JPH11109020A - Satellite radio wave capturing system - Google Patents

Satellite radio wave capturing system

Info

Publication number
JPH11109020A
JPH11109020A JP27465897A JP27465897A JPH11109020A JP H11109020 A JPH11109020 A JP H11109020A JP 27465897 A JP27465897 A JP 27465897A JP 27465897 A JP27465897 A JP 27465897A JP H11109020 A JPH11109020 A JP H11109020A
Authority
JP
Japan
Prior art keywords
satellite
frequency
radio wave
change
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP27465897A
Other languages
Japanese (ja)
Inventor
Yasunori Aiga
康則 相賀
Katsuo Yui
勝男 由井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Japan Radio Co Ltd
Original Assignee
Japan Radio Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Japan Radio Co Ltd filed Critical Japan Radio Co Ltd
Priority to JP27465897A priority Critical patent/JPH11109020A/en
Publication of JPH11109020A publication Critical patent/JPH11109020A/en
Pending legal-status Critical Current

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  • Position Fixing By Use Of Radio Waves (AREA)
  • Radio Relay Systems (AREA)

Abstract

PROBLEM TO BE SOLVED: To reduce search time by calculating the amount of frequency fluctuation when a satellite signal is suspended and shifting the range of an estimation frequency and an estimation code considering it along the fluctuation of frequency due to the change in a satellite position. SOLUTION: A reception signal estimation device 112 obtains a traveling speed from the trajectory information when a reception signal from a certain satellite is suspended and calculates the amount of fluctuation of frequency for one second due to the traveling and an estimated frequency considering it. Also, when at least three satellites are being tracked and positions are being measured, the traveling speed of a user is inputted from a position measurement operation device 110, and the amount of frequency for one second due to a user's move is calculated. Also, a reception signal estimation device 112 inputs the amount of transmitter error of a known receiver from the position measurement operation device 110, calculates the amount of frequency shift for one second accordingly, and calculates the estimated frequency of a user by considering all of them. Since a code is the integration of frequency, an estimated code is obtained. Then, searching is made with the obtained estimated frequency and estimated code as a center.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【発明の属する技術分野】本発明は、測位システムの衛
星電波捕捉方法に関する。
The present invention relates to a method for capturing satellite radio waves in a positioning system.

【0002】[0002]

【従来の技術】人工衛星を利用した衛星測位システムと
して、GPS(G10balPositioningS
ystem)やGLONASS(G10ba10rbi
tingNavigationSateエ11teSy
steln)などがある。これらの測位システムは、そ
の名の通り、全地球をカバ一する衛星測位システムであ
って、測位用の航法デ一タを含む衛星信号を地球へ向け
て送信し、地上(または海上、航空)に配置した測位シ
ステム衛星信号受信機で、複数個の衛星の電波、例えば
3次元測位の場合は4個の衛星の電波を受信し、各衛星
の信号に含まれる航法デ一タに基づいてその時の受信地
点の緯度、経度、高度などの必要な位置情報をリアルタ
イムに測位できるようにしたものである。
2. Description of the Related Art As a satellite positioning system using an artificial satellite, GPS (G10balPositioningS) is used.
system and GLONASS (G10ba10rbi)
tingNavigationSate 11teSy
steln). As the name implies, these positioning systems are satellite positioning systems that cover the entire earth, transmit satellite signals including navigation data for positioning to the earth, and transmit the signals to the earth (or sea or air). The positioning system satellite signal receiver placed in the satellite receives radio waves of a plurality of satellites, for example, in the case of three-dimensional positioning, radio waves of four satellites, and based on the navigation data included in the signal of each satellite, The required location information such as the latitude, longitude, and altitude of the receiving point can be measured in real time.

【0003】特にGPSは、本来アメリカ軍用に開発さ
れたものであるが、その電波の一部(C/Aコード)に
ついては民間にも解放されており、この電波を利用して
自動車、船舶、航空機などのナビゲ−ション装置を構築
することが可能であり、近年広く世間に認識され利用さ
れるようになっている。図7は、従来の測位システム衛
星信号受信機の構成を示したブロック図である。衛星選
択装置202は、衛星の軌道情報に基づいて現在時刻に
おいて受信可能な衛星を選択する。
[0003] In particular, GPS was originally developed for the U.S. military, but part of its radio waves (C / A code) has been released to the private sector. It is possible to construct a navigation device such as an aircraft, and has recently been widely recognized and used by the public. FIG. 7 is a block diagram showing a configuration of a conventional positioning system satellite signal receiver. The satellite selection device 202 selects a receivable satellite at the current time based on satellite orbit information.

