CN116482727A - Navigation signal tracking method, device, equipment and chip - Google Patents
Navigation signal tracking method, device, equipment and chip Download PDFInfo
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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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- 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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- 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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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a navigation signal tracking method, a device, equipment and a chip, which are used for carrying out radio frequency front end down-conversion and intermediate frequency filtering on a radio frequency navigation signal received by a receiver antenna to obtain an intermediate frequency navigation signal, wherein high frequency components of subcarriers are filtered; carrier stripping is carried out on the intermediate frequency navigation signal by utilizing a carrier ring voltage-controlled oscillator on locally reproduced carrier; generating locally reproduced subcarriers and pseudo codes by using a subcarrier ring voltage-controlled oscillator and taking subcarrier frequency as a reference so as to simultaneously strip the subcarriers and the pseudo codes in the intermediate frequency navigation signals to respectively obtain code dimension correlation values of subcarrier phases and the pseudo codes; observing the code dimension correlation value through a pseudo code dimension detector to obtain a code phase difference, and adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference; and obtaining pseudo-range observed quantity of the navigation signal according to the subcarrier phase. The influence of band-limited filtering of the radio frequency front end is comprehensively considered, the complexity of a receiver loop can be reduced, and a feedback loop is reduced.
Description
Technical Field
The invention relates to the technical field of navigation data processing, in particular to a navigation signal tracking method, a device, equipment and a chip.
Background
In the past, global satellite navigation systems (GNSS) represented by the us GPS, russian GLONASS, the european union Galileo system, and the chinese BDS have provided real-time, three-dimensional, all-weather positioning, navigation, and timing services for people. In order to improve service performance and realize spectrum separation with traditional navigation signals, binary Offset Carrier (BOC) modulation is commonly adopted in the new generation of GNSS signals. The BOC modulation signal brings greater ranging potential to the receiving terminal, and simultaneously introduces the problem of tracking ambiguity, namely that the autocorrelation function has multiple peaks so as not to ensure stable locking at a main peak.
To address this problem, various blur-free tracking methods have been proposed. According to the view angle of the subcarrier, the non-fuzzy tracking method is mainly divided into two types: a one-dimensional loop structure and a two-dimensional loop structure. The former treats the subcarriers as part of the pseudocode so as to be processed together in the pseudocode dimension, while the latter treats the subcarriers as a third observation independent of the carrier and pseudocode. Studies have shown that two-dimensional loop structures have a greater degree of freedom, greater robustness and higher ranging accuracy than one-dimensional loop structures.
The existing two-dimensional loop structure tracking technology is mainly divided into two categories: the first is to treat the subcarriers as square waves, tracking with E-L delay locked loops, representative methods are DET and AC, which have the disadvantage of not taking into account the effects of a large subcarrier frequency or limited bandwidth of the receiver radio frequency front end. The second class is to treat the subcarriers as sine and cosine, track with I-Q phase locked loops, representative methods are DPE and CSB, which have the disadvantage of complex receiver loops.
Therefore, how to comprehensively consider the influence of the band-limited filtering of the radio frequency front end for tracking the navigation signal and reduce the complexity of the receiver loop becomes a problem to be solved.
Disclosure of Invention
Based on the above-mentioned current situation, the main objective of the present invention is to provide a navigation signal tracking method, device, equipment and chip, so as to comprehensively consider the influence of band-limited filtering at the front end of radio frequency and reduce the complexity of the loop of the receiver.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, an embodiment of the present invention discloses a navigation signal tracking method, including:
step S100, performing radio frequency front end down conversion and intermediate frequency filtering on a radio frequency navigation signal received by a receiver antenna to obtain an intermediate frequency navigation signal, wherein the intermediate frequency navigation signal comprises a carrier wave, a subcarrier and a pseudo code, and the high frequency component of the subcarrier is filtered;
step S200, carrier stripping is carried out on the intermediate frequency navigation signal by utilizing a carrier wave reproduced locally by a carrier wave ring voltage-controlled oscillator;
step S300, a subcarrier ring voltage-controlled oscillator is utilized to generate locally reproduced subcarriers and pseudo codes by taking subcarrier frequency as a reference, so that the subcarriers and the pseudo codes in the intermediate frequency navigation signals are stripped at the same time to respectively obtain code dimension correlation values of subcarrier phases and the pseudo codes;
step S400, the code phase difference is obtained by observing the code dimension correlation value through a pseudo code dimension detector, so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference;
step S500, obtaining pseudo-range observed quantity of the navigation signal according to the subcarrier phase.
