CN116430415A - Acquisition verification strategy method for self-adaptive multi-peak multi-threshold detection - Google Patents
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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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
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Abstract
A self-adaptive multi-peak multi-threshold detection capture verification strategy method is used for judging the reliability of a current search unit signal and the quality of the signal by detecting a plurality of peaks of a to-be-detected quantity and comparing threshold values and comparing the relation between the peaks and different threshold values, dynamically adjusting capture verification parameters, accelerating the search of an error search unit and a strong signal unit so as to reduce the detection times, and simultaneously improving the detection probability and reducing the detection omission probability and the false alarm probability.
Description
Technical Field
The invention relates to the technical field of baseband digital signal processing in a global navigation satellite system GNSS (Global Navigation Satellite System) acquisition technical equipment navigation receiver, in particular to an acquisition verification strategy method for self-adaptive multi-peak multi-threshold detection.
Background
The navigation receiver design generally comprises three modules, namely radio frequency front end processing, baseband digital signal processing and positioning navigation operation. Among other things, baseband digital signal processing generally includes acquisition, tracking, bit synchronization, frame synchronization, and the like. Wherein the acquisition process for a satellite signal is a two-dimensional search of the time and frequency domains of the received signal. The main process is the detection and verification of signals.
First, the concept of the search unit will be described. GNSS navigation satellite signals are modulated by frequency and spreading codes, so that the acquisition of a certain satellite signal is accomplished by scanning the carrier frequency and code phase of the satellite signal in two dimensions. The intersection of each code phase point and each frequency point becomes a search unit. The receiver searches on a search unit, and the copied carrier frequency and code phase value corresponds to the center point position of the search unit. Such as the frequency and code phase two-dimensional search and search unit for one satellite in fig. 1.
The receiver searches the received navigation satellite signals by taking the search unit as a basic unit, and enters a verification stage when a certain search unit passes through the detection stage, namely, the search is continued in the unit according to a certain detection verification strategy, the search unit passing through the verification is identified as a signal, otherwise, the next search unit is started to be detected. Fig. 2 is a schematic diagram of a prior art navigation receiver acquisition process. Step 1 is included in fig. 2, entering a start capture phase; step 2, selecting a first search unit; step 3, judging whether the detection verification stage is passed or not, if so, entering a step 6, and if not, entering a step 4; step 4, whether the current search unit is the last unit or not, if not, returning to the step 3 after selecting the next search unit, and if so, entering the step 5; step 5, declaring that the signal is not present and ending the capturing process; and 6, declaring the signal acquisition to be successful, and ending the acquisition process.
The detection function is to obtain signal detection quantity through operations such as mixing, correlation operation, coherent integration/incoherent integration and the like, and obtain a detection result through a certain judgment strategy, wherein the common judgment strategy comprises threshold value judgment and maximum value judgment. The verification function is to finally judge whether the square has signals or not through a certain verification strategy, and a common detection verification algorithm is divided into a single-resident verification strategy and a multi-resident verification strategy. The multi-resident authentication strategy is divided into a fixed search time method and a variable search time method. As the name implies, the fixed search time method refers to that the receiver searches for a preset fixed time in total on each search unit, then makes a judgment on whether the capturing is successful or not according to the multiple search results of the search unit in the time period, wherein the judgment represents that the algorithm has M algorithms of N (if N times of searches are completed and the success times are not less than M, the capturing is considered to be successful in the frequency interval, otherwise the capturing is failed); the variable search time method refers to that the receiver can search for a time which is different from each other on each search unit according to a certain rule and in combination with the detection condition at the time, and the overall acquisition performance of the variable search time method is generally better than that of the fixed search time method, and the representative algorithm is the Tong algorithm.
The long search detection method is a linear search method with a variable search time form, and In principle, the method adds more search time to a search unit which is difficult to determine whether a signal is captured successfully or not, and the flow is as shown In fig. 3, and the method comprises the steps of 1, calculating detection quantity (detection quantity is signal amplitude or signal power, calculating according to an IQ signal, i=in-phase is In-phase, q=quadrature is Quadrature, and phase difference between Q and I is 90 °); step 2, judging whether the detected quantity V is more than or equal to a detected quantity threshold VT, if so, entering a flow a, and if not, entering a flow b; the process a includes a step a3 of incrementing the counter K by 1; step a4, judging whether K=threshold A, if yes, declaring that the signal capturing is successful, if no, continuing to search in the unit; the flow b includes a step b3 of subtracting 1 from the counter K; step b4, judging whether k=0, if not, continuing to search in the unit, and if so, entering step b5; and B5, judging whether the current searching unit is the last unit, if so, declaring that the signal does not exist and ending the capturing process, if not, judging that the signal is not captured yet, resetting the counter K value to be B (B is a reduced initial value), and returning to the step 1 to continue the searching of the next unit. As shown in the figure, under the condition of low carrier-to-noise ratio, especially when the single detection probability is close to 0.5, the K value can repeatedly oscillate between 1 addition and 1 subtraction, so that the detection times are more, and the calculated amount is greatly increased.
