator, an L-branch correlator and a P-branch correlator to strip pseudo codes, the P-branch correlator outputs the current carrier-to-noise ratio to the multipath detector, the E-branch correlator outputs the carrier-to-noise ratio difference value of the E-branch and the P-branch to the multipath detector, and the L-branch correlator outputs the carrier-to-noise ratio difference value of the L-branch and the P-branch to the multipath detector;
and the P branch inputs the coherent integration of the satellite signal and the local pseudo code into the code loop discriminator, reaches the shift register through the code loop filter, and forms closed code loop tracking with the E branch correlator, the L branch correlator and the P branch correlator.
The technical scheme adopted by the invention for solving the technical problems is as follows: provided is a multipath signal detection method including:
step (1): receiving satellite signals, carrying out radio frequency processing on the satellite signals, and stripping carrier waves from the signals subjected to the radio frequency processing;
step (2): calculating the advanced carrier-to-noise ratio of the signal after carrier stripping;
and (3): calculating the delay carrier-to-noise ratio of the signal after the carrier stripping;
and (4): calculating the current carrier-to-noise ratio of the signal after the carrier stripping;
and (5): and comparing the current carrier-to-noise ratio of the signal after carrier stripping with the advanced carrier-to-noise ratio and the delayed carrier-to-noise ratio respectively, and judging whether the received satellite signal is a multipath signal.
The step (5) comprises the following steps: judging whether the ratio of the advanced carrier to noise ratio and the ratio of the delayed carrier to noise ratio are both greater than 0, if both are greater than 0, the received signal is a multipath signal; if the current carrier-to-noise ratio is less than 0, the current carrier-to-noise ratio is compared with a preset carrier-to-noise ratio.
The comparing the current carrier-to-noise ratio with the preset carrier-to-noise ratio specifically comprises the following steps: if the current carrier-to-noise ratio is smaller than the preset carrier-to-noise ratio, the received signal is a multipath signal; and if the current carrier-to-noise ratio is larger than a preset carrier-to-noise ratio, judging whether the received signal is a multipath signal according to the preset carrier-to-noise ratio.
The method for judging whether the received signal is a multipath signal according to the preset carrier-to-noise ratio specifically comprises the following steps: if the preset carrier-to-noise ratio is the normal carrier-to-noise ratio of the satellite, the received signal is not a multipath signal; if the preset carrier-to-noise ratio does not reach the normal carrier-to-noise ratio of the satellite, whether the received signal is a multipath signal or not cannot be judged.
The method also comprises the step of weighting and averaging the preset carrier-to-noise ratio and the current carrier-to-noise ratio to update the preset carrier-to-noise ratio, wherein the weight setting method of the preset carrier-to-noise ratio and the current carrier-to-noise ratio comprises the following specific steps of:
if the current carrier-to-noise ratio is equal to the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio and the weight of the preset carrier-to-noise ratio to be 0.5;
if the current carrier-to-noise ratio is larger than the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio to be 1 and setting the weight of the preset carrier-to-noise ratio to be 0;
if the preset carrier-to-noise ratio is more than 3dB higher than the current carrier-to-noise ratio, setting the weight of the preset carrier-to-noise ratio to be 1 and setting the weight of the current carrier-to-noise ratio to be 0;
and if the preset carrier-to-noise ratio is larger than the current carrier-to-noise ratio and is not more than 3dB, setting the weight of the preset carrier-to-noise ratio to be 29/30 and setting the weight of the current carrier-to-noise ratio to be 1/30.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the invention provides an updating mechanism for predicting satellite carrier-to-noise ratio to judge multipath signals and predicting satellite carrier-to-noise ratio in the using process, and in addition, the optimal multipath detection effect is achieved by matching with the baseband advanced delay branch result; the invention judges the multipath signal by increasing the correlation result of the advance branch and the delay branch, so as to achieve the best effect; the invention can eliminate the influence of multipath on the positioning of the receiver in a complex environment and improve the positioning precision.
