CN1317091A - High resolution location - Google Patents

High resolution location Download PDF

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Publication number
CN1317091A
CN1317091A CN99810728A CN99810728A CN1317091A CN 1317091 A CN1317091 A CN 1317091A CN 99810728 A CN99810728 A CN 99810728A CN 99810728 A CN99810728 A CN 99810728A CN 1317091 A CN1317091 A CN 1317091A
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CN
China
Prior art keywords
frequency
search
sign indicating
indicating number
satellite
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Pending
Application number
CN99810728A
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Chinese (zh)
Inventor
S·A·格拉兹科
G·C·西何
周群真
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Qualcomm Inc
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Qualcomm Inc
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Publication of CN1317091A publication Critical patent/CN1317091A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
    • H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • 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
    • 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

Abstract

The present invention is a novel and improved method and apparatus for performing position location in wireless communications system. One embodiment of the invention comprises a method for performing position location including the steps of receiving a set of higher resolution sample data at a resolution interval, accumulating said higher resolution sample data over a chip interval yielding accumulation sums, and correlating said accumulation sums with a correlation code at a set of offsets which are separated by said resolution interval.

Description

The high resolving power location
Background of invention
The present invention relates to the location.Particularly, the present invention relates to be used for position novel of wireless communication system with through improved method and apparatus.
Description of related art
Statutory regulation and customer requirement have promoted the demand to the positioning function in the cell phone.At present, GPS (GPS) can be used for position in conjunction with one group of earth-orbiting satellite by the GPS receiver.Therefore, it is desirable to, the GPS function is used for cell phone.
Yet cell phone is very responsive for the problem of cost, weight and power attenuation.Adding the adjunct circuit be used for carrying out the GPS location simply is not the satisfied solution of a kind of people in addition that positioning function is provided at cell phone.Thereby the objective of the invention is to provides the GPS function in cell phone system, and additional firmware, cost and power attenuation minimum.
Summary of the invention
The present invention be a kind of novelty of in wireless communication system, positioning through improved method and apparatus.One embodiment of the present of invention comprise the method that positions, it comprises the following steps: to receive one group of high-resolution sampled data at interval in resolution, in chip-spaced the described high-resolution sampled data of accumulation with produce accumulation and, and under the one group of skew that is separated at interval by described resolution, make described accumulation with relevant with associated code.
The summary of accompanying drawing
From the detailed description below in conjunction with accompanying drawing, features, objects and advantages of the invention will be apparent.Same numeral is done identical expression in the accompanying drawings, and
Fig. 1 is the block scheme of GPS (GPS) waveform generator;
Fig. 2 is the height simplified block diagram according to the cell phone system of utilization formation of the present invention;
Fig. 3 is the block scheme of the receiver that constitutes according to one embodiment of present invention;
Fig. 4 is another block scheme of receiver as shown in Figure 3;
Fig. 5 is the receiver that constitutes according to another embodiment of the invention;
Fig. 6 is the process flow diagram of the step carried out during positioning action;
Fig. 7 is the block scheme of the DSP that constitutes according to one embodiment of present invention;
Fig. 8 is the process flow diagram in the step of carrying out the searching period execution according to one embodiment of present invention;
Fig. 9 is the time line that each stage of carrying out meticulous and rough search according to one embodiment of present invention is described;
Figure 10 is line during search procedure when carrying out according to one embodiment of present invention;
Figure 11 is the diagrammatic sketch of search volume;
Figure 12 is the block scheme of receiver according to another embodiment of the present invention.
The detailed description of preferred embodiment
Be described in the wireless communication system novelty of carrying out the location through improved method and apparatus.Situation according to digital cellular telephone system is described example embodiment.Though it is very favourable using in this case, different embodiments of the invention can be used for varying environment or structure.Generally, utilization software controlled processors, integrated circuit or discreet logic piece can form various systems described here, yet it but is best implementing in integrated circuit.Preferably be illustrated in data, instruction, order, information, signal, code element and the chip of institute's reference in the whole application with voltage, electric current, electromagnetic wave, magnetic field or magnetic particle, light field or light particles or their combination.In addition, all can represent hardware or method step at the square frame shown in each block scheme.