Optionally, in step S100, the subcarrier signal retains only the first order component to filter out the high frequency component.
Optionally, in step S200, the carrier ring voltage controlled oscillator forms a closed loop on the stripped carrier by the carrier phase estimation error; in step S300, the subcarrier loop voltage controlled oscillator forms a closed loop for the stripped subcarrier by the subcarrier phase estimation error, and does not form a closed loop for the stripped pseudocode.
Optionally, in step S200, the carrier phase estimation error generates a phase estimation value of a next epoch via the loop filter and the carrier ring voltage controlled oscillator to form a closed loop of the carrier ring voltage controlled oscillator;
in step S300, the subcarrier phase estimation error generates a locally reproduced subcarrier frequency for a next epoch via the loop filter and the subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator.
Optionally, step S400 includes:
smoothing and filtering the code phase difference in a preset time length;
comparing the filtered code phase with a preset threshold value;
recording the times exceeding a preset threshold value;
and when the times exceeding the preset threshold value reach the threshold value, adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator.
Optionally, when the number of times exceeding the preset threshold reaches the threshold, adjusting the subcarrier frequency of the subcarrier ring voltage controlled oscillator:
when the filtered code phase is larger than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by the frequency corresponding to a half subcarrier period;
when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period.
In a second aspect, an embodiment of the present invention discloses a navigation signal tracking apparatus, including:
the intermediate frequency navigation acquisition module is used for carrying out radio frequency front end down-conversion and intermediate frequency filtering on the radio frequency navigation signals received by the receiver antenna to obtain intermediate frequency navigation signals, wherein the intermediate frequency navigation signals comprise carrier waves, subcarrier waves and pseudo codes, and the high frequency components of the subcarrier waves are filtered;
the carrier stripping module is used for carrying out carrier stripping on the intermediate frequency navigation signal by utilizing the locally reproduced carrier of the carrier ring voltage-controlled oscillator;
the subcarrier and pseudo code stripping module is used for generating locally reproduced subcarriers and pseudo codes by using a subcarrier ring voltage-controlled oscillator and taking subcarrier frequency as a reference so as to strip subcarriers and pseudo codes in the intermediate frequency navigation signal simultaneously to obtain code dimension correlation values of subcarrier phases and pseudo codes respectively;
the subcarrier frequency adjusting module is used for observing the code dimension correlation value through the pseudo code dimension detector to obtain a code phase difference so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference;
and the pseudo-range observation module is used for obtaining pseudo-range observed quantity of the navigation signal according to the subcarrier phase.
Optionally, in the intermediate frequency navigation acquisition module, the subcarrier signal retains only first order components to filter out high frequency components.
Optionally, in the carrier stripping module, the carrier ring voltage controlled oscillator forms a closed loop for the stripped carrier through carrier phase estimation error; in the subcarrier and pseudo code stripping module, a subcarrier loop voltage-controlled oscillator forms a closed loop for stripping subcarriers through subcarrier phase estimation errors, and does not form a closed loop for stripping pseudo codes.
Optionally, in the carrier stripping module, the carrier phase estimation error generates a phase estimation value of a next epoch via the loop filter and the carrier ring voltage controlled oscillator to form a closed loop of the carrier ring voltage controlled oscillator;
in the subcarrier and pseudocode stripping module, the subcarrier phase estimation error generates a local reproduction subcarrier frequency for a next epoch via the loop filter and the subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator.
Optionally, the subcarrier frequency adjusting module includes:
the smoothing filter unit is used for smoothing and filtering the code phase difference in a preset duration;
the threshold comparison unit is used for comparing the filtered code phase with a preset threshold value;
the overrun recording unit is used for recording the times exceeding a preset threshold value;
and the adjusting unit is used for adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator when the times exceeding the preset threshold value reach the threshold value.