Because the satellite signal acquisition search detection strategy affects the receiver's first fix time TTFF (Time To First Fix) in a large way, a better signal acquisition search detection strategy should have less dwell time. Analysis shows that the time performance of the two traditional detection strategies is not ideal, the detection times are large, and the capture time is long.
The capture strategy of taking M in N (hereinafter abbreviated as M strategy of N) is described briefly as follows: n searches are performed on a search unit, P is a search number counter, and the value of P is increased by 1 every time a search is performed. For a single decision, if the detected value V exceeds the threshold, the value J of the counter is incremented by 1. If N searches have been completed and the success number is not less than M, then the acquisition is considered to be successful In the frequency interval, otherwise the acquisition fails, and the flow is shown In fig. 4, including step 1, the detection amount calculation (the detection amount is the signal amplitude or the signal power, the calculation is performed according to the IQ signal, i=in-phase is In-phase, q=quadrature is Quadrature, and the phase difference between Q and I is 90 °); step 2, judging whether the detected value V is more than or equal to the detection value threshold VT, if so, increasing the J value by 1, then entering step 3, and if not, directly entering step 3; step 3, judging whether P=0 after the counter P value is reduced by 1, if not, continuing to search in the unit, and if so, entering step 4; step 4, judging that J is more than or equal to M, if yes, declaring that the signal capturing is successful and ending the capturing, and if no, entering step 5; and 5, judging whether the current search unit is the last unit, if so, declaring that the signal does not exist and ending the capturing process, if not, judging that the signal is not captured yet, resetting a counter P=N (N is a reduced initial value), resetting a counter J=0, and returning to the step 1 to continue the search of the next unit. The M search detection strategy of N is a detection strategy with fixed search times, so the detection performance is poorer than the Tong search detection strategy of a variable search time method.
Disclosure of Invention
Aiming at the defects or shortcomings in the prior art, the invention provides a capture verification strategy method for self-adaptive multi-peak multi-threshold detection, which is used for judging the reliability of the current search unit signal and the quality of the signal by detecting a plurality of peaks to be detected and comparing threshold values and comparing the relation between the peak values and different thresholds, dynamically adjusting the parameters of capture verification, accelerating the search of an error search unit and a strong signal unit so as to reduce the detection times, and simultaneously improving the detection probability and reducing the detection omission probability and false alarm probability.
The technical scheme of the invention is as follows:
the capture verification policy method for the self-adaptive multi-peak multi-threshold detection is characterized by comprising the following execution subjects which are sequentially connected to execute the capture verification policy flow for the self-adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount in each verification process and determines a plurality of peaks in the to-be-detected amount, wherein the peaks comprise a maximum to-be-detected amount, a second maximum to-be-detected amount and a third maximum to-be-detected amount, the frequencies and code phases corresponding to the peaks are recorded at the same time, the thresholds comprise a maximum threshold value or a first threshold value, a second threshold value or a minimum threshold value or a third threshold value corresponding to the peaks, the signal reliability and the signal quality of the current search unit are judged by comparing the relations between the peaks and different thresholds, the verification result category of the current satellite signal quality is given, and the acquisition verification parameters are dynamically adjusted according to the result category so as to reduce the detection times, improve the detection probability and reduce the miss probability and the false alarm probability.
The verification result category comprises the following five types: the result is that the signal quality is good enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the second result is that the signal quality is poor enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the third result is that the signal quality is general, the verification parameter can be adjusted, and more searching times are added; the fourth result is that the signal quality is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow is normally carried out; as a result, the signal of the searched unit may be an interference signal, the verification parameters may be adjusted, and the verification process is terminated as soon as possible.
The method comprises the following steps:
step A1, firstly judging the region where the secondary maximum value to be detected and other subsequent maximum values are located, if one or more than one of the maximum values to be detected is greater than a second threshold value, judging that the unit signal is considered to be an interference signal excessive path signal, adjusting verification parameters to accelerate the verification process, and if the maximum values to be detected are not greater than the second threshold value, entering step A2;
step A2, judging the area where the maximum value of the to-be-detected quantity is located, if the maximum value of the to-be-detected quantity is larger than a maximum threshold value, judging the to-be-detected quantity to be the first result, namely, the signal quality is good enough, and adjusting verification parameters to accelerate the verification process, and if the maximum value of the to-be-detected quantity is not larger than a first threshold value, entering the step A3;
step A3, if the maximum value of the to-be-detected quantity is not greater than a first threshold, judging the relation between the maximum value of the to-be-detected quantity and a minimum threshold, if the maximum value of the to-be-detected quantity is not greater than the minimum threshold, judging that the result is two, namely that the signal quality is poor enough, adjusting verification parameters, ending the verification process as soon as possible, otherwise, entering step A4;
step A4, if the maximum value of the to-be-detected quantity is larger than the minimum threshold value, judging the relation between the maximum value of the to-be-detected quantity and the second threshold value, if the maximum value of the to-be-detected quantity is not larger than the second threshold value, judging that the result is three, namely the signal quality of the searching unit is general, the verification parameter can be adjusted, more searching times are added, otherwise, if the maximum value of the to-be-detected quantity is larger than the second threshold value, judging that the result is four, namely the signal quality of the searching unit is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow can be normally carried out;
after the above-mentioned judging and parameter adjusting processes are completed, according to the adjusted parameters, executing the subsequent capturing verification process on the searching unit where the maximum value of the detected quantity is located.