Fig. 1 is the block scheme of GPS (GPS) waveform generator.The expression mould 2 of putting in marks adds in the circle.Generally, the GPS planisphere comprises 24 satellites: 21 spaceships that are used to navigate (SV) and 3 backups (square).Each SV comprises by monitoring land station and the synchronous clock of gps time.In order to determine position and time, the GPS receiver is handled the signal that receives from several satellites.At least must separate 4 unknown numbers (x, y, z, time) with 4 satellites.
Each SV sends 2 microwave carriers: carrying is used for the 1227.60MHz L2 carrier wave of the required signal of the 1557.42MHz L1 carrier wave of signal of standard positioning service (SPS) and carrying precise positioning service (PPS).Government's proxy construction uses PPS and allows more high-precision location.
With catch (C/A) sign indicating number (it is the 1023-chip pseudo-random code that sends that is used for civilian positioning service) modulation L1 carrier wave roughly under 1.023Mcps.(rough catch code should not obscured with rough and meticulous catching mutually described here, wherein rough and meticulously catches the utilization that comprises the C/A sign indicating number.) each satellite all has its C/A sign indicating number, the every 1ms of this yard repeats once.The P sign indicating number that is used for PPS is the 10.23MHz sign indicating number, and its length is 2676 days.The P sign indicating number appears on these two kinds of carrier waves, but spends with the phasic difference mutually 90 of C/A sign indicating number on the L1 carrier wave.The 50Hz navigation message of carrying out exclusive-OR operation with C/A sign indicating number and P sign indicating number before carrier modulation provides the system information such as satellite orbit and clock correction.
With catching (C/A) sign indicating number modulation L1 carrier wave roughly, this C/A sign indicating number is the 1023-chip pseudo-random code that sends under 1.023Mcps that is used for civilian positioning service.Each satellite all has its C/A sign indicating number, and the every 1ms of this yard repeats once.The P sign indicating number that is used for PPS is the 10.23MHz sign indicating number, and its length is 267 days.The P sign indicating number appears on two kinds of carrier waves, and spends with the phasic difference mutually 90 of C/A sign indicating number on the L1 carrier wave.The 50Hz navigation message of carrying out exclusive-OR operation with C/A sign indicating number and P sign indicating number before carrier modulation provides the system information such as satellite orbit and clock correction.
With catching (C/A) sign indicating number modulation L1 carrier wave roughly, this C/A sign indicating number is the 1023-chip pseudo-random code that sends under 1.023Mcps that is used for national positioning service.Each satellite all has its C/A sign indicating number, and the every 1ms of this yard repeats once.The P sign indicating number that is used for PPS is the 10.23MHz sign indicating number, and its length is 267 days.The P sign indicating number appears on two kinds of carrier waves, and spends with the phasic difference mutually 90 of C/A sign indicating number on the L1 carrier wave.The 50Hz navigation message of carrying out exclusive-OR operation with C/A sign indicating number and P sign indicating number before carrier modulation provides the system information such as satellite orbit and clock correction.
Each satellite all has the different C/A sign indicating numbers that belong to the sign indicating number series that is called as the Gold sign indicating number.Use the Gold sign indicating number to be because the crosscorrelation between them is very little.Use two 10-level shift registers (as shown in Fig. 1 .4-2) to produce the C/A sign indicating number.G1 generator polynomial expression 1+X 3+ X 10, while G2 generator polynomial expression 1+X 2+ X 3+ X 6+ X 8+ X 9+ X 10By exclusive-OR operation generation C/A sign indicating number is carried out in the output of G1 shift register and 2 of G2 shift register.
Fig. 2 is the height simplified block diagram according to the cell phone system of utilization configuration of the present invention.Mobile phone 10 is between base station 12, and wherein base station controller (BSC) 14 is coupled in base station 12.Mobile switching center MSC16 is connected to public switched telephone network (PSTN) to BSC14.During operation, some mobile phones carry out call by linking to each other with base station 12, and other mobile phones are in standby mode simultaneously.
As in pending U.S. Patent Application number 09/040,051 (denomination of invention is " being used for determining the system and method for the position of wireless CDMA transceiver ", transferred assignee of the present invention, and be incorporated herein as the reference data) described in like that, send locating request message and promote the location, wherein above-mentioned locating request message comprises and allows mobile phone to catch " help information " of gps signal fast.This information comprises ID number (SV ID), the code phase of estimating, the search window size around the estimated code phase place and the frequency Doppler of estimation of SV.Use this information, mobile unit can be caught gps signal quickly and be determined its position.