Drawings
FIG. 1 is a diagram illustrating the correlation between a received signal and a locally replicated C/A code according to an embodiment of the present invention;
FIG. 2 is a flow chart of a multipath detection method of an embodiment of the present invention;
FIG. 3 is a flow chart of the default carrier-to-noise ratio update logic according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a multipath signal detection apparatus according to an embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
Before the present embodiment is described in detail, some basic theories are introduced:
fig. 1 shows the correlation result of the received signal and the locally-replicated C/a code, and the normal signal forms an ideal correlation curve in the shape of an isosceles triangle as shown in fig. 1 (a), and the correlation result reaches a peak value at 0 chip and gradually decreases toward positive and negative coordinates centering on 0 chip, and finally reaches a value of 0 at-1 chip and 1 chip. If there is a multipath signal, as shown in fig. 1 (b), it will randomly superimpose a multipath signal near the normal signal, i.e. an isosceles triangle appears at the center of-1 chip and superimposes on the original pattern.
From the results of FIG. 1, it can be analyzed: (1) The normal signal correlation result is in an isosceles triangle, the instant P branch correlation gain of a code ring (namely a code tracking loop) is the highest, the carrier-to-noise ratio (CN 0) is the largest, the correlation results of an E branch leading 1 chip and an L branch delaying 1 chip of the code ring are the lowest, CN0 is the smallest, and CN0 of the E branch and the L branch are all smaller than that of the P branch. (2) The multi-path signal correlation result is superposed in two isosceles triangles, and the correlation result has two peak values, namely the maximum peak value of the multi-path signal of-1 chip and the second maximum peak value of the normal signal of 0 chip, the advanced E branch of the code ring has the highest correlation result, CN0 has the highest correlation result, the instant P branch of the code ring has the second maximum correlation result, CN0 has the second maximum correlation result, the delayed L branch of the code ring has the minimum correlation result, and CN0 has the minimum correlation result.
From the results of FIG. 1, it can be derived: (1) The relative gains of the advance E branch and the delay L branch of the normal signal are smaller than the timely P branch, and the E branch CN0 and the L branch CN0 are both smaller than the P branch CN0. (2) The correlation gain of the leading E branch or the delay L branch of the multipath signal is greater than the correlation gain of the P branch (note that the correlation between the leading E branch and the delay L branch is "or", fig. 1 only shows a case where the leading E branch is greater than the correlation gain of the P branch), and the correlation gain of the E branch CN0 or the L branch CN0 is greater than the correlation gain of the P branch CN0.
The embodiment of the invention relates to a multipath signal detection device, which comprises a radio frequency processing module, a carrier tracking loop, a code tracking loop and a multipath detector, wherein the radio frequency processing module, the carrier tracking loop, the code tracking loop and the multipath detector are sequentially connected, the radio frequency processing module receives satellite signals, performs radio frequency processing on the satellite signals, sends the satellite signals to the carrier tracking loop (namely provides intermediate frequency signals for the carrier tracking loop), the carrier tracking loop strips the received signals and transmits the signals to the code tracking loop, the code tracking loop strips pseudo codes on the received signals and outputs the signals to the multipath detector, and the multipath detector is used for detecting whether the received signals are multipath signals.
Furthermore, the carrier tracking loop comprises a mixer, a low-pass filter, a discriminator and a carrier loop filter which are connected in sequence, the carrier loop filter is connected with the mixer, the carrier tracking loop functions to receive an intermediate frequency signal, and outputs a signal with a carrier wave stripped to the code tracking loop, and the carrier tracking loop forms a loop to maintain tracking of the signal.
Furthermore, the code tracking loop comprises an E branch correlator, an L branch correlator, a P branch correlator, a code loop discriminator, a code loop filter and a shift register; after receiving a baseband signal output by a carrier tracking loop, a code tracking loop respectively enters an E-branch correlator, an L-branch correlator and a P-branch correlator to strip a pseudo code, the P-branch correlator outputs a current carrier-to-noise ratio to a multipath detector, the E-branch correlator outputs a carrier-to-noise ratio difference value of an E-branch and the P-branch to the multipath detector, and the L-branch correlator outputs a carrier-to-noise ratio difference value of an L-branch and a P-branch to the multipath detector; and the P branch also inputs a coherent integration result of the satellite signal and the local pseudo code into the code loop discriminator, reaches the shift register through the code loop filter, and forms closed code loop tracking with the E branch correlator, the L branch correlator and the P branch correlator.