The subsequent capture verification process adopts a Tong capture search detection method process or an N M capture search detection method process, the parameter adjustment in the Tong capture search detection method process relates to a counting variable threshold value A and a counting initial value B, and the parameter adjustment in the N M capture search detection method process relates to a counting success threshold value M and a total search frequency N.
For the first result with good enough signal quality, increasing the initial value B of the count, or decreasing the threshold value M of the success of the count and the total searching times N, or directly declaring the success of the acquisition and ending the searching process; for a result II with sufficiently poor signal quality, reducing the initial value B of the count, or reducing the total searching times N, or directly declaring acquisition failure and continuing searching for the next searching unit; for the result III of signal quality, increasing the counting variable threshold value A or increasing the total searching times N; for the fourth result with normal signal quality, the verification parameter is unchanged; for the result five which is possibly an interference signal, the counting variable threshold value A and the initial value B are reduced simultaneously, or the counting success threshold value M is increased, and the total searching times N are reduced.
The capture verification policy method for the self-adaptive multi-peak multi-threshold detection is characterized by comprising the following execution subjects which are sequentially connected to execute the capture verification policy flow for the self-adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount and determines a double peak value in the to-be-detected amount and three threshold values corresponding to the double peak value, wherein the double peak value is the first two largest to-be-detected amount recorded after all two-dimensional search units of the frequency and the code phase in the capturing verification stage search are completed, the largest to-be-detected amount and the next largest to-be-detected amount are respectively, and the frequency and the code phase values corresponding to the two largest to-be-detected amount are sequentially from large to small: the system comprises a maximum threshold value, a second threshold value and a minimum threshold value, wherein the maximum threshold value is higher than a common acquisition detection threshold value so as to detect a search unit with good signal quality and quickly finish the acquisition verification process; the second threshold corresponds to a capture threshold in a common verification algorithm, and the minimum threshold is matched with noise energy in the application scene so as to detect a search unit with poor signal quality and quickly finish the capture verification process.
The method comprises the following steps:
step B1, detecting and calculating, and storing two maximum to-be-detected quantities and corresponding frequencies and code phases, wherein the two maximum to-be-detected quantities are respectively the maximum to-be-detected quantity and the second maximum to-be-detected quantity;
step B2, judging whether the secondary large detection amount is larger than a second threshold value, if so, determining that the unit signal is considered to be an interference signal excessive path signal, and adjusting verification parameters to accelerate the verification process, if not, entering a step B3;
step B3, judging whether the maximum to-be-detected quantity is larger than a maximum threshold value, if so, determining that the result is first, namely, the signal quality is good enough, and adjusting verification parameters to accelerate the verification process, and if not, entering step B4;
step B4, judging whether the maximum to-be-detected quantity is larger than the minimum threshold value, if not, determining that the result is two, namely the signal quality is poor enough, adjusting the verification parameters, ending the verification process as soon as possible, and if so, entering step B5;
step B5, judging whether the maximum to-be-detected quantity is greater than a second threshold value, if so, determining that the result is four, namely the signal quality of the search unit is normal, and carrying out capturing verification detection flow normally without adjusting verification parameters, if not, determining that the result is three, namely the signal quality of the search unit is general, adjusting the verification parameters, and adding more searching times;
and step B6, after the judgment and parameter adjustment processes are completed, executing a subsequent capturing verification process on the search unit where the maximum value of the to-be-detected quantity is located according to the adjusted parameters.
The invention has the following technical effects: the invention relates to a capture verification strategy method for self-adaptive multi-peak multi-threshold detection, which has the theoretical basis that for GNSS satellite navigation signals subjected to frequency modulation and spread spectrum modulation, after the linear two-dimensional search, the section at any Doppler frequency shift is a triangular C/A code autocorrelation curve; and its profile at any one code phase exhibits a |sinc| function curve. Therefore, under normal conditions, on the search units corresponding to the correct frequency and code phase, a detection value which is obviously higher than that on the other search units appears, and the detection values of other search units are obviously very low; in the case of interference and multipath, a plurality of higher detection values may occur. The key difference between the capture verification strategy of the self-adaptive multi-peak detection and the traditional method is that the multi-peak comparator and the parameter regulator are used for judging the quality of the current search unit signal according to the magnitude relation between the current search unit signal amplitude or power (hereinafter referred to as the 'to-be-detected quantity') and the corresponding threshold during each verification, so as to adaptively and dynamically regulate the parameter in the capture verification process.