In response to help information, for the specified SV in this base station, mobile unit be tuned to GPS frequency and begin to make the signal that receives relevant with the C/A sequence that its this machine produces.Its utilization supplementary narrows down the search volume and the compensating for doppler response, and the relevant pseudo-range that obtains each satellite of operate time.Attention, these pseudo-ranges are based on mobile unit time (with reference to the combiner system timer of cdma receiver), the delay expression way that this mobile unit time is gps time.
In case calculate this information, mobile unit just sends the pseudo-range (preferably resolution reaches 1/8 chip) for each satellite and measures the required time to the base station.Then, mobile unit turns back to CDMA and continues and calls out.
Generally receive information, BSC just estimates estimated position that pseudo-range was transformed into the base station time and calculates mobile unit by the intersection that solves several zones from the mobile unit time with one-way latency.
Another parameter that helps message to provide is frequency Doppler or Doppler shift.Doppler effect represents because the significant change of the caused received signal frequency of relative velocity between transmitter and receiver.Doppler is called as frequency Doppler to the effect of carrier wave, and the effect of baseband signal is called as a yard Doppler.
Under the situation of GPS, frequency Doppler changes the carrier frequency that receives, thereby this effect is the same with the demodulation that carrier shift is arranged.Because the GPS receiver of base station is actively followed the tracks of required satellite, the frequency Doppler due to satellite moves so it is known.In addition, this satellite is so away from base station and movement station, thereby in fact the Doppler shift that mobile unit is seen is the same with the Doppler shift that the base station is seen.In one embodiment of the invention, for the emending frequency doppler values, mobile unit is used in the spinner in the receiver.Frequency Doppler's scope is from-4500Hz to+4500Hz, and the about 1Hz/s of rate of change.
Sign indicating number Doppler's effect is to change the 1.023Mhz spreading rate, and in fact it compress or enlarge the width of the C/A sign indicating number chip that receives.In an embodiment of the present invention, mobile unit is by correcting code Doppler that frequency Doppler and ratio 1.023/1575.42 are multiplied each other.So, the phase place that mobile unit is sampled by the IQ that receives with 1/16 chip incremental rotation (will postpone to introduce) as required, correcting code Doppler as time passes.
Fig. 3 is the block scheme of the receiver section of the cell phone (wireless subscriber unit) that constitutes according to one embodiment of present invention.The waveform 100 that receives is modeled as is used in frequency w c+ w dUnder the C/A signal c (n) of carrier modulation, w wherein cBe nominal carrier frequency 1575/42MHz, and w dBe to move the Doppler frequency that produces via satellite.The scope of Doppler frequency from 0 (when satellite is directly overhead gone up) to about 4.5kHz (in the worst case).Receiver simulation part can be modeled as and be used in frequency w rAnd random phase _ under carrier wave demodulation, follow by low-pass filtering.
The gained baseband signal to produce digital I and Q sampling, can repeatedly be searched for they thereby store them by A/D transducer (not shown).Produce sampling to double C/A sign indicating number spreading rate (chip x 2), this spreading rate is lower than carrying out the required resolution of fine search algorithm, but allows the sampled data with rational memory space storage 18ms.Generally, it is desirable to, search for, thereby allow under most of environmental baselines, to catch, and 18ms is the preferable comprehensive cycle with speed greater than 10ms.These environmental baselines comprise and are in inside or can not directly see satellite.
Operating period, at first be offset to proofread and correct Doppler frequency with spinner 102 rotation samplings.Make the I of rotation relevant with the various skews of the C/A sequence of satellite, and in the Nc chip range, the gained product is carried out coherent integration with integrator 104 with the Q sampling.To coherent integration and ask square and always removed the phase deviation of the unknown _ effect.In order to increase the hypothesis test for particular offset, the several coherence interval of incoherent combination.Repeating this in a plurality of time migrations goes to expand to find the time migration of satellite-signal.It uses by the Doppler frequency of base station appointment (preferably be quantified as 10Hz at interval) and rotate I and the Q sampling to remove frequency shift (FS).
In one embodiment of the invention, rotation is continuous in the coherent integration window only.That is, for example, spinner stops between the coherent integration period of 1ms.With square after ask summation to eliminate any gained phase differential.