Furthermore, the punctual replica code of the P-branch correlator is subjected to correlation operation with the signal from the carrier tracking loop, the replica code of the P-branch correlator is advanced by one chip by the E-branch correlator, and then is subjected to correlation operation with the signal output by the carrier tracking loop, and a difference value between the E-branch correlator and the P-branch correlator CN0 is output. The L branch correlator delays the copy code of the P branch correlator by a code piece, and then carries out correlation operation with the signal output by the carrier tracking loop, and outputs the difference value between the L branch correlator and the P branch correlator CN0.
The embodiment relates to a multipath signal detection method, which comprises the following steps:
step (1): receiving a satellite signal through a radio frequency processing module, transmitting the satellite signal to a carrier tracking loop after radio frequency processing, and conveying the received signal to a code tracking loop after the carrier tracking loop strips a carrier;
step (2): the code tracking loop calculates the advanced carrier-to-noise ratio of the signal after the carrier stripping through an E branch correlator;
and (3): the code tracking loop calculates the delay carrier-to-noise ratio of the signal after the carrier is stripped through an L branch correlator;
and (4): the code tracking loop calculates the current carrier-to-noise ratio of the signal after the carrier is stripped through a P branch correlator;
and (5): and comparing the current carrier-to-noise ratio of the signal subjected to carrier stripping with the advanced carrier-to-noise ratio and the delayed carrier-to-noise ratio respectively through a multipath detector, and judging whether the received satellite signal is a multipath signal.
How to determine whether the received satellite signal is a multipath signal in step (5) is described in detail below:
fig. 2 is a flow chart of the multipath detection method, wherein CN0 represents the current carrier-to-noise ratio, early gap CN0 represents the early carrier-to-noise ratio, and late gap CN0 represents the delayed carrier-to-noise ratio. Acquiring CN0, early gap CN0 values and late gap CN0 values of the code ring, firstly judging whether the early gap CN0 and late gap CN0 values are all larger than zero, and judging as multipath if the early gap CN0 and late gap CN0 values are all larger than zero; if the current carrier-to-noise ratio is smaller than the preset stored carrier-to-noise ratio (namely the CN0 GAP threshold value in figure 2, namely the stored carrier-to-noise ratio), if the current carrier-to-noise ratio is smaller than the preset carrier-to-noise ratio, the received signal is a multipath signal, if the current carrier-to-noise ratio is larger than the preset carrier-to-noise ratio, two conditions are divided, if the preset carrier-to-noise ratio is the normal satellite signal carrier-to-noise ratio, the condition indicates that no multipath exists, and if the preset carrier-to-noise ratio does not reach the normal satellite signal carrier-to-noise ratio, the condition cannot determine multipath.
Considering that the carrier-to-noise ratio of the normal signal of the satellite is stronger than the carrier-to-noise ratio of the multipath signal, in order to record the preset carrier-to-noise ratio to the carrier-to-noise ratio of the normal signal of the satellite, the present embodiment further includes performing weighted averaging on the preset carrier-to-noise ratio (i.e., the stored carrier-to-noise ratio) and the current carrier-to-noise ratio to update the preset carrier-to-noise ratio, wherein when performing weighted averaging, a weight setting method for the preset carrier-to-noise ratio and the current carrier-to-noise ratio is specifically shown in fig. 3, and includes four cases:
(1) If the current carrier-to-noise ratio is equal to the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio and the weight of the preset carrier-to-noise ratio to be 0.5;
(2) If the current carrier-to-noise ratio is larger than the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio to be 1 and setting the weight of the preset carrier-to-noise ratio to be 0;
(3) If the preset carrier-to-noise ratio is more than 3dB higher than the current carrier-to-noise ratio, setting the weight of the preset carrier-to-noise ratio to be 1 and setting the weight of the current carrier-to-noise ratio to be 0;
(4) And if the preset carrier-to-noise ratio is larger than the current carrier-to-noise ratio and is not more than 3dB, setting the weight of the preset carrier-to-noise ratio to be 29/30 and setting the weight of the current carrier-to-noise ratio to be 1/30.
The foregoing description of specific exemplary embodiments of the invention has been presented for the purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (8)
1. A multipath signal detection device is characterized by comprising a radio frequency processing module, a carrier tracking loop, a code tracking loop and a multipath detector which are connected in sequence, wherein the radio frequency processing module receives satellite signals, performs radio frequency processing on the satellite signals and then sends the satellite signals to the carrier tracking loop, the carrier tracking loop strips received signals and then conveys the stripped signals to the code tracking loop, the code tracking loop strips received signals and then outputs the signals to the multipath detector, and the multipath detector is used for detecting whether the received satellite signals are multipath signals.