【0004】衛星選択装置202は、その衛星からの電
波のサーチを開始する際の電波の周波数と疑似雑音符号
の位相の初期値としてそれぞれ中心周波数f0i及びコ
ードC0iを求める。これら中心周波数f0i、コード
C0iはその衛星名Siとともに、各衛星毎に設けられ
た衛星信号受信装置204に入力される。図8は、サー
チ方法を説明する模式図であり、f0i、C0iを中心
に、複数の候補でサーチするときの例を示している。横
軸は周波数、縦軸をコードとして、f0i、C0iであ
るa13の候補を中心にa1〜a25まで、計25候補
を示している。
[0004] The satellite selection device 202 obtains a center frequency f0i and a code C0i as initial values of the frequency of the radio wave and the phase of the pseudo-noise code at the start of the search for the radio wave from the satellite, respectively. The center frequency f0i and the code C0i are input together with the satellite name Si to a satellite signal receiving device 204 provided for each satellite. FIG. 8 is a schematic diagram illustrating a search method, and illustrates an example in which a search is performed with a plurality of candidates around f0i and C0i. The abscissa represents frequency, and the ordinate represents codes, and a total of 25 candidates from a1 to a25 around a13 which is f0i and C0i are shown.

【0005】そして、b1が真の衛星の信号である。各
衛星からの電波はアンテナ206で受信され、衛星信号
受信装置204は、このアンテナ206から入力される
各衛星の受信信号を、f0i、COiであるa13を中
心として、a1〜a25候補の組み合わせの中から最大
の信号パワーとなる候補a6がしきい値を越えているか
をチェックする。そして、越えた時から、信号追尾を再
開する。衛星信号受信装置204は信号引き込み、つま
りサーチに成功した場合、その衛星の現在の追尾周波数
fi、追尾コードCiと現在追尾中であることを示すス
テータス情報jiを出力し、一方、追尾していた衛星を
見失った場合には、ステータス情報jiに非追尾情報を
示す情報を設定して出力する。
Further, b1 is a true satellite signal. The radio wave from each satellite is received by the antenna 206, and the satellite signal receiving device 204 converts the received signal of each satellite input from the antenna 206 into a combination of a1 to a25 candidates around a13 which is f0i and COi. It is checked whether the candidate a6 having the maximum signal power from the middle exceeds the threshold value. Then, signal tracking is restarted from the time when the signal is exceeded. When the satellite signal receiving device 204 succeeds in signal pull-in, that is, in a successful search, the satellite signal receiving device 204 outputs the current tracking frequency fi, the tracking code Ci of the satellite, and the status information ji indicating that the satellite is currently being tracked. When the satellite is lost, information indicating the non-tracking information is set and output to the status information ji.

【0006】測定判定装置208は各衛星信号受信装置
204からステータス情報jiを得て、測位計算できる
かを判定し、測位計算できる場合には測位計算に用いる
衛星の組み合わせ情報Lを求めて測位演算装置210に
出力する。測位計算可能かどうかの判定は、例えば追尾
中の衛星数が4以上の場合には3次元測位可能、3の場
合には2次元測位可能、2以下の場合には測位演算をし
ないといったものである。測位演算装置210は、組み
合わせ情報Lにより指定される衛星の追尾周波数fiと
追尾コード情報Ciを用いて測位演算を行い、この受信
機が搭載された移動体の位置、速度の測定値である測位
結果Pを出力する。
[0006] The measurement judging device 208 obtains status information ji from each satellite signal receiving device 204, judges whether positioning calculation can be performed, and if positioning calculation can be performed, obtains combination information L of satellites used for positioning calculation to determine positioning calculation. Output to the device 210. The determination as to whether or not positioning can be calculated is, for example, three-dimensional positioning is possible when the number of tracking satellites is four or more, two-dimensional positioning is possible when three is tracked, and positioning calculation is not performed when the number is two or less. is there. The positioning calculation device 210 performs a positioning calculation using the tracking frequency fi of the satellite specified by the combination information L and the tracking code information Ci, and determines the position and the speed of the moving object on which the receiver is mounted. The result P is output.

【0007】移動体の位置の演算においては、追尾コー
ドCiが含む疑似雑音符号の位相情報から衛星と移動体
との時刻差が求められ、これと光速から得られる衛星信
号の経路長に基づいて位置が決定される。また速度の演
算においては、衛星が発信する信号の周波数と追尾周波
数fiとの差がドップラーシフトとして求められ、これ
を用いて速度が決定される。
In the calculation of the position of the moving object, the time difference between the satellite and the moving object is obtained from the phase information of the pseudo-noise code included in the tracking code Ci, and the time difference is obtained based on this and the path length of the satellite signal obtained from the speed of light. The position is determined. In the calculation of the speed, the difference between the frequency of the signal transmitted by the satellite and the tracking frequency fi is obtained as a Doppler shift, and the speed is determined using the Doppler shift.