Fig. 4 is another block scheme of the receiver that constitutes according to one embodiment of present invention, wherein is shown specifically the spinner part of receiver more.
Fig. 5 is the receiver that constitutes according to another embodiment of the invention.This internal implementation example of the present invention is utilized by rotating C/A sequence rather than the next ability that spinner is stopped of input sample that this machine produces.
As shown in the figure, C/A sequence c (n) by just be applied to, cosine signal sin (W dNT c) and cos (W dNT c) on rotated, then the storage.Each satellite only need rotate the C/A sequence once.Therefore, rotation C/A sign indicating number sequence reduces required calculated amount.In one embodiment of the invention, this has also saved the memory space that is used for carrying out this calculating in DSP.
Another the significant infringement that makes the location algorithm performance degradation is the frequency error in the mobile unit internal clocking.This just frequency error impels short coherent integration time of employing, approximately 1ms.Preferably, in the longer time cycle, carry out coherent integration.
In example structure, the self-excitation of movement station (inside) local oscillator clock is the 19.68MHz crystal, it have frequency tolerance+/-5ppm.This can cause approximately+/-mistake of 7500Hz.Be used for the carrier wave of demodulation gps signal with this clock generating, thereby clocking error is added to the signal capture time.Because the time that can be used to search for is very short, so the big so not tolerable of error that frequency tolerance caused must reduce greatly.
In order to allow the longer coherent integration time, in one embodiment of the invention, cdma receiver is led timing or any other available timing informations correction local oscillators that sign indicating number obtains by utilization according to CDMA.This produces control signal, it with the local oscillator clock be tuned to as far as possible near 19.68MHz.When radio frequency unit when CDMA switches to GPS, freeze to impose on the control signal of local oscillator clock.
Yet even after utilization is carried out correction from the timing information of base station (or other resources), some additional clocking errors still keep.In one embodiment of the invention, the frequency uncertainty of gained is proofreading and correct afterwards+/-100Hz.This remainder error still reduces the performance of receiver, and general the prevention the longer coherent integration time.In one embodiment of the invention, by in duration, carrying out non-coherent integration, can avoid remainder error simply greater than the 1ms that performance is reduced.
As shown in Figure 1, also on the L1 carrier wave, modulate 50Hz NAV/ system data.If data-switching (0 to 1 or 1 to 0) occurs between two half coherent integration windows, gained coherent integration summation will be zero so, because two will be repealed by implication for half.In fact this make incoherent accumulative total subtract 1 under worst condition.Though the data boundary of all satellites synchronously, because the difference in channel delay causes them can not arrive mobile unit simultaneously.In fact this channel delay makes the data phase randomization that receives.
In one embodiment of the invention, the problem for the different pieces of information phase place of unlike signal is data phase to be included in from the base station send to the help information of mobile unit.Because base station demodulation 50Hz data, when it know each satellite generation data-switching.By the one-way latency that utilization is known, data-switching can take place by indication which in 20 1 ms intervals in the base station, with 5 bits (each satellite) coded data phase place.
If the coherent integration window is striden the both sides of 50Hz data boundary, coherent integration is divided into 2 (2) parts so.A part is before data boundary, and another part is after data boundary.For example, if En1 be in the window before data boundary (this window the first half) coherent integration and, and En2 be in the window after data boundary coherent integration and, the maximal value (amplitude) of mobile unit selection (En1+En2) (under identical situation of data) and (En1-En2) (under the situation in data variation) so are to take phase change into account.Mobile unit also can be striden the two halves of this data window or finish to remove between this data window and be made one's options in incoherent combination.
In another embodiment of the present invention, mobile unit attempt by will be somebody's turn to do and the squared magnitude and the difference of 1ms coherent integration compare and find data-switching, need not help from the information of base station.
In one embodiment of the invention, DSP (digital signal processor) method based on firmware is not used for carrying out the GPS processing.DPS receives I and Q sampling with the speed of chip x 2 (2.046MHz) or chip x 8 (8.184MHz), and the snapshot of 4 bit I and Q sampling is stored in its internal RAM.
In example embodiment, DSP produces the C/A sequence, is rotated with elimination frequency Doppler, and is correlated with in the search window that is provided by the base station for each satellite.DSP carries out coherent integration and incoherent combination and rotates IQ sampling decimator as required with compensation codes Doppler.