Drawings
Fig. 1 is a schematic diagram of a two-dimensional search unit relationship between frequency and code phase for a satellite in the prior art. The horizontal axis in fig. 1 is a code phase search interval (chip width per search unit=0.5 chip), and the vertical axis is a frequency search interval (frequency width per search unit is illustrated in the figure). The starting search unit, and other search units, are labeled in fig. 1.
Fig. 2 is a schematic diagram of a prior art navigation receiver acquisition process. Step 1 is included in fig. 2, entering a start capture phase; step 2, selecting a first search unit; step 3, judging whether the detection verification stage is passed or not, if so, entering a step 6, and if not, entering a step 4; step 4, whether the current search unit is the last unit or not, if not, returning to the step 3 after selecting the next search unit, and if so, entering the step 5; step 5, declaring that the signal is not present and ending the capturing process; and 6, declaring the signal acquisition to be successful, and ending the acquisition process.
FIG. 3 is a schematic flow chart of a TONG search detection method in the prior art. Fig. 3 includes step 1, the detection amount is calculated (the detection amount is the signal amplitude or the signal power, the calculation is performed according to the IQ signal, i=in-phase, i.e. In-phase, q=quadrature, i.e. Quadrature, Q is 90 degrees out of phase with I); step 2, judging whether the detected quantity V is more than or equal to a detected quantity threshold VT, if so, entering a flow a, and if not, entering a flow b; the process a includes a step a3 of incrementing the counter K by 1; step a4, judging whether K=threshold A, if yes, declaring that the signal capturing is successful, if no, continuing to search in the unit; the flow b includes a step b3 of subtracting 1 from the counter K; step b4, judging whether k=0, if not, continuing to search in the unit, and if so, entering step b5; and B5, judging whether the current searching unit is the last unit, if so, declaring that the signal does not exist and ending the capturing process, if not, judging that the signal is not captured yet, resetting the counter K value to be B (B is a reduced initial value), and returning to the step 1 to continue the searching of the next unit.
FIG. 4 is a flow chart of the M search detection method of N in the prior art. Fig. 4 includes step 1, the detection amount (the detection amount is the signal amplitude or the signal power, the calculation is performed according to the IQ signal), i=in-phase, i.e. In-phase, q=quadrature, i.e. Quadrature, Q and I phase difference 90 °; step 2, judging whether the detected value V is more than or equal to the detection value threshold VT, if so, increasing the J value by 1, then entering step 3, and if not, directly entering step 3; step 3, judging whether P=0 after the counter P value is reduced by 1, if not, continuing to search in the unit, and if so, entering step 4; step 4, judging that J is more than or equal to M, if yes, declaring that the signal capturing is successful and ending the capturing, and if no, entering step 5; and 5, judging whether the current search unit is the last unit, if so, declaring that the signal does not exist and ending the capturing process, if not, judging that the signal is not captured yet, resetting a counter P=N (N is a reduced initial value), resetting a counter J=0, and returning to the step 1 to continue the search of the next unit.
Fig. 5 is a schematic diagram of various execution bodies of a capture verification strategy method for implementing an adaptive multi-peak multi-threshold detection according to the present invention. Fig. 5 includes: the detection amount calculation module (detection amount is signal amplitude or signal power, calculation is performed according to an IQ signal, i=in-phase is In-phase, q=quadrature is Quadrature, and Q and I phase differences are 90 degrees), the multi-peak comparator, the parameter adjuster, and the amplitude or power search detector. The dashed box in fig. 5 marks the key differences between the method of the present invention and the conventional method. It can be seen that compared with the conventional method, the core of the method is a multi-peak comparator and a parameter adjuster, which are used for judging the quality of the current search unit signal according to the magnitude relation between the current search unit signal amplitude or power (or called as "to-be-detected quantity") and the corresponding threshold during each verification, so as to adaptively and dynamically adjust the parameters in the capturing verification process.
FIG. 6 is a schematic diagram of a dual-peak tri-threshold determination process performed by the multi-peak comparator according to the present invention. Fig. 6 includes step 1, the detection amount calculation (the detection amount is the signal amplitude or the signal power, the calculation is performed according to the IQ signal, i=in-phase, i.e. In-phase, q=quadrature, i.e. Q is 90 degrees out of phase with I), and the two maximum detection amounts, and the corresponding frequencies and code phases thereof are stored; step 2, judging whether the second maximum to-be-detected amount is larger than a second threshold value, if so, determining a result five (namely, considering that the unit signal is possibly an interference signal excessive path signal, and adjusting verification parameters to accelerate the verification process), and if not, entering step 3; step 3, judging whether the maximum to-be-detected quantity is greater than a maximum threshold value, if so, determining a result I (namely, the signal quality is good enough, and the verification parameters can be adjusted to accelerate the verification process), and if not, entering step 4; step 4, judging whether the maximum to-be-detected quantity is greater than a minimum threshold value, if not, determining a second result (namely, the signal quality is poor enough, the verification parameters can be adjusted, the verification process can be finished as soon as possible), and if so, entering step 5; and 5, judging whether the maximum to-be-detected quantity is larger than a second threshold value, if so, determining a result four (namely, the signal quality of the search unit is normal, the acquisition verification detection flow is normally carried out without adjusting verification parameters), and if not, determining a result three (namely, the signal quality of the search unit is normal, the verification parameters can be adjusted, and more search times are added).