【0008】[0008]

【発明が解決しようとする課題】車載用ナビゲ−ション
装置などに用いられるGPS受信機は、それまで捕捉し
ていた衛星がビルなどで遮られ、受信不能な状態となる
と、その衛星に対応する衛星信号受信装置204はステ
ータス情報Jiに非追尾状態を示す情報を設定するとと
もに、中断前の追尾周波数fi、追尾コード情報Ciを
中心として見失った衛星の電波を再サーチする。
A GPS receiver used in an in-vehicle navigation device or the like responds to a satellite that has been captured so far when the satellite is blocked by a building or the like and cannot be received. The satellite signal receiving device 204 sets the information indicating the non-tracking state in the status information Ji, and also searches again for the lost radio wave centering on the tracking frequency fi and the tracking code information Ci before the interruption.

【0009】ところで、GPS衛星は1575.42
[MHz]で電波を送信しているが、静止衛星ではない
ため、ドップラー効果によりその受信周波数が時間経過
と共に変化する。一方、GPS受信機は受信機自身の移
動、例えば、車載用のGPS受信機の場合なら車両移動
によっても、ドップラー効果を生じる。さらに、GPS
受信機の発信器誤差により、周波数シフトが起こる。
[0009] Incidentally, the GPS satellite is 1575.42.
Although the radio wave is transmitted at [MHz], since it is not a geostationary satellite, its reception frequency changes with time due to the Doppler effect. On the other hand, the Doppler effect also occurs when the GPS receiver itself moves, for example, when the GPS receiver is mounted on a vehicle, the vehicle moves. In addition, GPS
A frequency shift occurs due to the transmitter error of the receiver.

【0010】したがって、衛星を再サーチするとき、中
断時間が数秒であれば、中断前の衛星の追尾周波数f
i、追尾コードCiを中心にサーチしても、周波数及び
コードの変化量は小さいため、サーチに要する時間はそ
れほど必要ではないが、中断時間が長時間のとき、中断
前の衛星の追尾周波数fi、追尾コードCiを中心にサ
ーチした場合、周波数及びコードの変化量は大きいた
め、サーチに要する時間が長くなってしまう。
Therefore, when re-searching the satellite, if the interruption time is several seconds, the tracking frequency f of the satellite before the interruption is obtained.
i, even when searching around the tracking code Ci, the amount of change in the frequency and the code is small, so the time required for the search is not so long. However, when the interruption time is long, the tracking frequency fi of the satellite before interruption is long. When the search is performed around the tracking code Ci, the amount of change in the frequency and the code is large, so that the time required for the search becomes long.

【0011】本発明は、上記問題点を解消し、中断前の
追尾周波数及びコードを中心にサーチするよりも、サー
チする範囲を小さくすることを可能にし、サーチに要す
る時間が短くできる測位システムの衛星電波捕捉方法を
提供することを目的とする。
[0011] The present invention solves the above-mentioned problems, and makes it possible to make the search range smaller than the search centering on the tracking frequency and the code before the interruption, thereby shortening the time required for the search. An object of the present invention is to provide a satellite radio wave capturing method.

【0012】[0012]

【課題を解決するための手段】本発明によれば、捕捉中
の衛星の電波が一定時間以上に亘って受信不能になった
時に衛星を再捕捉するようにし、かつ、その場合に複数
の周波数と複数のコードによる組み合わせの中から最大
信号パワーとなる組み合わせを求め、その最大信号パワ
ーがしきい値を越えた時から、信号追尾を再開する衛星
信号受信機を用いた衛星電波捕捉システムにおいて、前
記衛星からの受信信号が中断したとき、周波数変動分を
算出する受信信号推定装置を備え、その周波数変動分を
考慮した推定周波数及び該推定周波数の積分値である推
定コードの範囲を前記衛星位置の変化に伴うドップラー
周波数の変化に沿ってずらしていくことを特徴とする衛
星電波捕捉システムが得られる。
According to the present invention, a satellite is reacquired when the radio wave of the satellite being acquired becomes unreceivable for a certain period of time or more, and in this case, a plurality of frequencies are acquired. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking from the time when the maximum signal power exceeds the threshold value, the combination that obtains the maximum signal power from the combination of multiple codes and A reception signal estimating device for calculating a frequency variation when a reception signal from the satellite is interrupted, and an estimation frequency in consideration of the frequency variation and a range of an estimation code which is an integrated value of the estimation frequency are set to the satellite position. A satellite radio wave acquisition system characterized by shifting along the change of Doppler frequency accompanying the change of the frequency is obtained.

【0013】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた衛星電波捕捉システムにおいて、前記衛星からの
受信信号が中断したとき、周波数変動分を算出し、その
周波数変動分を考慮した推定周波数及び該推定周波数の
積分値である推定コードの範囲をユーザ一位置の変化に
伴うドップラー周波数の変化に沿ってずらしていくこと
を特徴とする衛星電波捕捉システムが得られる。
According to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired has become unreceivable for a predetermined time or more, and in this case, a plurality of frequencies and a plurality of codes are used. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking when the maximum signal power exceeds a threshold value, a combination that provides the maximum signal power is selected from the combinations by When the received signal is interrupted, the frequency variation is calculated, and the estimated frequency in consideration of the frequency variation and the range of the estimated code, which is an integral value of the estimated frequency, are changed along with the change in the Doppler frequency accompanying the change in one position of the user. Thus, a satellite radio wave capturing system characterized by being shifted is obtained.