Calculate and storage space in order to save, utilization _ chip resolution is carried out initial search, and carries out fine search to obtain 1/8 chip (higher) resolution around one or more signs of the best.Interrupt (producing) by counting by the 1ms that hardware produces and keep system time by local oscillator.
In addition, in one embodiment of the invention,, carry out fine search by accumulative total chip x 8 samplings (more high resolving power) in the duration of a chip under 8 skews of different chip x.
Fig. 6 illustrates when a search example according to the present invention is carried out, and proofreaies and correct the process flow diagram of the performed step of local oscillator during locating.In step 500, judge and whether correctly proofread and correct local oscillator recently.If not, catch from the base station so and lead sign indicating number, and by regularly comparing and judge the error of local oscillator with the sign indicating number of leading in step 502, and produce correction signal based on this error.
So flow process enters step 504, wherein correction signal is frozen in currency.In step 506, enter the GPS pattern and use calibrated clock to carry out the location.In case carry out the location, movement station just leaves the GPS pattern in step 508.
Fig. 7 illustrates the DSP receiver system that constitutes according to one embodiment of present invention.DSP carries out whole search operation with minimum additional firmware.DSP core 308, modulator-demodular unit 306, interface unit 300, ROM302 and storer (RAM) 304 are by bus 306 couplings.Interface unit 300 receives from the RF sampling of RF unit (not shown) and to RAM304 sampling is provided.Can coarse resolution or fine-resolution storage RF sampling.DSP core 308 utilization is stored in instruction process in ROM302 and the storer 304 and is stored in sampling in the storer.Storer 304 has a plurality of " memory banks ", some of them store sample and some storage instructions.Modulator-demodular unit 700 is carried out CDMA and is handled under normal mode.
Fig. 8 is the process flow diagram of the step carried out during positioning action.When receiving help message, begin positioning action, and the RF system is switched to GPS frequency (in step 600).When RF being switched to reception GPS, the fixed frequency track loop.DSP receives and from the Step Information of phone microprocessor and with Doppler's amplitude satellite is classified.
In step 602, the rough search data storage in DSP RAM.DSP receives the input data of hundreds of microsecond to set Rx AGC.The DSP register system time also begins chip x 2IQ data storage with 18ms window (DSP stores limitation) in its internal RAM.Alleviate yard Doppler's influence with the conjoint data window.
In case the storage data are carried out rough search in step 604.DSP begins roughly (chip x 2 resolution) search.For each satellite, DSP produces the C/A sign indicating number, rotates this yard and by getting the multiplexing rough search data in storage of C/A code weight relevant according to frequency Doppler in the search window by the base station appointment.In identical 18ms data window, handle satellite, and obtain to exceed best chip x 2 hypothesis of thresholding for each satellite.Though use the 2ms correlation integral time (having 9 irrelevant integrations) in one embodiment of the present of invention, and the available longer correlation integral time (for example, 18ms), though preferably carry out additive regulating as described below.
In case the execution rough search just carries out fine search in step 606.Before the beginning fine search, DSP calculates the C/A sign indicating number through rotation for each satellite.This allows DSP to handle fine search in real time.Carrying out meticulous (chip x 8 resolution) searching period, on different data, once handle a satellite.
DSP at first rotates decimator with the sign indicating number Doppler of compensation for given satellite.Before the correlation integral window of the 1ms that storage chip x 8 is sampled, the Rx AGC value that also resets is waited for next 1ms border simultaneously.
DSP handles 5 continuous chip x 8 resolution hypothesis for this 1ms coherent integration window, and wherein the center hypothesis is the best hypothesis that obtains in the rough search.After handling next 1ms window, for repeating all coherent group for all Nn time should the result is not a coherent group 2ms with.
Identical data for next satellite repeats this step (from rotating decimator) until handling all satellites.If the sign indicating number Doppler for 2 satellites is identical on amplitude, so can be at two satellites of identical data processing to reduce the quantity of required data set.In the worst case, the 2*Nn data window with 8 groups of 1ms is used for fine search.
At last, in step 608, to the microprocessor report result and in DSP, restart vocoder and handle, thereby can continue to call out.DSP is to the microprocessor report pseudo-range, and wherein microprocessor is transferred to the base station with them.After microprocessor downloaded to the DSP storer again with the vocoder procedure code, DSP removed its data-carrier store and restarts vocoder.
