CN116224401A - Shipborne GNSS receiver and vector tracking method thereof - Google Patents

Shipborne GNSS receiver and vector tracking method thereof Download PDF

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CN116224401A
CN116224401A CN202310289088.2A CN202310289088A CN116224401A CN 116224401 A CN116224401 A CN 116224401A CN 202310289088 A CN202310289088 A CN 202310289088A CN 116224401 A CN116224401 A CN 116224401A
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carrier
code
loop
tracking
measurement
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王胜正
刘卫
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Smart Core Suzhou Technology Co ltd
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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
    • G01S19/38—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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • 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
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a vector tracking method of a shipborne GNSS receiver.A radio frequency front end for receiving GNSS satellite signals is used for completing the conversion from radio frequency signals to intermediate frequency signals, and digital intermediate frequency signals are respectively mixed and multiplied with sine I and cosine Q carrier signals copied by a carrier ring to realize carrier separation; the carrier separated I and Q branch signals are respectively correlated with three C/A codes of leading E, instant P and lagging L copied by code ring, and respectively output coherent integral value I after passing through an integral-eliminator E ,I P ,I L ,Q E ,Q P ,Q L The method comprises the steps of carrying out a first treatment on the surface of the The coherent integration value outputs carrier and code phase errors through a carrier ring and code ring discriminator, and the carrier and code phase errors are used as the measurement quantity of a loop bidirectional Kalman filter, and the coherent integration value is used for measuring the code phase errors, carrier frequency errors and carrier frequency change rate errorsPerforming bidirectional Kalman filtering smoothing treatment; the carrier and code phase errors are linearly transformed into a pseudo-range rate and a pseudo-range error, which are used as the measurement of navigation solution and for ship navigation solution.

Description

Shipborne GNSS receiver and vector tracking method thereof
Technical Field
The invention belongs to the technical field of ship navigation, and particularly relates to a shipborne GNSS receiver and a vector tracking method thereof.
Background
Global Navigation Satellite Systems (GNSS) are capable of providing real-time, all-weather and global navigation services, and have become an indispensable navigation system for ships. The existing GNSS receiver scalar tracking method can stably operate in a good signal environment. However, for ship navigation, signal scenarios under some severe sea conditions, such as low carrier-to-noise ratio (CNR), signal occlusion, multipath, etc., may cause the output of the carrier loop/code loop discriminator of the tracking loop of the GNSS receiver to contain noise, and be nonlinear, greatly affecting the accuracy of the navigation positioning of the ship satellites.
Disclosure of Invention
The embodiment of the invention discloses a shipborne GNSS receiver vector tracking method based on a loop cascade type self-adaptive bidirectional Kalman filter, which comprises the following steps:
1. converting the received satellite signal into a digital intermediate frequency signal;
2. mixing and multiplying the carrier wave with the carrier wave copied by the carrier wave ring to realize carrier wave separation;
3. performing correlation operation with the C/A code copied by the code ring to obtain a coherent integration value;
4. the loop phase discriminator calculates carrier and code phase errors, and obtains carrier and code phase error estimated values under the action of the cascade self-adaptive bidirectional filter;
5. the phase error is linearly transformed into pseudo-range observables for estimating a navigation solution;
6. the carrier NCO and code generator are updated.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
FIG. 1 is a flow chart of a method for vector tracking of an onboard GNSS receiver in accordance with one embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a GNSS signal processing unit according to one embodiment of the present invention.
Detailed Description
Because the existing scalar GNSS receiver tracking loop adopts a loop filter with fixed gain to estimate carrier/code frequency, signals are easy to lose locking in a severe signal environment, and positioning errors are increased. Especially for intelligent ships and unmanned autonomous ships, the accuracy of navigation signals is more dependent. Therefore, a more accurate, robust tracking method needs to be introduced for application in an onboard GNSS receiver.