【0014】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた測位システムの衛星電波捕捉方法において、前記
衛星からの受信信号が中断したとき、周波数変動分を算
出し、その周波数変動分を考慮した推定周波数及び該推
定周波数の積分値である推定コードの範囲を前記衛星信
号受信機の発信器誤差に伴う周波数シフトに沿ってずら
していくことを特徴とする衛星電波捕捉システムが得ら
れる。
Further, according to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired has become unreceivable for a predetermined time or more, and in that case, a plurality of frequencies and a plurality of codes are used. From the combinations by the maximum signal power to determine the combination, when the maximum signal power exceeds the threshold, from the satellite signal capture method of a positioning system using a satellite signal receiver to resume signal tracking, When the reception signal from the satellite is interrupted, the frequency variation is calculated, and the estimated frequency in consideration of the frequency variation and the range of the estimation code that is an integral value of the estimated frequency are calculated as the transmitter error of the satellite signal receiver. A satellite radio wave capturing system characterized by shifting along the accompanying frequency shift is obtained.

【0015】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた衛星電波捕捉システムにおいて、前記衛星からの
受信信号が中断したとき、周波数変動分を算出する受信
信号推定装置を備え、その周波数変動分を考慮した推定
周波数及び該推定周波数の積分値である推定コードの範
囲を前記衛星位置の変化及びユーザ一位置の変化に伴う
ドップラー周波数の変化に沿ってずらしていくことを特
徴とする衛星電波捕捉システムが得られる。
According to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired becomes unreceivable for a predetermined time or more, and in this case, a plurality of frequencies and a plurality of codes are used. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking when the maximum signal power exceeds a threshold value, a combination that provides the maximum signal power is selected from the combinations by When the received signal is interrupted, a received signal estimating device for calculating a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and a range of an estimated code, which is an integral value of the estimated frequency, are changed by the satellite position change and user A satellite radio wave capturing system characterized by shifting along a change in Doppler frequency accompanying a change in one position is obtained.

【0016】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた衛星電波捕捉システムにおいて、前記衛星からの
受信信号が中断したとき、周波数変動分を算出する受信
信号推定装置を備え、その周波数変動分を考慮した推定
周波数及び該推定周波数の積分値である推定コードの範
囲を前記衛星位置の変化に伴うドップラー周波数の変化
及び前記衛星信号受信機の発信器誤差に伴う周波数シフ
トに沿ってずらしていくことを特徴とする衛星電波捕捉
システムが得られる。
Further, according to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired has become unreceivable for a predetermined time or more, and in that case, a plurality of frequencies and a plurality of codes are used. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking when the maximum signal power exceeds a threshold value, a combination that provides the maximum signal power is selected from the combinations by When the received signal is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and a range of an estimated code that is an integrated value of the estimated frequency are associated with a change in the satellite position. A satellite radio wave acquisition system characterized by shifting along a frequency shift accompanying a change in Doppler frequency and a transmitter error of the satellite signal receiver is obtained. .

【0017】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた衛星電波捕捉システムにおいて、前記衛星からの
受信信号が中断したとき、周波数変動分を算出する受信
信号推定装置を備え、その周波数変動分を考慮した推定
周波数及び該推定周波数の積分値である推定コードの範
囲をユーザ一位置の変化に伴うドップラー周波数の変化
及び前記衛星信号受信機の発信器誤差に伴う周波数シフ
トに沿ってずらしていくことを特徴とする衛星電波捕捉
システムが得られる。
Further, according to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired has become unreceivable for a predetermined time or more, and in this case, a plurality of frequencies and a plurality of codes are used. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking when the maximum signal power exceeds a threshold value, a combination that provides the maximum signal power is selected from the combinations by When the reception signal is interrupted, the apparatus includes a reception signal estimating device that calculates a frequency variation, and a range of an estimation code which is an integrated value of the estimated frequency in consideration of the frequency variation and the estimated frequency is associated with a change in one position of the user A satellite radio wave acquisition system characterized by shifting along a frequency shift accompanying a change in Doppler frequency and a transmitter error of the satellite signal receiver is obtained. .