Fig. 9 is illustrated in the fine search of carrying out after the rough search.Tell best chip x after 2 stages in rough search, DSP carries out fine search to obtain chip x 8 resolution around this stage.
Go out to be used for 5 stages of making comparisons with rectangle frame, as shown in the figure at fine search.Assess best 2 stages of chip x once more, thereby can compare the identical data group.This also allows rough search and fine search to use different integral time.Because each satellite all can have different value to sign indicating number Doppler, so can separately carry out fine search for each satellite.
Line when Figure 10 provides when implementing according to one embodiment of present invention fine processing.Finished the entire process time (rough+fine search) in one embodiment of the invention in about 1.324 seconds, in a single day this embodiment interrupt call just still allows to call out continuation but finish search.1.324 the whole search of second is the upper limit, because it supposes that DSP need search for whole 8 satellites, and each satellite has the search window of 68 chips.Yet, because the geometry of satellite orbit makes that 1.324 seconds possibility of required whole process is very little.
During first 18ms80, under the GPS frequency, collect the IQ sampled data.In the cycle 82, the inner rough search of carrying out, this can last up to 1.13 seconds, but may stop ahead of time when the identification satellite signal.In case the execution rough search just calculates the C/A sign indicating number in the time cycle 84, it needs 24ms.During the time cycle 86, regulate the rotational value step joint Rx AGC that goes forward side by side for sign indicating number Doppler.In the time cycle 88, the IQ data sampling is carried out fine search, it is carried out in the time cycle 86 continuously and regulates.Utilization 18ms allows ignore code Doppler integral time, because the C/A code phase offset that receives is less than 1/16 chip.8 satellite nearly carried out regulate the nearly adjusting and the fine search of 8 sequences, finish position fixing process this moment.
In addition, in some embodiments of the invention, phone continues the frame of reverse link is sent to the base station, carries out localization process simultaneously.These frames can remain sky information simply and keep synchronous to allow base station and subscriber unit, perhaps frame can comprise additional information (such as, power control command or information request).Be preferably in the RF circuit can with and do not collect GPS when sampling, send these frames, if perhaps there is sufficient RF circuit to use, then when collecting the GPS sampling, send.
Though utilization 18ms avoids a yard Doppler effect integral time,, under 50Hz speed, gps signal is sent data so and will cause problem if in 18ms handles spacing, data variation (as mentioned above) takes place.Data variation causes the skew of signal phase.For each satellite, in different places the 50Hz data boundary takes place.By changing path, make the 50Hz translate phase randomization of each satellite effectively from each satellite to phone.
In the worst case, if the middle data position during coherent integration is anti-phase, coherent integration can be wiped free of fully so.Therefore, in one embodiment of the invention, the base station must propagate into the data-switching border for each satellite phone (as mentioned above).Best is, also will transmit the border be included in the help message of base station transmission (such as, with one group of 5 message, the ms interval that it indicates each satellite to change).Phone with this border with the coherent integration interval of each satellite be divided into 2 and judge whether add or deduct in these 2 intervals coherent integration and.Like this, by comprising the data boundary of each gps signal, increased the reliability of position fixing process.
In example embodiment of the present invention, any frequency uncertainty all produces the loss of Ec/Nt, and wherein above-mentioned loss increases along with the increase of coherent integration time.For example, uncertain+/-100Hz, the loss of Ec/Nt increases fast along with the increase of coherent integration time, shown in the table I.
????Nc The Ec/Nt loss
?1023(1ms) ????0.14dB
?2046(1ms) ????0.58dB
?4092(1ms) ????2.42dB
?6138(1ms) ????5.94dB
?8184(1ms) ????12.6dB
Table 1
As mentioned above, in mobile unit, always there are some unknown frequency shift (FS)s of local oscillator.These unknown frequency shift (FS)s have stoped longer relevant expansion and the integration of going just.If can reduce these unknown frequency shift (FS) effects, more long coherence can be improved processing.
In one embodiment of the invention, by the search volume being expanded to 2 dimensions, consider these unknown frequency skews to comprise frequency search.For each supposition, carry out frequency search several times, wherein each frequency search supposes that all frequency shift (FS) is a given value.By frequency shift (FS) is separated, people can be reduced to arbitrary value with the frequency uncertainty, but the cost of paying is additional calculations and memory space.For example, if suppose that with 5 frequencies the gained search volume as shown in figure 10 so.