In view of this, embodiments of the present disclosure propose a Phase Locked Loop (PLL) and a Delay Locked Loop (DLL) tracking loop based on a loop cascaded adaptive bi-directional kalman filter (FBKF), and an improved cascaded filtering method for a Vector Tracking Loop (VTL). The carrier wave and the code phase of the vector tracking loop are filtered by adopting a bidirectional filtering strategy based on a Forward Kalman Filter (FKF) and a Backward Kalman Filter (BKF), so that the tracking sensitivity of the GNSS tracking loop, the anti-interference capability of a receiver and the navigation positioning precision are improved, and the method is an effective solution for improving the performance of a navigation system without increasing the hardware cost of the navigation system. When the system is used for coping with severe signal scenes such as signal shielding, the tracking loop can adaptively change the loop bandwidth gain, and the navigation performance of intelligent ships and unmanned autonomous ships in severe signal environments can be improved. Particularly, when the signal interruption problem occurs in the shipborne satellite navigation receiver and the shipborne satellite navigation receiver cannot be positioned, the ship cannot navigate autonomously, and the vector tracking method based on the loop cascade self-adaptive bidirectional Kalman filter (FBKF) can keep stable operation of a tracking loop, output stable pseudo-range observed quantity and continue to provide position information for the ship.
According to one or more embodiments, as shown in fig. 1, an on-board GNSS receiver vector tracking method includes the steps of:
firstly, receiving GNSS satellite signals through a GNSS measurement antenna, and completing conversion from radio frequency signals to intermediate frequency signals by a radio frequency front end; then converting the intermediate frequency signal from an analog signal to a digital signal through analog-to-digital (A/D) conversion;
step two: mixing and multiplying the received satellite digital intermediate frequency signals with sine (I) and cosine (Q) carrier signals copied by a carrier ring respectively to realize carrier separation;
step three, the I and Q branch signals after carrier separation are respectively correlated with three C/A codes of leading (E), instant (P) and lagging (L) copied by code ring, and respectively output coherent integral value I after passing through an integral-cleaner E ,I P ,I L ,Q E ,Q P ,Q L ；
Outputting carrier and code phase errors by the coherent integration value through a carrier ring and code ring discriminator, taking the carrier and code phase errors as the measurement quantity of a loop bidirectional Kalman filter, and carrying out bidirectional Kalman filter smoothing on the code phase errors, the carrier frequency errors and the carrier frequency change rate errors;
step five, the carrier wave and code phase errors are converted into pseudo-range rate and pseudo-range errors through linear transformation, and the pseudo-range rate and the pseudo-range errors are used as measurement of a navigation resolving module to realize the estimation of a navigation solution;
step six, the carrier phase error is used for adjusting a carrier Numerical Control Oscillator (NCO), so that the carrier frequency is updated, and the carrier copied by the carrier tracking loop is kept consistent with the received carrier;
and step seven, predicting the code frequency of each tracking channel at the next moment according to the estimated value of the navigation solution and the predicted value of the line of sight (LOS), completing updating the code frequency, enabling the C/A instant code copied by the code ring to be consistent with the received C/A code, and returning to the step two.
Fig. 2 is a GNSS signal processing unit of a vector tracking loop based on a vector delay locked loop and a phase locked loop and cascaded with a loop filter FBKF, comprising: a correlator, an integrate-and-dump, a phase discriminator, a cascaded loop filter FBKF, a carrier NCO, a pseudo code generator and a navigation processor. The carrier and code phase errors output by the carrier ring and code ring phase detectors are input into a cascaded loop filter FBKF, and the smoothed carrier and code phase errors are obtained through bidirectional filtering smoothing processing. Wherein the cascaded loop filter FBKF comprises a forward filter FKF and a backward filter BKF.
The vector tracking method based on the loop cascade self-adaptive bidirectional Kalman filter (FBKF) has the advantages that the vector tracking method based on the loop cascade self-adaptive bidirectional Kalman filter (FBKF) is applied to a ship GNSS receiver, can improve the tracking capacity of the receiver to signals in a severe signal environment, and is particularly suitable for ship navigation requirements of conditions such as frequent signal interruption of the GNSS receiver. Meanwhile, the GNSS navigation performance is improved through the improvement of the algorithm, and the method is an effective way for improving the GNSS navigation capability without increasing the hardware cost of a ship navigation system.