【0018】又、本発明によれば、捕捉中の衛星の電波
が一定時間以上に亘って受信不能になった時に衛星を再
捕捉するようにし、かつ、その場合に複数の周波数と複
数のコードによる組み合わせの中から最大信号パワーと
なる組み合わせを求め、その最大信号パワーがしきい値
を越えた時から、信号追尾を再開する衛星信号受信機を
用いた衛星電波捕捉システムにおいて、前記衛星からの
受信信号が中断したとき、周波数変動分を算出する受信
信号推定装置を備え、その周波数変動分を考慮した推定
周波数及び該推定周波数の積分値である推定コードの範
囲を前記衛星位置の変化及びユーザ一位置の変化に伴う
ドップラー周波数の変化並びに前記衛星信号受信機の発
信器誤差に伴う周波数シフトに沿ってずらしていくこと
を特徴とする衛星電波捕捉システムが得られる。
Further, according to the present invention, the satellite is reacquired when the radio wave of the satellite being acquired has become unreceivable for a predetermined time or more, and in this case, a plurality of frequencies and a plurality of codes are used. In a satellite radio wave acquisition system using a satellite signal receiver that resumes signal tracking when the maximum signal power exceeds a threshold value, a combination that provides the maximum signal power is selected from the combinations by When the received signal is interrupted, a received signal estimating device for calculating a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and a range of an estimated code, which is an integral value of the estimated frequency, are changed by the satellite position change and user A satellite which shifts along a change in Doppler frequency due to a change in one position and a frequency shift due to a transmitter error of the satellite signal receiver. Wave acquisition system is obtained.

【0019】[0019]

【発明の実施の形態】以下、本発明の実施の形態につい
て図面を参照して詳細に説明する。図1は、本発明を実
施した測位システム衛星信号受信機の構成を示すブロッ
ク図である。図2は衛星電波の受信周波数の変化曲線の
例を示す図である。図3は上記した推測周波数の一例を
示す図である。ある衛星からの電波が中断した場合は、
図3の実線に示したように、周波数の変化の動きに沿っ
て、サーチ範囲を動かしていく。ここで、中断時間をt
とし、f0を衛星の送信周波数(例えば、GPS衛星は
1575.42[MHz])とする。
Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning system satellite signal receiver embodying the present invention. FIG. 2 is a diagram illustrating an example of a change curve of the reception frequency of the satellite radio wave. FIG. 3 is a diagram showing an example of the above estimated frequency. If the signal from a satellite is interrupted,
As shown by the solid line in FIG. 3, the search range is moved along with the change of the frequency. Here, the interruption time is t
And f0 is a satellite transmission frequency (for example, 1575.42 [MHz] for a GPS satellite).

【0020】ある衛星からの受信信号が中断したとき
に、受信信号推測装置112は、その衛星の軌道情報よ
り、衛星の移動速度を算出し、衛星の移動による1秒間
の周波数変動分dfis(t)を算出する。そして、衛星
移動による周波数変動分を考慮した推定周波数f′
i (t)を算出する。この推定周波数f′i (t)の算
出式を以下の数1に示す。
When the received signal from a certain satellite is interrupted, the received signal estimating device 112 calculates the moving speed of the satellite from the orbital information of the satellite, and obtains the one-second frequency fluctuation df is (ds is due to the movement of the satellite). Calculate t). Then, the estimated frequency f ′ considering the frequency fluctuation due to the satellite movement
i (t) is calculated. The equation for calculating the estimated frequency f ′ i (t) is shown in the following Equation 1.

【0021】[0021]

【数1】 (Equation 1)

【0022】さらに、慣性航法装置などがついたハイブ
リッド方式のナビゲーションの場合、その慣性航法装置
より、例えば車速V、進行方位Dを受信信号推測装置1
12に入力する。また、3衛星以上追尾し測位している
場合、測位演算装置110より、受信信号推定装置11
2にユーザ一の移動速度を入力する。そして、受信機信
号推定装置112は、推定周波数、推定コードの精度を
向上させるため、これらの手段によって入力されたユー
ザ−の移動速度より、ユーザ−の移動による1秒間の周
波数変動分dfiu(t)を算出する。そして、衛星移動
による周波数変動分に加え、ユーザ一移動による周波数
変動分も考慮した推定周波数f′i (t)を算出する。
この推定周波数f′i (t)の算出式を以下の数2に示
す。
Further, in the case of a hybrid navigation system provided with an inertial navigation device or the like, the received signal estimating device 1 determines, for example, the vehicle speed V and the traveling direction D from the inertial navigation device.
Input to 12. In the case where three or more satellites are tracked and positioning is performed, the positioning calculation device 110 sends the received signal estimation device 11
In step 2, the user's moving speed is input. Then, the receiver signal estimating device 112 improves the accuracy of the estimated frequency and the estimated code from the moving speed of the user input by these means, thereby obtaining the frequency variation df iu (second) due to the movement of the user. Calculate t). Then, the estimated frequency f ′ i (t) is calculated in consideration of the frequency fluctuation due to the user's movement in addition to the frequency fluctuation due to the satellite's movement.
The equation for calculating the estimated frequency f ′ i (t) is shown in Equation 2 below.

【0023】[0023]

【数2】 (Equation 2)

【0024】さらに、3衛星以上追尾し測位している場
合、受信機の発信器誤差量も既知であるため、測位演算
装置110より、受信信号推定装置112に受信機の発
信器誤差量を入力する。そして、受信信号推定装置11
2は、さらに推定周波数、推定コードの精度を向上させ
るため、受信機の発信器誤差による1秒間の周波数シフ
ト量dfic(t)を算出する。
Further, when positioning is performed by tracking three or more satellites, the transmitter error amount of the receiver is input to the received signal estimating device 112 from the positioning operation device 110 because the transmitter error amount of the receiver is also known. I do. Then, the reception signal estimation device 11
2 further estimated frequency, to improve the accuracy of estimation code, calculates the frequency shift amount df ics of 1 second by transmitter error in receiver (t).

