KR100974933B1 - Code tracking apparatus for multipath fading mitigation and method for code tracking using the same - Google Patents

Abstract

According to the present invention, the time difference between the early-correlator and the late-correlator is fixed to 1 to 2 chips, and the minimum phase of the output value difference is tracked so that the code phase may be varied even when there are various multipath interference signals that cause position estimation errors. The present invention relates to a code tracking device for multipath error elimination that improves tracking accuracy, tracking speed, and tracking area, and a code tracking method using the same.

Code tracking device for multi-path error elimination of the present invention for the code tracking device, a code generator, a first variable delay to variably delay the output signal of the code generator, and is output from the code generator The correlation value (E) between the early signal and the received signal is obtained, and the correlation value (L) between the late signal and the received signal 1 to 2 chips later than the early signal output from the code generator is obtained. An early-late correlator that calculates and outputs a difference (EmL), a minimum point tracker that converges the early-late correlator output value (EmL) to a minimum value, and a constant delay time for the minimum point output from the minimum point tracker. And a second variable delay unit controlling the synchronization of the code generator to be exactly matched according to the compensating tracking error corrector and the output signal of the tracking error corrector.

 Early Correlator, Late Correlator, Minimum Point Tracker, Accumulator, Tracking Error Corrector

Description

CODE TRACKING APPARATUS FOR MULTIPATH FADING MITIGATION AND METHOD FOR CODE TRACKING USING THE SAME}

The present invention relates to a code tracking device and method, and more particularly, by fixing the time difference between the early-correlator and the late-correlator to 1 to 2 chips, and tracking the minimum point of the output value difference, the cause of the position estimation error is reduced. The present invention relates to a code tracking device and a code tracking method using the same for multipath error elimination which improves code phase tracking accuracy, tracking speed, and tracking area even when various multipath interference signals exist.

In general, a global navigation satellite system is a satellite signal transmitted from a navigation satellite traveling in a specific orbit through an antenna of a satellite navigation receiver mounted on the antibody, and based on the satellite signal, the position and velocity of the antibody And it is a system configured to calculate the navigation information, such as time.

According to the satellite navigation system, navigation is possible regardless of weather conditions regardless of the world, and there is an advantage that error does not accumulate, and usage continues to increase, and GPS (GlobalPositioning System) is a representative satellite navigation receiver. Receiver, Global Navigation Satellite System (GNSS) receiver, and the like.

In order to track the position of the satellite navigation system, it is necessary to precisely synchronize the codes. To do this, first, a code acquisition process for synchronizing codes within one chip and a code tracking process for more precise synchronization are performed. Going through.

Basically, in a simple noise environment, early-minus-late ruler is used, but if there is a multipath fading signal which is a code tracking error factor, it is narrow correlator or multipath signal attenuation technique. The multipath mitigation technique is used.

The narrow-band correlator minimizes the time difference between the early correlator and the late correlator, that is, the test code used for code tracking, and minimizes the effect of the multipath fading signal by subtracting the output value of the late correlator from the output of the early correlator. However, this has the disadvantage that tracking error is inevitable when the multipath delay time is within the time difference between the early correlator and the late correlator.

가 -20dB인 경우에도 수신 성능이 보장되어야 하는 것을 가정한다면 위치추적이 정확하지 못한 단점을 갖게 된다.The multipath signal attenuation technique collectively refers to methods of estimating the multipath signal strength included in a received signal and removing it from the received signal using various signal processing techniques. Adaptive Multipath Mitigation Techniques, Multipath Estimating Delay Lock Loops, Modified Rake Delay Lock Loops, etc. are all used to estimate the received noise level in estimating the strength of multipath signals included in the received signal. In case of weakness, it shows good performance, but the signal-to-noise ratio is relatively high because the signal received from the satellite is substantially attenuated.

Assuming that the reception performance should be guaranteed even at -20dB, position tracking has an inaccurate disadvantage.

In addition, the Galileo system developed in Europe as a satellite navigation system is supposed to use the same frequency band as that of the GPS (Global Positioning System), which is different from the GPS modulation method, that is, BOC (m, n) (Binary). Offset Code is used, which has a problem of phase ambiguity.