Optionally, when the number of times exceeding the preset threshold reaches the threshold, adjusting the subcarrier frequency of the subcarrier ring voltage controlled oscillator:
when the filtered code phase is larger than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by the frequency corresponding to a half subcarrier period;
when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period.
In a third aspect, an embodiment of the present invention discloses a navigation signal tracking apparatus, including:
a processor for implementing the method disclosed in the first aspect.
In a fourth aspect, an embodiment of the present invention discloses a computer readable storage medium having stored thereon a computer program, the computer program stored in the storage medium being for execution by a processor to implement the method disclosed in the first aspect.
In a fifth aspect, embodiments of the present invention disclose a chip for navigation signal tracking having an integrated circuit thereon, the integrated circuit being designed to implement the method disclosed in the first aspect above.
According to the navigation signal tracking method, device and chip disclosed by the embodiment of the invention, the intermediate frequency navigation signal is obtained after the radio frequency front end down-conversion and the intermediate frequency filtering are carried out on the radio frequency navigation signal received by the receiver antenna, the intermediate frequency navigation signal comprises a carrier wave, a subcarrier and a pseudo code, and the high frequency component of the subcarrier is filtered, so that the influence of band-limited filtering can be reduced, namely, the influence of a larger subcarrier frequency or limited bandwidth of the radio frequency front end of the receiver is considered, when the subcarrier and the pseudo code are stripped, the code dimension correlation value of the subcarrier phase and the pseudo code is obtained by stripping the same subcarrier ring voltage-controlled oscillator by taking the subcarrier frequency as a reference, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is adjusted by the code phase difference obtained by the code dimension correlation value, the pseudo-range observation amount of the navigation signal is obtained according to the subcarrier phase, the prior knowledge that the subcarrier phase is always aligned strictly, the receiver loop complexity is reduced, the subcarrier ring voltage-controlled oscillator forms a closed loop, and the loop can be realized at the same time, the precision of the pseudo-range measurement loop can be realized by reducing the pseudo-range signal by the subcarrier, and the dimensional measurement accuracy of the pseudo-range signal can be mainly obtained by the carrier. In summary, the method, the device, the equipment and the chip for tracking the navigation signal disclosed by the embodiment of the invention not only comprehensively consider the influence of band-limited filtering of the front end of the radio frequency, but also can reduce the complexity of a receiver loop and reduce a feedback loop.
Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.
Drawings
Embodiments of the present invention will be described below with reference to the accompanying drawings. In the figure:
fig. 1 is a flowchart of a navigation signal tracking method disclosed in the present embodiment;
fig. 2 is a schematic block diagram of a receiver disclosed in the present embodiment;
fig. 3 is a schematic structural diagram of a navigation signal tracking device according to the present embodiment.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the present invention, and in order to avoid obscuring the present invention, well-known methods, procedures, flows, and components are not presented in detail.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
For the navigation signal tracking, in order to comprehensively consider the influence of the band-limited filtering of the radio frequency front end and reduce the complexity of the receiver loop, the embodiment discloses a navigation signal tracking method, please refer to fig. 1, fig. 1 is a flowchart of a navigation signal tracking method disclosed in the embodiment, and the navigation signal tracking method includes steps S100, S200, S300, S400 and S500, wherein:
step S100, performing radio frequency front end down conversion and intermediate frequency filtering on the radio frequency navigation signals received by the receiver antenna to obtain intermediate frequency navigation signals. In a specific embodiment, the intermediate frequency navigation signal comprises a carrier, a subcarrier and a pseudo code, and in this embodiment, the high frequency component of the subcarrier is filtered out. Specifically, the receiver antenna receives all radio frequency navigation signals broadcast by the visible satellites, and then down-converts and intermediate-frequency filters the radio frequency navigation signals to obtain intermediate-frequency navigation signals comprising carrier waves, sub-carrier waves and pseudo codes. In this embodiment, the influence of band-limited filtering on the radio frequency front end of the receiver is considered, and the high-frequency component is filtered out after the influence of band-limited filtering.