【0025】そして、衛星移動による周波数変動分、ユ
ーザ一移動による周波数変動分に加え、受信機の発信器
誤差による周波数シフトも考慮したユーザ一の推定周波
数f′i (t)を算出する。この推定周波数f′
i (t)の算出式を以下の数3に示す。
Then, an estimated frequency f ' i (t) of the user is calculated in consideration of the frequency fluctuation due to the satellite movement, the frequency fluctuation due to the user's movement, and the frequency shift due to the transmitter error of the receiver. This estimated frequency f '
The formula for calculating i (t) is shown in Equation 3 below.

【0026】[0026]

【数3】 (Equation 3)

【0027】また、コードは周波数の積分であることよ
り推測コードC′i (t)を算出する。この推測コード
C′i (t)の算出式を以下の数4に示す。ここで、初
期値となる中断前の追尾コードをCi (0)とする。
Further, since the code is an integral of the frequency, the guess code C ′ i (t) is calculated. The formula for calculating the guess code C ′ i (t) is shown in the following Expression 4. Here, the tracking code before the interruption, which is the initial value, is assumed to be C i (0).

【0028】[0028]

【数4】 (Equation 4)

【0029】そして、受信信号推定装置112は、衛星
信号受信装置104に、算出した推定周波数f′
i (t)及び推定コードC′i (t)を中心にサーチを
行うように指示する。
Then, the received signal estimating device 112 sends the calculated estimated frequency f ′ to the satellite signal receiving device 104.
It is instructed to search around i (t) and the estimated code C ′ i (t).

【0030】尚、本実施の形態では周波数変化の動きの
パラメータとして、衛星位置の変化、ユーザ一位置の変
化、及び発信器誤差を挙げ、その場合において衛星位置
の変化のみ、衛星位置の変化及びユーザ一位置の変化、
衛星位置の変化、ユーザ一位置の変化、及び発信器誤差
の組み合わせを例として述べたが、本発明はこれに限定
されない。すなわち、衛星位置の変化、ユーザ一位置の
変化、及び発信器誤差の3つのパラメータの全ての組み
合わせで本発明の効果が得られる。
In this embodiment, the movement parameters of the frequency change include a satellite position change, a user-one position change, and a transmitter error. In this case, only the satellite position change, the satellite position change and the satellite position change are considered. Change of user one position,
Although a combination of a change in satellite position, a change in user position, and a transmitter error has been described as an example, the present invention is not limited to this. In other words, the effect of the present invention can be obtained with all combinations of the three parameters of the change of the satellite position, the change of one user position, and the transmitter error.

【0031】又、本実施の形態において、周波数変化の
動きに沿ってサーチ範囲を動かす方法を説明したが、こ
れに限定はされない。例えば、図4に示したように、周
波数変化が所定の周波数幅以上に変化した場合、チェッ
クするサーチ範囲を所定の周波数幅分ずらしていく。ま
た、図5に示したように、所定の時間間隔毎に周波数変
化を計算し、チェックするサーチ範囲を周波数変化の動
きに沿って動かしていく。また、図6に示したように、
所定の時間間隔毎にチェックするサーチ範囲を周波数変
化の方向にのみ段階的に広げていく。
Further, in the present embodiment, the method of moving the search range according to the change of the frequency has been described, but the present invention is not limited to this. For example, as shown in FIG. 4, when the frequency change has changed to a predetermined frequency width or more, the search range to be checked is shifted by a predetermined frequency width. Further, as shown in FIG. 5, the frequency change is calculated at predetermined time intervals, and the search range to be checked is moved along with the frequency change. Also, as shown in FIG.
The search range to be checked at predetermined time intervals is gradually increased only in the direction of frequency change.

【0032】[0032]

【発明の効果】本発明の測位システムの衛星電波補足方
法によれば、長時間の中断での再サーチにおいて、衛
星、ユーザ一の移動による周波数変動分、及び受信機の
発信器誤差による周波数シフト量に沿ってサーチする中
心周波数及びコードをずらしていくため、中断前の追尾
周波数及びコードを中心にサーチするよりも、サーチす
る範囲を小さくすることが可能であり、また、サーチに
要する時間が短くできるという効果が得られる。
According to the satellite radio wave supplementing method of the positioning system of the present invention, in the re-search after a long interruption, the frequency shift due to the movement of the satellite and the user, and the frequency shift due to the transmitter error of the receiver. Since the center frequency and the code to be searched are shifted according to the amount, it is possible to make the search range smaller than when searching around the tracking frequency and the code before the interruption, and the time required for the search is reduced. The effect of shortening can be obtained.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明を実施するための測位システム衛星信号
受信機の構成を示したブロック図である。
FIG. 1 is a block diagram showing a configuration of a positioning system satellite signal receiver for implementing the present invention.