2. The multipath signal detection apparatus of claim 1, wherein the carrier tracking loop comprises a mixer, a low pass filter, a discriminator and a carrier loop filter connected in sequence, the carrier loop filter and the mixer being connected.
3. The multipath signal detection apparatus of claim 1, wherein the code tracking loop comprises an E-branch correlator, an L-branch correlator, a P-branch correlator, a code loop discriminator, a code loop filter, and a shift register;
the output signals from the carrier tracking loop respectively enter an E-branch correlator, an L-branch correlator and a P-branch correlator to strip pseudo codes, the P-branch correlator outputs the current carrier-to-noise ratio to the multipath detector, the E-branch correlator outputs the carrier-to-noise ratio difference value of the E-branch and the P-branch to the multipath detector, and the L-branch correlator outputs the carrier-to-noise ratio difference value of the L-branch and the P-branch to the multipath detector;
and the P branch inputs the coherent integration of the satellite signal and the local pseudo code into the code loop discriminator, reaches the shift register through the code loop filter, and forms closed code loop tracking with the E branch correlator, the L branch correlator and the P branch correlator.
4. A method for multi-path signal detection, comprising:
step (1): receiving satellite signals, carrying out radio frequency processing on the satellite signals, and stripping carrier waves from the signals subjected to the radio frequency processing;
step (2): calculating the advanced carrier-to-noise ratio of the signal after carrier stripping;
and (3): calculating the delay carrier-to-noise ratio of the signal after the carrier stripping;
and (4): calculating the current carrier-to-noise ratio of the signal after carrier stripping;
and (5): and comparing the current carrier-to-noise ratio of the signal after carrier stripping with the advanced carrier-to-noise ratio and the delayed carrier-to-noise ratio respectively, and judging whether the received satellite signal is a multipath signal.
5. The multipath signal detection method of claim 4, wherein the step (5) comprises: judging whether the ratio of the advanced carrier to noise ratio and the ratio of the delayed carrier to noise ratio are both larger than 0, if so, determining that the received signal is a multipath signal; and if the current carrier-to-noise ratio is less than 0, comparing the current carrier-to-noise ratio with a preset carrier-to-noise ratio.
6. The method for detecting multipath signals of claim 5, wherein the comparing the current carrier-to-noise ratio with a preset carrier-to-noise ratio specifically comprises: if the current carrier-to-noise ratio is smaller than a preset carrier-to-noise ratio, the received signal is a multipath signal; and if the current carrier-to-noise ratio is larger than a preset carrier-to-noise ratio, judging whether the received signal is a multipath signal according to the preset carrier-to-noise ratio.
7. The method for detecting multipath signals according to claim 6, wherein the determining whether the received signal is a multipath signal according to the preset carrier-to-noise ratio specifically comprises: if the preset carrier-to-noise ratio is the normal carrier-to-noise ratio of the satellite, the received signal is not a multipath signal; if the preset carrier-to-noise ratio does not reach the normal carrier-to-noise ratio of the satellite, whether the received signal is a multipath signal cannot be judged.
8. The method for detecting multipath signals according to claim 6, further comprising weighting and averaging the preset carrier-to-noise ratio and the current carrier-to-noise ratio to update the preset carrier-to-noise ratio, wherein the weight setting method of the preset carrier-to-noise ratio and the current carrier-to-noise ratio during weighting and averaging specifically comprises:
if the current carrier-to-noise ratio is equal to the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio and the weight of the preset carrier-to-noise ratio to be 0.5;
if the current carrier-to-noise ratio is larger than the preset carrier-to-noise ratio, setting the weight of the current carrier-to-noise ratio to be 1 and setting the weight of the preset carrier-to-noise ratio to be 0;
if the preset carrier-to-noise ratio is more than 3dB higher than the current carrier-to-noise ratio, setting the weight of the preset carrier-to-noise ratio to be 1 and setting the weight of the current carrier-to-noise ratio to be 0;
and if the preset carrier-to-noise ratio is larger than the current carrier-to-noise ratio and is not more than 3dB, setting the weight of the preset carrier-to-noise ratio to be 29/30 and setting the weight of the current carrier-to-noise ratio to be 1/30.
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