Step S200, carrier stripping is carried out on the intermediate frequency navigation signal by utilizing the locally reproduced carrier of the carrier ring voltage-controlled oscillator. Referring to fig. 2, fig. 2 is a schematic block diagram of a receiver, and an intermediate frequency navigation signal is disclosed in the present embodimentCarrier wave reproduced locally with carrier wave ring voltage controlled oscillator (NCO)>Multiplication to accomplish carrier stripping, in particular, the received BOC modulated signal can be modeled as:
wherein, the liquid crystal display device comprises a liquid crystal display device,for navigation signal power, < >>For navigation message, < > for>Is pseudo-random code, < >>Is subcarrier(s)>For propagation delay, +.>For carrier frequency +.>For carrier Doppler->For carrier phase +.>Is a carrier wave.
The carrier wave of the BOC modulation signal is stripped by multiplying the local reproduction complex carrier wave driven by the carrier wave NCO, and the local reproduction complex carrier wave driven by the carrier wave NCO is as follows:
in the formula 1.2 of the present invention,for the carrier Doppler estimate, < >>Is a carrier phase estimate.
And step S300, generating locally reproduced subcarriers and pseudo codes by using the subcarrier ring voltage-controlled oscillator with subcarrier frequency as a reference so as to simultaneously strip the subcarriers and the pseudo codes in the intermediate frequency navigation signals to respectively obtain code dimension correlation values of subcarrier phases and the pseudo codes. Referring to fig. 2, the sub-carrier and pseudo code of the boc modulated signal are stripped by multiplying the local complex sub-carrier and pseudo code driven by the sub-carrier NCO, where the local complex sub-carrier and pseudo code driven by the sub-carrier NCO are:
in the method, in the process of the invention,for local reproduction of the complex subcarrier, +.>For subcarrier frequency estimation, < >>For subcarrier delay estimation +.>For subcarrier phase estimation +.>For locally reproduced pseudo code, subscript +.>Respectively representing early, immediate and delayed branches, < ->Representing the phase delay of the respective branch, in particular, +.>，/>，/>Here->For pseudo code dimension early-late correlator spacing, the value range is +.>Here->Is the chip width. Equation 1.3 outputs six signals, IE, IP, IL and QE, QP, QL, respectivelyIn E, P, L, the early, real-time, delay branches, I and Q represent the imaginary and real parts of the complex numbers, respectively. Note that here is complex subcarriers and pseudo codes that are uniformly reproduced by the subcarrier ring NCO.
The multiplied result is sent to coherent integration so as to obtain a correlator output result, namely:
here the number of the elements is the number,is the coherent integration time. By simplification, the corresponding correlator output results can be expressed as:
here the number of the elements is the number,for code dimension correlation function +.>Error is estimated for Doppler shift,>error is estimated for subcarrier frequency,/->Error is estimated for subcarrier phase,/>Is the carrier phase estimation error. Assuming that the carrier and subcarrier frequencies are perfectly tracked, i.e. there is an approximate relationship +.>And +.>So that the corresponding correlator output result can be reducedThe method comprises the following steps:
correlation results for carrier loops、/>、/>、/>Is fed into a phase detector to obtain carrier phase estimation error->Then the carrier phase estimated value of the next epoch is generated through the loop filter and the carrier NCO. The carrier ring phase detector may select a variety of phase detection methods, the following being just one example:
thus, the carrier ring may form a closed loop.
Correlation results for subcarrier loops、/>、/>、/>Is fed into a phase detector to obtain a subcarrier phase estimation error>The subcarrier ring phase detector may select a variety of phase discrimination methods, the following being just one example:
step S400, the code phase difference is obtained by observing the code dimension correlation value through the pseudo code dimension detector, so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference. In particular, for a pseudo-code dimension detector, correlation results、、/>、/>、/>、/>、/>、/>Is fed into a phase detector to obtain a pseudo code phase error. One phase discrimination method used by the code dimension detector here may be:
step S500, obtaining pseudo-range observed quantity of the navigation signal according to the subcarrier phase. Note that, in the present embodiment, the execution sequence between the step S400 and the step S500 is not limited.