【図2】衛生電波の受信周波数の変化曲線の一例を示し
た図である。
FIG. 2 is a diagram illustrating an example of a change curve of a reception frequency of a satellite radio wave.

【図3】推測周波数の一例を示した図である。FIG. 3 is a diagram illustrating an example of an estimated frequency.

【図4】本発明による衛星電波捕捉方法の一例を示した
図である。
FIG. 4 is a diagram showing an example of a satellite radio wave capturing method according to the present invention.

【図5】本発明による衛星電波捕捉方法の他の例を示し
た図である。
FIG. 5 is a diagram showing another example of the satellite radio wave capturing method according to the present invention.

【図6】本発明による衛星電波捕捉方法の他の例を示し
た図である。
FIG. 6 is a diagram showing another example of the satellite radio wave capturing method according to the present invention.

【図7】従来の測位システム衛星信号受信機の構成を示
したブロック図である。
FIG. 7 is a block diagram showing a configuration of a conventional positioning system satellite signal receiver.

【図8】サーチ方法を説明するための図である。FIG. 8 is a diagram for explaining a search method.

【符号の説明】[Explanation of symbols]

102 衛星選択装置 104 衛星信号受信装置 106 アンテナ 108 測位判定装置 110 測位演算装置 112 受信信号推定装置 Reference Signs List 102 satellite selection device 104 satellite signal reception device 106 antenna 108 positioning determination device 110 positioning calculation device 112 reception signal estimation device

Claims (7)

【特許請求の範囲】[Claims] 【請求項1】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出する受信信号推定装置を備
え、その周波数変動分を考慮した推定周波数及び該推定
周波数の積分値である推定コードの範囲を前記衛星位置
の変化に伴うドップラー周波数の変化に沿ってずらして
いくことを特徴とする衛星電波捕捉システム。
When a radio wave of a satellite being acquired has been unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and an integrated value of the estimated frequency. A satellite radio wave acquisition system, wherein a range of an estimation code is shifted along with a change in Doppler frequency accompanying a change in the satellite position.
【請求項2】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出し、その周波数変動分を考慮
した推定周波数及び該推定周波数の積分値である推定コ
ードの範囲をユーザ一位置の変化に伴うドップラー周波
数の変化に沿ってずらしていくことを特徴とする衛星電
波捕捉システム。
2. When a radio wave of a satellite being acquired has become unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a frequency variation is calculated, and an estimated frequency in consideration of the frequency variation and a range of an estimated code which is an integrated value of the estimated frequency are set by a user. A satellite radio wave acquisition system characterized by shifting along a change in Doppler frequency accompanying a change in one position.
【請求項3】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた測位システム
の衛星電波捕捉方法において、前記衛星からの受信信号
が中断したとき、周波数変動分を算出し、その周波数変
動分を考慮した推定周波数及び該推定周波数の積分値で
ある推定コードの範囲を前記衛星信号受信機の発信器誤
差に伴う周波数シフトに沿ってずらしていくことを特徴
とする衛星電波捕捉システム。
3. When a radio wave of a satellite being acquired becomes unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing method of the positioning system used, when a received signal from the satellite is interrupted, a frequency variation is calculated, an estimated frequency in consideration of the frequency variation, and an estimation code which is an integral value of the estimated frequency. A satellite radio wave acquisition system wherein a range is shifted along a frequency shift caused by a transmitter error of the satellite signal receiver.
【請求項4】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出する受信信号推定装置を備
え、その周波数変動分を考慮した推定周波数及び該推定
周波数の積分値である推定コードの範囲を前記衛星位置
の変化及びユーザ一位置の変化に伴うドップラー周波数
の変化に沿ってずらしていくことを特徴とする衛星電波
捕捉システム。
4. When a radio wave of a satellite being acquired has become unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and an integrated value of the estimated frequency. A satellite radio wave acquisition system wherein the range of the estimation code is shifted along with the change in the Doppler frequency accompanying the change in the satellite position and the change in the position of the user.
【請求項5】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出する受信信号推定装置を備
え、その周波数変動分を考慮した推定周波数及び該推定
周波数の積分値である推定コードの範囲を前記衛星位置
の変化に伴うドップラー周波数の変化及び前記衛星信号
受信機の発信器誤差に伴う周波数シフトに沿ってずらし
ていくことを特徴とする衛星電波捕捉システム。
5. When a radio wave of a satellite being acquired has become unreceivable for more than a predetermined time, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and an integrated value of the estimated frequency. A satellite radio wave acquisition system, wherein a range of an estimation code is shifted along a change in Doppler frequency due to a change in the satellite position and a frequency shift due to a transmitter error of the satellite signal receiver.
【請求項6】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出する受信信号推定装置を備
え、その周波数変動分を考慮した推定周波数及び該推定
周波数の積分値である推定コードの範囲をユーザ一位置
の変化に伴うドップラー周波数の変化及び前記衛星信号
受信機の発信器誤差に伴う周波数シフトに沿ってずらし
ていくことを特徴とする衛星電波捕捉システム。
6. When a radio wave of a satellite being acquired has been unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and an integrated value of the estimated frequency. A satellite radio wave acquisition system wherein the range of an estimated code is shifted along a change in Doppler frequency due to a change in one user position and a frequency shift due to a transmitter error of the satellite signal receiver.
【請求項7】 捕捉中の衛星の電波が一定時間以上に亘
って受信不能になった時に衛星を再捕捉するようにし、
かつ、その場合に複数の周波数と複数のコードによる組
み合わせの中から最大信号パワーとなる組み合わせを求
め、その最大信号パワーがしきい値を越えた時から、信
号追尾を再開する衛星信号受信機を用いた衛星電波捕捉
システムにおいて、前記衛星からの受信信号が中断した
とき、周波数変動分を算出する受信信号推定装置を備
え、その周波数変動分を考慮した推定周波数及び該推定
周波数の積分値である推定コードの範囲を前記衛星位置
の変化及びユーザ一位置の変化に伴うドップラー周波数
の変化並びに前記衛星信号受信機の発信器誤差に伴う周
波数シフトに沿ってずらしていくことを特徴とする衛星
電波捕捉システム。
7. When a radio wave of a satellite being acquired becomes unreceivable for a predetermined time or more, the satellite is reacquired,
In this case, a satellite signal receiver that determines a combination that has the maximum signal power from a combination of a plurality of frequencies and a plurality of codes, and resumes signal tracking when the maximum signal power exceeds a threshold value. In the satellite radio wave capturing system used, when a received signal from the satellite is interrupted, a received signal estimating device that calculates a frequency variation is provided, and an estimated frequency in consideration of the frequency variation and an integrated value of the estimated frequency. Satellite radio wave capture, wherein the range of the estimation code is shifted along with the change of Doppler frequency due to the change of the satellite position and the change of one user position and the frequency shift due to the transmitter error of the satellite signal receiver. system.
JP27465897A 1997-10-07 1997-10-07 Satellite radio wave capturing system Pending JPH11109020A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP27465897A JPH11109020A (en) 1997-10-07 1997-10-07 Satellite radio wave capturing system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP27465897A JPH11109020A (en) 1997-10-07 1997-10-07 Satellite radio wave capturing system