Detailed Description
The invention is described below with reference to the figures (fig. 5-6) and examples.
Fig. 5 is a schematic diagram of various execution bodies of a capture verification strategy method for implementing an adaptive multi-peak multi-threshold detection according to the present invention. FIG. 6 is a schematic diagram of a dual-peak tri-threshold determination process performed by the multi-peak comparator according to the present invention. Referring to fig. 5 to 6, a capture verification policy method for adaptive multi-peak multi-threshold detection includes the following execution subjects sequentially connected to execute a capture verification policy flow for adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount in each verification process and determines a plurality of peaks in the to-be-detected amount, wherein the peaks comprise a maximum to-be-detected amount, a second maximum to-be-detected amount and a third maximum to-be-detected amount, the frequencies and code phases corresponding to the peaks are recorded at the same time, the thresholds comprise a maximum threshold value or a first threshold value, a second threshold value or a minimum threshold value or a third threshold value corresponding to the peaks, the signal reliability and the signal quality of the current search unit are judged by comparing the relations between the peaks and different thresholds, the verification result category of the current satellite signal quality is given, and the acquisition verification parameters are dynamically adjusted according to the result category so as to reduce the detection times, improve the detection probability and reduce the miss probability and the false alarm probability. The verification result category comprises the following five types: the result is that the signal quality is good enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the second result is that the signal quality is poor enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the third result is that the signal quality is general, the verification parameter can be adjusted, and more searching times are added; the fourth result is that the signal quality is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow is normally carried out; as a result, the signal of the searched unit may be an interference signal, the verification parameters may be adjusted, and the verification process is terminated as soon as possible.
As shown in fig. 5 and 6, a capture verification policy method for adaptive multi-peak multi-threshold detection includes the following execution subjects sequentially connected to execute a capture verification policy flow for adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount and determines a double peak value in the to-be-detected amount and three threshold values corresponding to the double peak value, wherein the double peak value is the first two largest to-be-detected amount recorded after all two-dimensional search units of the frequency and the code phase in the capturing verification stage search are completed, the largest to-be-detected amount and the next largest to-be-detected amount are respectively, and the frequency and the code phase values corresponding to the two largest to-be-detected amount are sequentially from large to small: the system comprises a maximum threshold value, a second threshold value and a minimum threshold value, wherein the maximum threshold value is higher than a common acquisition detection threshold value so as to detect a search unit with good signal quality and quickly finish the acquisition verification process; the second threshold corresponds to a capture threshold in a common verification algorithm, and the minimum threshold is matched with noise energy in the application scene so as to detect a search unit with poor signal quality and quickly finish the capture verification process.
The method comprises the following steps: step B1, detecting and calculating, and storing two maximum to-be-detected quantities and corresponding frequencies and code phases, wherein the two maximum to-be-detected quantities are respectively the maximum to-be-detected quantity and the second maximum to-be-detected quantity; step B2, judging whether the secondary large detection amount is larger than a second threshold value, if so, determining that the unit signal is considered to be an interference signal excessive path signal, and adjusting verification parameters to accelerate the verification process, if not, entering a step B3; step B3, judging whether the maximum to-be-detected quantity is larger than a maximum threshold value, if so, determining that the result is first, namely, the signal quality is good enough, and adjusting verification parameters to accelerate the verification process, and if not, entering step B4; step B4, judging whether the maximum to-be-detected quantity is larger than the minimum threshold value, if not, determining that the result is two, namely the signal quality is poor enough, adjusting the verification parameters, ending the verification process as soon as possible, and if so, entering step B5; step B5, judging whether the maximum to-be-detected quantity is greater than a second threshold value, if so, determining that the result is four, namely the signal quality of the search unit is normal, and carrying out capturing verification detection flow normally without adjusting verification parameters, if not, determining that the result is three, namely the signal quality of the search unit is general, adjusting the verification parameters, and adding more searching times; and step B6, after the judgment and parameter adjustment processes are completed, executing a subsequent capturing verification process on the search unit where the maximum value of the to-be-detected quantity is located according to the adjusted parameters.