In an alternative embodiment, the subcarrier signal retains only the first order component to filter out the high frequency component in step S100, taking into account the effect of the receiver radio frequency front end band limited filtering. Specifically, equation 1.1 receives square wave subcarriers in a signalShould be approximated as a pure sine or cosine signal (depending on the subcarrier type). Taking cosine subcarriers as an example, namelyWhich is affected by band-limited filtering, the high frequency components are filtered out, and only the first order components remain, so that it can be approximated as +.>Here->Is the subcarrier frequency.
In order to reduce the overhead of computing resources and the implementation complexity and improve the processing efficiency, in an alternative embodiment, in step S200, the carrier ring voltage controlled oscillator forms a closed loop for the stripped carrier by the carrier phase estimation error; in step S300, the subcarrier loop voltage controlled oscillator forms a closed loop for the stripped subcarrier by the subcarrier phase estimation error, and does not form a closed loop for the stripped pseudocode. Specifically, the applicant fully uses the a priori knowledge that the subcarrier is always strictly aligned with the pseudo code phase, and the ranging accuracy is mainly determined by the subcarrier dimension when the BOC-type modulation signal is tracked, so that a closed loop is formed for the stripped subcarrier, and a closed loop is not formed for the stripped pseudo code. Thus, the independent feedback loop tracking code dimension is reduced and the pseudorange observations are obtained via the subcarriers.
In a specific embodiment, in step S200, the carrier phase estimation error generates a phase estimation value of a next epoch via the loop filter and the carrier ring voltage controlled oscillator to form a closed loop of the carrier ring voltage controlled oscillator. Specifically, please refer to fig. 2, the correlation result、/>、/>、/>Is fed into a phase detector to obtain carrier phase estimation error->Then the carrier phase estimated value of the next epoch is generated through the loop filter and the carrier NCO.
In step S300, the subcarrier phase estimation error generates a locally reproduced subcarrier frequency for a next epoch via the loop filter and the subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator. Specifically, please refer to fig. 2, the correlation result、/>、/>、/>Is fed into a phase detector to obtain a subcarrier phase estimation error>Utilize->A subcarrier-dimensional phase delay estimate can be obtained>Generating local reproduction subcarrier frequency of next epoch via loop filter and subcarrier NCO>The closed loop of the entire subcarrier loop is then completed.
In a specific embodiment, step S400 includes: smoothing and filtering the code phase difference in a preset time length; comparing the filtered code phase with a preset threshold value; recording the times exceeding a preset threshold value; and when the times exceeding the preset threshold value reach the threshold value, adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator. Specifically, when the filtered code phase is greater than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by a frequency corresponding to half of the subcarrier period; when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period. In a specific implementation, for example, for equation 1.9, for an observation periodAnd (3) smoothing the code phase difference obtained by the phase discriminator, comparing the code phase difference with a certain threshold value, and recording the times exceeding the threshold. The threshold value here may be:
here the number of the elements is the number,for subcarrier period>For a scaling factor of less than 1, a typical empirical value may be 0.9. When the overrun times reach or exceed a prescribed threshold, the subcarrier frequency or phase on which the subcarrier NCO depends is compensated or adjusted. The threshold here is defined by the observation time of the detector +.>Coherent integration time +.>To determine, it is generally preferable that:
when the overrun frequency reaches a predetermined threshold, the frequency of the subcarrier NCO can be adjusted, the amplitude is a frequency word corresponding to half subcarrier period, and the direction is determined by overrun symbol, namelyIs greater than->When the subcarrier frequency is increased by a frequency corresponding to a half subcarrier period; when->Less than->The subcarrier frequency is reduced by a frequency corresponding to half a subcarrier period.