Publications (1)

Publication Number Publication Date
JPH11109020A true JPH11109020A (en) 1999-04-23

Family

ID=17544765

Family Applications (1)

Application Number Title Priority Date Filing Date
JP27465897A Pending JPH11109020A (en) 1997-10-07 1997-10-07 Satellite radio wave capturing system

Country Status (1)

Country Link
JP (1) JPH11109020A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003505669A (en) * 1999-07-20 2003-02-12 クゥアルコム・インコーポレイテッド Method for determining changes in communication signals and using this information to improve SPS signal reception and processing
JP2008070243A (en) * 2006-09-14 2008-03-27 Seiko Epson Corp Method of updating search range, control program of terminal device, recording medium and terminal device
JP2009177656A (en) * 2008-01-28 2009-08-06 Kenwood Corp Satellite communications terminal and receiving method
JP2011153891A (en) * 2010-01-27 2011-08-11 Japan Radio Co Ltd Satellite signal receiver
JP2012503764A (en) * 2008-09-26 2012-02-09 テールズ How to optimize the acquisition of spread spectrum signals from satellites by mobile receivers
WO2023139745A1 (en) * 2022-01-21 2023-07-27 日本電信電話株式会社 Wireless communication system and doppler shift amount estimation method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003505669A (en) * 1999-07-20 2003-02-12 クゥアルコム・インコーポレイテッド Method for determining changes in communication signals and using this information to improve SPS signal reception and processing
US8369873B2 (en) 1999-07-20 2013-02-05 Qualcomm Incorporated Method for determining A change in A communication signal and using this information to improve SPS signal reception and processing
US8886225B2 (en) 1999-07-20 2014-11-11 Qualcomm Incorporated Position determination processes using signals' multipath parameters
JP2008070243A (en) * 2006-09-14 2008-03-27 Seiko Epson Corp Method of updating search range, control program of terminal device, recording medium and terminal device
JP2009177656A (en) * 2008-01-28 2009-08-06 Kenwood Corp Satellite communications terminal and receiving method
JP2012503764A (en) * 2008-09-26 2012-02-09 テールズ How to optimize the acquisition of spread spectrum signals from satellites by mobile receivers
JP2011153891A (en) * 2010-01-27 2011-08-11 Japan Radio Co Ltd Satellite signal receiver
WO2023139745A1 (en) * 2022-01-21 2023-07-27 日本電信電話株式会社 Wireless communication system and doppler shift amount estimation method

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