In accordance with one or more embodiments, as shown in FIG. 1, the present invention provides a loop bi-directional Kalman filter based vector tracking algorithm, the algorithm comprising:
s101, a cascade vector tracking loop based on a forward Kalman filter FKF takes a code phase error delta tau (chip), a carrier phase error delta theta (radian), a carrier frequency error delta f (Hz) and a carrier frequency change rate error delta alpha (Hz/S) as a state quantity X of the loop filter, and a discrete form system model is as follows:
X i ＝[Δτ i ,Δθ i ,Δf i ,Δα i ] T (1)
Figure BDA0004140734740000031
Figure BDA0004140734740000041
wherein the superscript i (i=1, 2 … m) represents the number of the tracking channels, m is the number of all tracking channels, the subscript k represents the time instant, k/k-1 represents the estimate of the time instant k-1 versus the time instant k, X i Representing the state quantity of the i-channel,
Figure BDA0004140734740000042
representing the state quantity of the i channel at time k. Phi k/k-1 Is a system state transition matrix,/->
Figure BDA0004140734740000043
Is the system noise vector. Coefficient beta=f C/A /f L1 For converting units (cycles) of carrier phase into units (chips) of C/A code, f C/A Is the code frequency (for example, GPS L1, 1.023 MHz), f L1 Is the carrier frequency (1575.42 MHz, for example GPS L1). T is the update interval of the loop filter.
S102, measuring Z consists of a code phase error and a carrier phase error output by a loop discriminator, and a discrete form measuring model is shown as follows:
Figure BDA0004140734740000044
Figure BDA0004140734740000045
Figure BDA0004140734740000046
wherein ,Zi A measurement of the quantity is indicated and,
Figure BDA0004140734740000047
the code and carrier phase error measurements are denoted, respectively, and the superscript '-' indicates the measurement of the quantity. />
Figure BDA0004140734740000048
Representing the measured noise vector of the i channel at time k, H k Is the measurement matrix at time k.
S103, calculating a measuring code and a carrier phase error through a lead-minus-lag amplitude phase discrimination method and a two-quadrant arc tangent function phase discriminator respectively, wherein the calculating formula of the measuring value is as follows:
Figure BDA0004140734740000049
Figure BDA00041407347400000410
wherein ,
Figure BDA00041407347400000411
I E ,Q E ,I p ,Q p ,I L ,Q L results of coherent integration of lead (E), immediate (P) and lag (L) C/A codes in-phase branch I and quadrature branch Q, respectively, tan -1 Is an arctangent function. In low carrier to noise ratio (CNR) scenarios, such as signal occlusion or weak signals, the output of the tracking loop discriminator is noisy and nonlinear. Adaptive adjustment of the measurement noise vector for each tracking channel>
Figure BDA00041407347400000412
The tracking accuracy of the tracking loop to the carrier wave and the C/A code can be improved.
S104, the self-adaptive adjustment method of the measured noise is as follows:
Figure BDA0004140734740000051
Figure BDA0004140734740000052
Figure BDA0004140734740000053
wherein E represents the mathematical expectation,
Figure BDA0004140734740000054
is a measurement noise covariance matrix,>
Figure BDA0004140734740000055
and />
Figure BDA0004140734740000056
Is the variance of the discriminator output, t is the coherent integration time, d 0 Is the separation between the lead and lag C/a code copies and the instant code copies. The CNR of each channel is calculated by a sum of variance method from the output value of the coherent integration over 20 ms.
S105, an equation of the discrete form cascade loop forward Kalman filter FKF is as follows:
Figure BDA0004140734740000057
wherein ,
Figure BDA0004140734740000058
the state quantity estimation of the channel i at the moment k-1 to the moment k is shown, the subscript 'f' shows the forward filtering mode, and the superscript 'a' shows the estimated value. P is a state one-step predictive mean square error matrix, < >>
Figure BDA0004140734740000059
and />
Figure BDA00041407347400000510
The system noise matrix and the measurement noise matrix of the i channel at the k moment are respectively +.>
Figure BDA00041407347400000511
Is the forward filter gain calculated at this time, I 4×4 Representing a 4 th order identity matrix. Obtaining estimated value of each tracking channel on state quantity at k moment by FKF processing>
Figure BDA00041407347400000512
And its mean square error matrix->
Figure BDA00041407347400000513
S106, deducing a system model and a measurement model of the backward Kalman filter BKF according to the system model and the measurement model of the FKF, wherein the system model and the measurement model are as follows:
Figure BDA00041407347400000514
Figure BDA00041407347400000515
wherein ,
Figure BDA00041407347400000516
is a state transition matrix of BKF, and the rest variables are consistent with FKF.