The embodiment also discloses a navigation signal tracking device, please refer to fig. 3, fig. 3 is a schematic structural diagram of the navigation signal tracking device disclosed in the embodiment, the navigation signal tracking device includes:
the intermediate frequency navigation acquisition module 100 is configured to perform radio frequency front end down-conversion and intermediate frequency filtering on a radio frequency navigation signal received by the receiver antenna to obtain an intermediate frequency navigation signal, where the intermediate frequency navigation signal includes a carrier, a subcarrier, and a pseudo code, and a high frequency component of the subcarrier is filtered;
the carrier stripping module 200 is configured to strip the carrier from the intermediate frequency navigation signal by using the locally reproduced carrier of the carrier ring voltage-controlled oscillator;
a subcarrier and pseudo code stripping module 300, configured to generate locally recurring subcarriers and pseudo codes with a subcarrier frequency as a reference by using a subcarrier ring voltage-controlled oscillator, so as to strip subcarriers and pseudo codes in the intermediate frequency navigation signal simultaneously to obtain code dimension correlation values of subcarrier phases and pseudo codes, respectively;
a subcarrier frequency adjusting module 400, configured to observe the code dimension correlation value through the pseudo code dimension detector to obtain a code phase difference, so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference;
the pseudo-range observation module 500 is configured to obtain a pseudo-range observed quantity of the navigation signal according to the subcarrier phase.
In an alternative embodiment, in the intermediate frequency navigation acquisition module 100, the subcarrier signal retains only the first order components to filter out the high frequency components.
In an alternative embodiment, in carrier strip module 200, a carrier ring voltage controlled oscillator forms a closed loop to the stripped carrier by a carrier phase estimation error; in subcarrier and pseudocode stripping block 300, the subcarrier ring voltage controlled oscillator forms a closed loop for stripped subcarriers by subcarrier phase estimation errors and does not form a closed loop for stripped pseudocode.
In an alternative embodiment, in carrier strip module 200, the carrier phase estimation error generates a phase estimate for the next epoch via the loop filter and the carrier ring voltage controlled oscillator to form a closed loop of the carrier ring voltage controlled oscillator;
in the subcarrier and pseudocode stripping module 300, the subcarrier phase estimation error generates a local reproduction subcarrier frequency for the next epoch via the loop filter and the subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator.
In an alternative embodiment, subcarrier frequency adjustment module 400 includes:
the smoothing filter unit is used for smoothing and filtering the code phase difference in a preset duration;
the threshold comparison unit is used for comparing the filtered code phase with a preset threshold value;
the overrun recording unit is used for recording the times exceeding a preset threshold value;
and the adjusting unit is used for adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator when the times exceeding the preset threshold value reach the threshold value.
In an alternative embodiment, the subcarrier frequency of the subcarrier ring voltage controlled oscillator is adjusted when the number of times that the preset threshold is exceeded reaches a threshold:
when the filtered code phase is larger than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by the frequency corresponding to a half subcarrier period;
when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period.
The embodiment also discloses a navigation signal tracking device, comprising:
and the processor is used for realizing the method disclosed in the embodiment.
The present embodiment also discloses a chip for navigation signal tracking having an integrated circuit thereon, the integrated circuit being designed to implement the method disclosed in the above embodiments.
In addition, the present invention also provides a computer readable storage medium, such as a chip, an optical disc, etc., on which an execution program is stored, which when executed implements the method disclosed in the above embodiments.
According to the navigation signal tracking method, device and chip disclosed by the embodiment of the invention, the intermediate frequency navigation signal is obtained after the radio frequency front end down-conversion and the intermediate frequency filtering are carried out on the radio frequency navigation signal received by the receiver antenna, the intermediate frequency navigation signal comprises a carrier wave, a subcarrier and a pseudo code, and the high frequency component of the subcarrier is filtered, so that the influence of band-limited filtering can be reduced, namely, the influence of a larger subcarrier frequency or limited bandwidth of the radio frequency front end of the receiver is considered, when the subcarrier and the pseudo code are stripped, the code dimension correlation value of the subcarrier phase and the pseudo code is obtained by stripping the same subcarrier ring voltage-controlled oscillator by taking the subcarrier frequency as a reference, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is adjusted by the code phase difference obtained by the code dimension correlation value, the pseudo-range observation amount of the navigation signal is obtained according to the subcarrier phase, the prior knowledge that the subcarrier phase is always aligned strictly, the receiver loop complexity is reduced, the subcarrier ring voltage-controlled oscillator forms a closed loop, and the loop can be realized at the same time, the precision of the pseudo-range measurement loop can be realized by reducing the pseudo-range signal by the subcarrier, and the dimensional measurement accuracy of the pseudo-range signal can be mainly obtained by the carrier. In summary, the method, the device, the equipment and the chip for tracking the navigation signal disclosed by the embodiment of the invention not only comprehensively consider the influence of band-limited filtering of the front end of the radio frequency, but also can reduce the complexity of a receiver loop and reduce a feedback loop.