The invention detects a plurality of peaks of the quantity to be detected and compares the threshold value, judges the reliability of the current search unit signal and the quality of the signal by comparing the relationship between the peak value and different thresholds, dynamically adjusts the parameters of capturing verification so as to reduce the detection times, and can also improve the detection probability and reduce the detection omission probability and false alarm probability.
The invention accelerates the searching of the error searching unit and the strong signal unit, also improves the detection probability as much as possible and reduces the missing detection probability; and meanwhile, the false alarm probability caused by interference, multipath and the like is reduced.
The capture verification strategy of the self-adaptive multimodal detection is shown in fig. 5, and the key difference between the detection method and the traditional method is marked by a dotted line box in the figure. It can be seen that the core of the detection method is a multi-peak comparator and a parameter adjuster compared to the conventional detection method. The method aims at judging the quality of the current search unit signal according to the magnitude relation between the current search unit signal amplitude or power (hereinafter referred to as 'to-be-detected quantity') and the corresponding threshold during each verification, and further adaptively and dynamically adjusting parameters in the capturing verification process. The process is specifically described as follows:
the capture verification strategy flow for adaptive multi-peak detection shown in fig. 5 shows that each associated leg comprising a pair of I and Q branches corresponds to a plurality of sets of peak detectors and parameter adjusters.
In each verification process, the peak detector judges the range of each to-be-detected amount, judges the signal quality of the current satellite according to the range, adjusts verification parameters according to the range, improves the verification process so as to finish the verification process of strong signals as soon as possible, or adds verification times of weak signals, thereby avoiding missed detection and avoiding false alarm caused by capturing interference and multipath signals.
When the detection and verification algorithm is executed, searching is firstly carried out on each searching primary unit in sequence, and two or more than two maximum values to be detected are recorded, wherein the values are as follows in sequence from large to small: the maximum value, the next largest value, the third largest value of the quantity to be detected, and so on, and the corresponding frequencies and code phases thereof are recorded at the same time. Secondly, the threshold values of the corresponding numbers need to be set, namely a first threshold value, a second threshold value … … and so on from large to small.
The verification step described in the patent is executed for the to-be-detected quantity of each search unit, and according to the relation between each to-be-detected quantity and the threshold value, the verification result of the current satellite signal quality is divided into the following five types:
the result is that the signal quality is good enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible;
the second result is that the signal quality is poor enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible;
the third result is that the signal quality is general, the verification parameter can be adjusted, and more searching times are added;
the fourth result is that the signal quality is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow is normally carried out;
as a result, the signal of the searched unit may be an interference signal, the verification parameters may be adjusted, and the verification process is terminated as soon as possible.
The specific judging steps are as follows:
the first step: firstly judging the region where the secondary maximum value to be detected and other subsequent maximum values are located, if one or more than one of the maximum values to be detected is greater than a second threshold value, judging that the result is five, namely, considering that the unit signal is possibly an interference signal excessive path signal, and adjusting verification parameters to accelerate the verification process; if the large values of the amounts to be detected are not larger than the second threshold, the second step is entered.
And a second step of: judging the area where the maximum value of the to-be-detected quantity is located, if the maximum value of the to-be-detected quantity is larger than the maximum threshold value, judging the to-be-detected quantity to be the first result, namely that the signal quality is good enough, and adjusting the verification parameters to accelerate the verification process. If the maximum value of the to-be-detected quantity is not greater than the first threshold, entering a third step
And thirdly, if the maximum value of the to-be-detected quantity is not greater than the first threshold, judging the relation between the maximum value of the to-be-detected quantity and the minimum threshold. If the maximum value of the detected quantity is not greater than the minimum threshold value, judging that the result is a second result, namely that the signal quality is poor enough, adjusting the verification parameters and ending the verification process as soon as possible. Otherwise, if the maximum value of the to-be-detected quantity is larger than the minimum threshold value, the fourth step is carried out.
Fourth step: and if the maximum value of the to-be-detected quantity is larger than the minimum threshold value, judging the relation between the maximum value of the to-be-detected quantity and the second threshold value. If the maximum value of the to-be-detected quantity is not greater than the second threshold value, judging that the result is the third result, namely the signal quality of the searching unit is general, adjusting the verification parameter and adding more searching times; otherwise, if the maximum value of the to-be-detected quantity is larger than the second threshold value, judging that the signal quality of the search unit is normal, and normally performing the capturing verification detection flow without adjusting verification parameters.
After the above-mentioned judging and parameter adjusting processes are completed, according to the adjusted parameters, executing the subsequent capturing verification process on the searching unit where the maximum value of the detected quantity is located.
For the details of the above description, the following explanation is also required:
1. the setting of the threshold value can be specifically set according to different application requirements, and is not in the scope of the invention.
2. Besides the maximum threshold value, the second threshold value and the minimum threshold value in the steps, the threshold value can be increased according to application requirements, and judgment logic is also refined accordingly, so that the method is within the protection scope of the patent.