S107, an equation of a discrete form cascade loop backward Kalman filter BKF is as follows:
Figure BDA0004140734740000061
where the subscript 'b' indicates the backward filtering mode, the remaining variables are consistent with FKF.
S108, in the bi-directional filtering system, the information provided by the two filters may exhibit different characteristics. And according to the optimization criteria, the measurement information of the two filters is fully utilized, and the complementation and redundancy information of the measurement information are combined, so that the optimal consistent description of the observation target can be realized. The information filtering weights the filtering results of the forward FKF and the backward BKF, and takes the average value of the filtering results to obtain a filtering result with higher precision, so that the problems of the bidirectional filtering system can be well solved. The basic formula of information fusion is as follows:
Figure BDA0004140734740000062
I k,s ＝(I k,f +I k-1,b ) -1 (17)
Figure BDA0004140734740000063
wherein ,Ik,f Is the information matrix of forward FKF at k moment, I k-1,b Is backward BKF inInformation matrix at time k-1, I k,s Is an information matrix of the bi-directional filter FBKF smoothed by the information filter at time k,
Figure BDA0004140734740000064
is a global optimum state estimate obtained by the information filter, and the subscript's' indicates a smoothing process.
S109, the phase error is subjected to linear transformation to be measured into the quantity of the navigation processor, and the formula is as follows:
Δρ i ＝Δτ i ·c/f C/A (19)
Figure BDA0004140734740000065
wherein ,Δρi ,
Figure BDA0004140734740000066
The pseudorange error and the pseudorange rate error for the i-channel respectively. Δτ i Is the code phase error of the i channel, c is the speed of light,/->
Figure BDA0004140734740000067
Is the carrier Doppler shift of the i channel, V usr ,/>
Figure BDA0004140734740000068
Velocity vectors, d, of the receiver and i-channel satellite, respectively, predicted clk Is an estimated receiver clock drift.
After the code and carrier phase errors are filtered and smoothed, the influence of noise and nonlinearity is reduced to a certain extent. At this time, the code and carrier phase errors are linearly changed into pseudo-range errors and pseudo-range rate errors, and the pseudo-range errors and the pseudo-range rate errors are used as measurement values of the navigation filter, so that the estimation accuracy of the navigation filter and the robustness of a navigation system can be improved.
It should be understood that, in the embodiment of the present invention, the term "and/or" is merely an association relationship describing the association object, which means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (10)

1. An onboard GNSS receiver vector tracking method, comprising the steps of:
step one, completing conversion from a radio frequency signal to an intermediate frequency signal by a radio frequency front end for receiving GNSS satellite signals, and performing digital conversion on the intermediate frequency signal to obtain a digital intermediate frequency signal;
step two, the digital intermediate frequency signals are respectively multiplied by the sine I and cosine Q carrier signals copied by the carrier ring in a mixing way, so that carrier separation is realized;
step three, the I and Q branch signals after carrier separation are respectively correlated with three C/A codes of leading E, instant P and lagging L copied by code ring, and respectively output coherent integral value I after passing through an integral-cleaner E ,I P ,I L ,Q E ,Q P ,Q L ；
Outputting carrier and code phase errors by the coherent integration value through a carrier ring and code ring discriminator, taking the carrier and code phase errors as the measurement quantity of a loop bidirectional Kalman filter, and carrying out bidirectional Kalman filter smoothing on the code phase errors, the carrier frequency errors and the carrier frequency change rate errors;
and fifthly, the carrier wave and code phase errors are converted into pseudo-range rate and pseudo-range errors through linear transformation, and the pseudo-range rate and the pseudo-range errors are used as measurement of navigation calculation and used for ship navigation calculation.
2. The method of on-board GNSS receiver vector tracking according to claim 1, further comprising the steps of:
and step six, using the carrier phase error to adjust the NCO of the carrier numerical control oscillator to finish updating the carrier frequency, so that the carrier copied by the carrier tracking loop is consistent with the received carrier.
3. The method of on-board GNSS receiver vector tracking according to claim 1, further comprising the steps of:
and seventhly, predicting the code frequency of each tracking channel at the next moment according to the navigation settlement value and the line-of-sight vector LOS predicted value, and finishing updating the code frequency to ensure that the C/A instant code copied by the code ring is consistent with the received C/A code.