The computer readable storage medium according to the embodiments of the present disclosure is not limited to the above-described embodiments, and may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict. In which the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures, for example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The numbering of the steps herein is for convenience of illustration and reference only and is not intended to limit the order in which the steps are performed, the particular order of execution being determined by the technology itself, and the skilled artisan can determine various allowable, reasonable orders based on the technology itself.
It should be noted that step numbers (letter or number numbers) are used in the present invention to refer to certain specific method steps for convenience and brevity only, and are not intended to limit the order of the method steps by letter or number in any way. It will be apparent to those skilled in the art that the sequence of steps of the relevant method should be determined by the technique itself, should not be unduly limited by the presence of step numbers, and that one skilled in the art can determine various allowable, reasonable sequences of steps based on the technique itself.
Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict.
It will be understood that the above-described embodiments are merely illustrative and not restrictive, and that all obvious or equivalent modifications and substitutions to the details given above may be made by those skilled in the art without departing from the underlying principles of the invention, are intended to be included within the scope of the appended claims.
Claims (15)
1. A navigation signal tracking method, comprising:
step S100, performing radio frequency front end down conversion and intermediate frequency filtering on a radio frequency navigation signal received by a receiver antenna to obtain an intermediate frequency navigation signal, wherein the intermediate frequency navigation signal comprises a carrier wave, a subcarrier and a pseudo code, and the high frequency component of the subcarrier is filtered;
step S200, carrier stripping is carried out on the intermediate frequency navigation signal by utilizing a carrier reproduced locally by a carrier ring voltage-controlled oscillator;
step S300, a subcarrier ring voltage-controlled oscillator is utilized to generate locally reproduced subcarriers and pseudo codes by taking subcarrier frequency as a reference, so that the subcarriers and the pseudo codes in the intermediate frequency navigation signals are stripped at the same time to respectively obtain code dimension correlation values of subcarrier phases and the pseudo codes;
step S400, observing the code dimension correlation value through a pseudo code dimension detector to obtain a code phase difference, so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference;
and S500, obtaining pseudo-range observables of the navigation signals according to the subcarrier phases.
2. The navigation signal tracking method according to claim 1, wherein in the step S100, the subcarrier signal retains only first order components to filter out high frequency components.
3. The navigation signal tracking method of claim 1, wherein in the step S200, the carrier ring voltage controlled oscillator forms a closed loop to the stripped carrier by a carrier phase estimation error; in the step S300, the subcarrier loop voltage controlled oscillator forms a closed loop for the stripped subcarrier by the subcarrier phase estimation error, and does not form a closed loop for the stripped pseudocode.
4. A navigation signal tracking method according to claim 3 wherein,
in the step S200, the carrier phase estimation error generates a phase estimation value of a next epoch through a loop filter and a carrier ring voltage-controlled oscillator to form a closed loop of the carrier ring voltage-controlled oscillator;
in the step S300, the subcarrier phase estimation error generates a locally reproduced subcarrier frequency for a next epoch via a loop filter and a subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator.
5. The navigation signal tracking method according to any one of claims 1-4, wherein the step S400 includes:
smoothing and filtering the code phase difference in a preset duration;
comparing the filtered code phase with a preset threshold value;
recording the times exceeding a preset threshold value;
and when the times exceeding the preset threshold value reach the threshold value, adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator.