3. The "subsequent capture verification process" described in the above description includes, but is not limited to, the process in the existing Tong capture search detection method or N M capture search detection method, and may also be other search detection processes meeting the requirements of the project application.
4. The step of adjusting verification parameters to accelerate the verification process corresponds to parameters actually used for adjusting the capture verification method in the subsequent capture verification process, and the used verification methods are different, and the corresponding parameters and adjustment strategies are also different. Such as the a and B values in the Tong capture search assay, or the N and M values in the M capture search assay for N. However, the overall adjustment aims to accelerate detection of satellite signals generated by stronger, weaker or interfering multipaths according to different judgment results, and additionally detect satellite signals with general intensity, so as to avoid missed detection as much as possible.
It should be noted that the peak detector and the parameter adjuster according to the present invention are implemented in various manners, and all the implementations are within the scope of the patent claims.
The threshold comparator in the dual peak three-threshold detection strategy is exemplified as follows:
taking the double peak value and three thresholds as an example, after all two-dimensional search units of frequency and code phase search are completed in the acquisition verification stage, the first two largest values to be detected and the corresponding frequency and code phase values are recorded. And three threshold values are set according to application requirements, and the threshold values are sequentially as follows from big to small: maximum threshold, second threshold, minimum threshold. The maximum threshold value is higher than the common acquisition detection threshold value, and the purpose of the maximum threshold value is to detect a search unit with good signal quality and rapidly finish the acquisition verification process; the second threshold corresponds to a capture threshold in other common authentication algorithms; the minimum threshold value is matched with noise energy in the application scene, and is set for detecting a search unit with poor signal quality and rapidly ending the acquisition verification process.
According to the judging step of the present invention, a judging flow corresponding to the above dual-peak three-threshold is shown in fig. 6.
The parameter adjuster in the dual peak three-threshold detection strategy is exemplified as follows:
the parameter adjuster has the function of executing the verification step according to the detection amount of each search unit, and adjusting each parameter used in a specific capture detection method according to the relation between each detection amount and the threshold value. The five results described in the invention take the Tong capture search detection method and the N M capture search detection method as examples, and the corresponding parameter adjustment modes are as follows:
what is not described in detail in the specification belongs to the prior art known to those skilled in the art. It is noted that the above description is helpful for a person skilled in the art to understand the present invention, but does not limit the scope of the present invention. Any and all such equivalent substitutions, modifications and/or deletions as may be made without departing from the spirit and scope of the invention.
Claims (7)
1. The capture verification policy method for the self-adaptive multi-peak multi-threshold detection is characterized by comprising the following execution subjects which are sequentially connected to execute the capture verification policy flow for the self-adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount in each verification process and determines a plurality of peaks in the to-be-detected amount, wherein the peaks comprise a maximum to-be-detected amount, a second maximum to-be-detected amount and a third maximum to-be-detected amount, the frequencies and code phases corresponding to the peaks are recorded at the same time, the thresholds comprise a maximum threshold value or a first threshold value, a second threshold value or a minimum threshold value or a third threshold value corresponding to the peaks, the signal reliability and the signal quality of the current search unit are judged by comparing the relations between the peaks and different thresholds, the verification result category of the current satellite signal quality is given, and the acquisition verification parameters are dynamically adjusted according to the result category so as to reduce the detection times, improve the detection probability and reduce the miss probability and the false alarm probability.
2. The method of claim 1, wherein the verification result category comprises five of: the result is that the signal quality is good enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the second result is that the signal quality is poor enough, the verification parameters can be adjusted, and the verification process is finished as soon as possible; the third result is that the signal quality is general, the verification parameter can be adjusted, and more searching times are added; the fourth result is that the signal quality is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow is normally carried out; as a result, the signal of the searched unit may be an interference signal, the verification parameters may be adjusted, and the verification process is terminated as soon as possible.
3. The method of acquisition verification strategy for adaptive multi-peak multi-threshold detection according to claim 1, comprising the steps of:
step A1, firstly judging the region where the secondary maximum value to be detected and other subsequent maximum values are located, if one or more than one of the maximum values to be detected is greater than a second threshold value, judging that the unit signal is considered to be an interference signal excessive path signal, adjusting verification parameters to accelerate the verification process, and if the maximum values to be detected are not greater than the second threshold value, entering step A2;
step A2, judging the area where the maximum value of the to-be-detected quantity is located, if the maximum value of the to-be-detected quantity is larger than a maximum threshold value, judging the to-be-detected quantity to be the first result, namely, the signal quality is good enough, and adjusting verification parameters to accelerate the verification process, and if the maximum value of the to-be-detected quantity is not larger than a first threshold value, entering the step A3;
step A3, if the maximum value of the to-be-detected quantity is not greater than a first threshold, judging the relation between the maximum value of the to-be-detected quantity and a minimum threshold, if the maximum value of the to-be-detected quantity is not greater than the minimum threshold, judging that the result is two, namely that the signal quality is poor enough, adjusting verification parameters, ending the verification process as soon as possible, otherwise, entering step A4;
step A4, if the maximum value of the to-be-detected quantity is larger than the minimum threshold value, judging the relation between the maximum value of the to-be-detected quantity and the second threshold value, if the maximum value of the to-be-detected quantity is not larger than the second threshold value, judging that the result is three, namely the signal quality of the searching unit is general, the verification parameter can be adjusted, more searching times are added, otherwise, if the maximum value of the to-be-detected quantity is larger than the second threshold value, judging that the result is four, namely the signal quality of the searching unit is normal, the verification parameter does not need to be adjusted, and the capturing verification detection flow can be normally carried out;
after the above-mentioned judging and parameter adjusting processes are completed, according to the adjusted parameters, executing the subsequent capturing verification process on the searching unit where the maximum value of the detected quantity is located.