For+/-100Hz frequency uncertainty, this is typical mobile unit working specification, this structure is reduced to 20Hz (supposition must be in the 20Hz of actual frequency offset) with maximum frequency deviation.For the 20ms coherent integration time, it is 2.42dB that the EC/Nt loss of 20Hz frequency shift (FS) is arranged.By frequency being supposed number is doubled to 10, the frequency uncertainty can be reduced to 10Hz, this makes the Ec/Nt loss is .58dB.Yet, to add additional supposition and widened the search volume, it has increased calculating and memory requirement.
One embodiment of the present of invention are come the calculated rate supposition by the lump of frequency Doppler and frequency shift (FS) and for the new PN sign indicating number that rotates of each frequency assumed calculation.Yet this makes and is multiplied at whole computation process medium frequency supposition number: 5 frequency supposition mean that increasing by 5 times calculates.
On the other hand, in another embodiment of the present invention, owing to compare with frequency Doppler, the frequency uncertainty is very little, thus rotatable phase can be considered to 1ms at interval be constant (for 80Hz be assumed to one-period 8%).Therefore, reach 1ms at interval by coherent integration interval is divided into, gyrator at interval integration and reduce 3 orders of magnitude calculated rate is searched for required additional calculations amount.The result can carry out the expansion of going of long coherence more, and improves performance.
Figure 12 is according to using the more block scheme of the receiver that goes the extended method formation of long coherence.First group of multiplier 50 is relevant by IQ sampling and rotation C/A sign indicating number are got, compensating frequency Doppler.This equates with unaltered C/A sign indicating number get relevant before rotation IQ sampling.Because frequency Doppler is 4500Hz, so can be rotated each chip.With totalizer 52 at 1ms after (1023 chip) carry out coherent integration at interval, second group of multiplier 54 rotation 1ms integration with (_ IWith _ Q), to realize the frequency supposition.In whole coherent integration interval, add up the rotation and.
Only recall on 1023 chips calculated rate Doppler rotation to save storage and calculated amount.For the coherent integration time longer, multiply each other so that rotatable phase continues in time with each coherent integration with phase deviation than 1ms.For this point is shown with mathematical way, has the 1ms coherent integration of frequency Doppler rotation and can be expressed as follows: S 1 = Σ n = 1 1023 [ I ( n ) + jQ ( n ) ] C ( n ) e - j w d n T c , wherein -I=Re{S 1And -Q=Im{S 1}
Wherein I (n) and Q (n) are the input samples that receives on I and Q channel respectively, and c (n) is the C/A sign indicating number that does not rotate, w dBe frequency Doppler and, T cBe chip-spaced (.9775us).2ms coherent integration and can being expressed as follows: S ( 2 ms ) = Σ n = 1 2046 [ I ( n ) + jQ ( n ) ] c ( n ) e - j w d n T c = Σ n = 1 1023 [ I ( n ) + jQ ( n ) ] c ( n ) e - j w d n T c + e - j w d ( 1023 ) T c Σ n = 1 1023 [ I ( n + 1023 ) + jQ ( n + 1023 ) ] c ( n ) e - j w d n T c = S 1 + e - j w d ( 1023 ) T c S 2 Here, S 1Be a 1ms integration and, and S 2Be to be used for calculating S 1The 2nd 1ms integration that calculates of identical rotation C/A value with. e - jwd ( 1023 ) T c Item is the phase deviation of the identical rotation value of compensation utilization.Similarly, 3ms coherent integration and can being expressed as S ( 3 ms ) = S 1 + e - j w d ( 1023 ) T c S 2 + e - j w d ( 2046 ) T c S 3
In order to prolong integral time, use the C/A sequence of identical Unit 1023 rotation simultaneously, (n+1) the 1ms integration and before being added to summation should with e -jwdn (1ms)Multiply each other.Since this be the 1ms integration and rotation, we avoid carrying out 2 rotations with this computing and frequency search are combined.That is, because e - j w d n ( 1 ms ) e - j w d n ( 1 ms ) = e - j ( w d + w d ) n ( 1 ms )
We are with (n+1) individual 1ms integration and and e -j (wd+wh) n (1ms)Multiply by the search rate supposition mutually and consider the skew of frequency doppler phase.