6. The navigation signal tracking method of claim 5, wherein, when the number of times exceeding a preset threshold reaches a threshold, adjusting a subcarrier frequency of the subcarrier ring voltage controlled oscillator:
when the filtered code phase is larger than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by the frequency corresponding to a half subcarrier period;
when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period.
7. A navigation signal tracking device, comprising:
the intermediate frequency navigation acquisition module (100) is used for performing radio frequency front end down-conversion and intermediate frequency filtering on the radio frequency navigation signals received by the receiver antenna to obtain intermediate frequency navigation signals, wherein the intermediate frequency navigation signals comprise carrier waves, subcarrier waves and pseudo codes, and high-frequency components of the subcarrier waves are filtered;
the carrier stripping module (200) is used for carrying out carrier stripping on the intermediate frequency navigation signal by utilizing a carrier reproduced locally by the carrier ring voltage-controlled oscillator;
a subcarrier and pseudo code stripping module (300) for generating locally reproduced subcarriers and pseudo codes by using a subcarrier ring voltage-controlled oscillator with subcarrier frequency as a reference so as to strip the subcarriers and the pseudo codes in the intermediate frequency navigation signals at the same time to obtain code dimension correlation values of subcarrier phases and the pseudo codes respectively;
a subcarrier frequency adjustment module (400) for observing the code dimension correlation value through a pseudo code dimension detector to obtain a code phase difference, so as to adjust the subcarrier frequency of the subcarrier ring voltage-controlled oscillator through the code phase difference;
and the pseudo-range observation module (500) is used for obtaining pseudo-range observed quantity of the navigation signal according to the subcarrier phase.
8. The navigation signal tracking device of claim 7, wherein in said intermediate frequency navigation acquisition module (100), said subcarrier signal retains only first order components to filter out high frequency components.
9. The navigation signal tracking device of claim 7, wherein in said carrier stripping module (200), said carrier ring voltage controlled oscillator forms a closed loop to a stripped carrier by a carrier phase estimation error; in the subcarrier and pseudocode stripping module (300), a subcarrier ring voltage controlled oscillator forms a closed loop for stripped subcarriers by the subcarrier phase estimation error and does not form a closed loop for stripped pseudocode.
10. The navigation signal tracking device of claim 9,
in the carrier stripping module (200), the carrier phase estimation error generates a phase estimation value of a next epoch via a loop filter and a carrier ring voltage controlled oscillator to form a closed loop of the carrier ring voltage controlled oscillator;
in the subcarrier and pseudocode stripping module (300), the subcarrier phase estimation error generates a local reproduction subcarrier frequency for a next epoch via a loop filter and a subcarrier ring voltage controlled oscillator to form a closed loop of the subcarrier ring voltage controlled oscillator.
11. The navigation signal tracking device of any of claims 7-10, wherein the subcarrier frequency adjustment module (400) comprises:
the smoothing filter unit is used for carrying out smoothing filter on the code phase difference in a preset duration;
the threshold comparison unit is used for comparing the filtered code phase with a preset threshold value;
the overrun recording unit is used for recording the times exceeding a preset threshold value;
and the adjusting unit is used for adjusting the subcarrier frequency of the subcarrier ring voltage-controlled oscillator when the times exceeding the preset threshold value reach the threshold value.
12. The navigation signal tracking device of claim 11, wherein the subcarrier frequency of the subcarrier ring voltage controlled oscillator is adjusted when the number of times that a preset threshold is exceeded reaches a threshold:
when the filtered code phase is larger than a positive preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is increased by the frequency corresponding to a half subcarrier period;
when the filtered code phase is smaller than a negative preset threshold value, the subcarrier frequency of the subcarrier ring voltage-controlled oscillator is reduced by a frequency corresponding to half subcarrier period.
13. A navigation signal tracking device, comprising:
a processor for implementing the method of any of claims 1-6.
14. A computer readable storage medium having stored thereon a computer program, wherein the computer program stored in the storage medium is for execution by a processor to perform the method of any of claims 1-6.
15. A chip for navigation signal tracking having an integrated circuit thereon, characterized in that the integrated circuit is designed for implementing the method according to any of claims 1-6.
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