4. The method according to claim 3, wherein the subsequent capture verification process adopts a tang capture search detection process or an N M capture search detection process, and the parameter adjustment in the tang capture search detection process relates to a count variable threshold value a and a count initial value B, and the parameter adjustment in the N M capture search detection process relates to a count success threshold value M and a total search number N.
5. The method of claim 4, wherein for a result one of sufficiently good signal quality, increasing the initial value of the count B, or decreasing the threshold value of success of the count M and the total number of searches N, or directly declaring success of the acquisition and ending the search process; for a result II with sufficiently poor signal quality, reducing the initial value B of the count, or reducing the total searching times N, or directly declaring acquisition failure and continuing searching for the next searching unit; for the result III of signal quality, increasing the counting variable threshold value A or increasing the total searching times N; for the fourth result with normal signal quality, the verification parameter is unchanged; for the result five which is possibly an interference signal, the counting variable threshold value A and the initial value B are reduced simultaneously, or the counting success threshold value M is increased, and the total searching times N are reduced.
6. The capture verification policy method for the self-adaptive multi-peak multi-threshold detection is characterized by comprising the following execution subjects which are sequentially connected to execute the capture verification policy flow for the self-adaptive multi-peak multi-threshold detection: a detection amount calculation module, a multi-peak comparator, a parameter adjuster, and an amplitude or power search detector; the detection amount calculating module calculates to-be-detected amount according to an IQ signal, wherein the to-be-detected amount is the current signal amplitude or power of the search unit, and the IQ signal comprises an in-phase signal I and a quadrature signal Q, and the phase difference between Q and I is 90 degrees; the multi-peak comparator judges the range of each to-be-detected amount and determines a double peak value in the to-be-detected amount and three threshold values corresponding to the double peak value, wherein the double peak value is the first two largest to-be-detected amount recorded after all two-dimensional search units of the frequency and the code phase in the capturing verification stage search are completed, the largest to-be-detected amount and the next largest to-be-detected amount are respectively, and the frequency and the code phase values corresponding to the two largest to-be-detected amount are sequentially from large to small: the system comprises a maximum threshold value, a second threshold value and a minimum threshold value, wherein the maximum threshold value is higher than a common acquisition detection threshold value so as to detect a search unit with good signal quality and quickly finish the acquisition verification process; the second threshold corresponds to a capture threshold in a common verification algorithm, and the minimum threshold is matched with noise energy in the application scene so as to detect a search unit with poor signal quality and quickly finish the capture verification process.
7. The method of acquisition verification policy for adaptive multi-peak multi-threshold detection of claim 6, comprising the steps of:
step B1, detecting and calculating, and storing two maximum to-be-detected quantities and corresponding frequencies and code phases, wherein the two maximum to-be-detected quantities are respectively the maximum to-be-detected quantity and the second maximum to-be-detected quantity;
step B2, judging whether the secondary large detection amount is larger than a second threshold value, if so, determining that the unit signal is considered to be an interference signal excessive path signal, and adjusting verification parameters to accelerate the verification process, if not, entering a step B3;
step B3, judging whether the maximum to-be-detected quantity is larger than a maximum threshold value, if so, determining that the result is first, namely, the signal quality is good enough, and adjusting verification parameters to accelerate the verification process, and if not, entering step B4;
step B4, judging whether the maximum to-be-detected quantity is larger than the minimum threshold value, if not, determining that the result is two, namely the signal quality is poor enough, adjusting the verification parameters, ending the verification process as soon as possible, and if so, entering step B5;
step B5, judging whether the maximum to-be-detected quantity is greater than a second threshold value, if so, determining that the result is four, namely the signal quality of the search unit is normal, and carrying out capturing verification detection flow normally without adjusting verification parameters, if not, determining that the result is three, namely the signal quality of the search unit is general, adjusting the verification parameters, and adding more searching times;
and step B6, after the judgment and parameter adjustment processes are completed, executing a subsequent capturing verification process on the search unit where the maximum value of the to-be-detected quantity is located according to the adjusted parameters.
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