4. The method according to claim 1, wherein in the fourth step, a cascade vector tracking loop based on a forward kalman filter FKF is used, the code phase error Δτ chips, the carrier phase error Δθ radian, the carrier frequency error Δf, and the carrier frequency change rate error Δα are used as the state quantity X of the loop filter, and the discrete system model is shown as follows:
X i ＝[Δτ i ,Δθ i ,Δf i ,Δα i ] T (1)
Figure FDA0004140734730000011
Figure FDA0004140734730000021
wherein the superscript i (i=1, 2 … m) represents the number of the tracking channels, m is the number of all tracking channels, the subscript k represents the time instant, k/k-1 represents the estimate of the time instant k-1 versus the time instant k, X i Representing the state quantity of the i-channel,
Figure FDA00041407347300000212
representing the state quantity of the i channel at time k,
Φ k/k-1 is a system state transition matrix that is a system state transition matrix,
Figure FDA00041407347300000213
is the vector of the system noise and,
coefficient beta=f C/A /f L1 For converting units of carrier phase into units of C/A code, f C/A Is the code frequency and T is the update interval of the loop filter.
5. The method of vector tracking for an on-board GNSS receiver of claim 4 wherein the equation for the discrete form of the cascaded loop forward kalman filter FKF is as follows:
Figure FDA0004140734730000022
wherein ,
Figure FDA0004140734730000023
representing the estimation of the state quantity of the i channel at time k-1 to time k, the subscript 'f' represents the forward filtering mode, the superscript 'a' represents the estimated value,
p is the stateA one-step prediction of the mean square error matrix,
Figure FDA0004140734730000024
and />
Figure FDA0004140734730000025
The system noise matrix and the measurement noise matrix of the i channel at the k moment are respectively +.>
Figure FDA0004140734730000026
Is the forward filter gain calculated at this time, I 4×4 Representing the identity matrix of order 4,
obtaining estimated values of state quantity of each tracking channel at k time
Figure FDA0004140734730000027
And its mean square error matrix->
Figure FDA0004140734730000028
6. The method of on-board GNSS receiver vector tracking according to claim 5, wherein the system model and the measurement model of the backward kalman filter BKF are as follows:
Figure FDA0004140734730000029
Figure FDA00041407347300000210
wherein ,
Figure FDA00041407347300000211
is the state transition matrix of the BKF.
7. The method of vector tracking for an on-board GNSS receiver of claim 5 wherein the equation for the discrete form of the cascaded loop backward kalman filter BKF is as follows:
Figure FDA0004140734730000031
where the subscript 'b' denotes the backward filtering mode.
8. The method according to claim 1, wherein in the fifth step, the quantity measurement Z is composed of a code phase error and a carrier phase error outputted from the loop discriminator, and the discrete measurement model is as follows:
Figure FDA0004140734730000032
Figure FDA0004140734730000033
Figure FDA0004140734730000034
wherein ,Zi Indicating the amount of i-channel measurement,
Figure FDA0004140734730000035
the code and carrier phase error measurements for the i channels, respectively, are indicated by the superscript '-' indicating the measurement of the quantity,
Figure FDA0004140734730000036
representing the measured noise vector of the i channel at time k, H k Is the measurement matrix at time k.
9. An on-board GNSS receiver, characterized in that the receiver comprises a memory; and
a processor coupled to the memory, the processor configured to execute instructions stored in the memory, the processor performing the steps comprised by the method according to any of claims 1 to 8.
10. The on-board GNSS receiver of claim 9 further comprising a correlator, an integrate-and-dump, a phase discriminator, a cascaded loop filter FBKF, a carrier NCO, a pseudo code generator, connected in sequence.
CN202310289088.2A 2023-03-23 2023-03-23 Shipborne GNSS receiver and vector tracking method thereof Pending CN116224401A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116520363A (en) * 2023-07-03 2023-08-01 中国科学院空天信息创新研究院 Multi-phase arm code ring phase discrimination method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116520363A (en) * 2023-07-03 2023-08-01 中国科学院空天信息创新研究院 Multi-phase arm code ring phase discrimination method
CN116520363B (en) * 2023-07-03 2023-08-25 中国科学院空天信息创新研究院 Multi-phase arm code ring phase discrimination method

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