Note, because the frequency uncertainty does not rely on satellite, so can after catching a satellite, reduce frequency search.Longer if desired coherent integration can be carried out meticulousr frequency search.
In example embodiment of the present invention, carry out fine search with the method that is similar to rough search.But 2 difference are arranged.The first, the always relevant addition of integration interval, rather than ask square and incoherent addition.The second, will remove the uncertain rotation of frequency (should be known) and frequency doppler phase offset bank and merge and they are added together after being used for rotating the 1ms coherent integration interval after rough search.
In another embodiment of the present invention, more right in long integral time than 18ms e - j w d ( 1023 ) T c 2 The coherent integration window of data is quadratured.If available annex memory, present embodiment is of great use so.For the coherent integration longer, handle the 50Hz data boundary in the same manner with the processing of in short integration period, carrying out than 18ms.Where the base station indicates border to each satellite, and DSP judges it is that 20 1ms coherent integration interval are added to its operation and or therefrom deduct it.
Yet, because frequency is uncertain and the long-pending Ec/Nt loss that affects of integration time constant, so must in the long coherent integration interval, the frequency uncertainty be reduced to very little value.Because carrying out the 20ms integration with 20Hz frequency uncertainty causes Ec/Nt loss 2.42dB, so require the frequency uncertainty is reduced to 1Hz with 400ms maintenance integral time same loss.In order to proofread and correct this problem, need the frequency uncertainty be reduced to 1Hz by the method for classification.For example, first frequency search is reduced to 20Hz with uncertainty from 100Hz, and second search is reduced to 4Hz with uncertainty and the 3rd search is reduced to 1Hz with uncertainty.Frequency search will compensate the frequency Doppler's who captures from the base station error.
In addition, in order to carry out longer integration, in long integral time, only to having similar Doppler's satellite acquisition identical data, this is because for each satellite, and sign indicating number Doppler is different.When DSP collected the coherent integration data window, it calculated slippage 1/16 chip and rotates the required time of decimator.In addition, adopt a plurality of data windows in this embodiment.
So, the method and apparatus of carrying out the location in wireless communication system has been described.Provide foregoing description to make those skilled in the art that can carry out or use the present invention to preferred embodiment.For those skilled in the art that, all be conspicuous to the various changes of these embodiment, and General Principle can be used for other embodiment and need not carry out creative work.Therefore, the embodiment shown in the present invention is not limited to here but will meet consistent with principle that discloses and novelty wide region here.

Claims (3)

1. a method of carrying out the location is characterized in that, comprises the following steps:
Receive one group of high-resolution sampled data at interval in resolution;
The described high-resolution sampled data of accumulation in chip-spaced, with produce accumulation and;
Under separated at interval by described resolution one group skew, with described accumulation with relevant with associated code.
2. the method for claim 1 is characterized in that, aspect the duration, described resolution is shorter than described chip-spaced at interval.
3. the method for claim 1 is characterized in that, described resolution is chip x 8 or bigger at interval.
CN99810728A 1998-09-09 1999-09-02 High resolution location Pending CN1317091A (en)

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US9821434B2 (en) 2012-06-27 2017-11-21 Sintokogio, Ltd. Shot peening method, shot peening evaluation method, and shot peening evaluation assembly structure
CN111796245A (en) * 2020-06-11 2020-10-20 西安空间无线电技术研究所 Doppler dynamic compensation method for ranging equipment of incoherent measurement system

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US6429811B1 (en) 2000-02-15 2002-08-06 Motorola, Inc. Method and apparatus for compressing GPS satellite broadcast message information

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US5781541A (en) * 1995-05-03 1998-07-14 Bell Atlantic Network Services, Inc. CDMA system having time-distributed transmission paths for multipath reception
GB2310098A (en) * 1996-02-08 1997-08-13 Philip Bernard Wesby Locating mobile telephone

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US9821434B2 (en) 2012-06-27 2017-11-21 Sintokogio, Ltd. Shot peening method, shot peening evaluation method, and shot peening evaluation assembly structure
CN111796245A (en) * 2020-06-11 2020-10-20 西安空间无线电技术研究所 Doppler dynamic compensation method for ranging equipment of incoherent measurement system

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