An object of the present invention for improving the problem of the background art is to provide an early-late correlator that fixes the time difference between the early signal and the late signal on one or two chips even in the presence of a multipath fading signal. Using a minimum tracker that converges the output of the Early-Late correlator to the minimum value, it is possible to accurately and fastly track the tracking area, even in the presence of multipath interference signals. A code tracking device for removing a path error and a code tracking method using the same are provided.

Code tracking device for multi-path error elimination of the present invention, in the code tracking device, a code generator, a first variable delay to variably delay the output signal of the code generator, and the fast output from the code generator ( Early) The correlation value (E) between the signal and the received signal is obtained, and the correlation value (L) between the late signal and the received signal 1 to 2 chips later than the early signal output from the code generator is obtained. An early-late correlator for calculating and outputting EmL), a minimum tracker for converging the Early-Late correlator output value (EmL) to a minimum value, and compensating a constant delay time for the minimum point outputted from the minimum tracker. And a second variable delay unit controlling the synchronization of the code generator to be exactly matched according to the output signal of the tracking error corrector and the tracking error corrector.

The early-late correlator is preferably used to solve the imbalance factor using the early correlator and the late correlator as a single correlator.

The Early-Late correlator preferably has a variable integrator to minimize noise effects and convergence time.

Preferably, the variable integrator of the early-late correlator variably controls the integration time according to the convergence state of the minimum point.

The variable integrator of the Early-Late correlator is selectively controlled according to the change of the variable step size to variably control the integration time according to the convergence state of the minimum point.

The minimum point tracker uses a variable step size control method and a variable delay time control method according to a code change of a slope of an early-late correlator output value.

The minimum point tracker may further include a moving average that minimizes unnecessary variable factors in tracking the minimum point.

In addition, the code tracking method of the satellite navigation system of the present invention for solving the above technical problem, in the method for removing the multipath error through the code tracking, the correlation between the early signal and the received signal generated by the code generator Calculating a correlation value (L) between a late signal (Late) 1 to 2 chips later than the early signal generated by the value (E) and the code generator and the received signal, and receiving the late signal (Late) and the received signal. Computing and outputting the difference (EmL) of the correlation value (L) of the signal and the correlation value (E) of the early signal and the received signal, and calculating the difference (EmL) of each of the correlation values (E, L). Converging the difference (EmL) of the correlation values (E, L) to a minimum value using an adaptive algorithm, and calculating the difference (EmL) of the correlation value (L) according to the integration time converged by the adaptive algorithm. Measuring an error with respect to the received signal and constantly phase shifting the converged minimum value And a step for generating a code.

The present invention generates a correlation value between a code signal generated by a code generator and a received signal by using an early-late correlator fixed on a 1-chip, and outputs the difference, and the minimum value of the output value even under multipath fading or various noise environments. By converging to, there is an advantage of improving the reliability of the code tracking accuracy, tracking speed and tracking area by minimizing the unnecessary effects of noise.

1 is a configuration diagram of a code tracking device for removing multipath errors of the present invention.

1, the present invention relates to a code tracking device of a communication system or a satellite navigation system, comprising: a code generator (1), a first variable delay unit (2), an early-late correlator (3), and a minimum A point tracker 4, a moving averager 5 and a tracking error corrector 6 are included.

The code generator 1 generates a late signal and an early signal having a 1-2 chip time difference.

The first variable delay unit 2 delays the signal output from the code generator 1 and outputs it to the Early-Late correlator 3.

The early-late correlator (3) fixes the time difference between the late signal and the early signal output from the code generator (1) on a 1-chip, and it is early for the integral time set to the initial value. The correlation values E and L of the signal, the late signal and the received signal are obtained and the difference is output.

That is, the early-late correlator (3) obtains the correlation value (E) between the early signal and the received signal output from the code generator, and is 1 to 2 chips late than the early signal output from the code generator. After obtaining the correlation value (L) between the signal and the received signal, the difference (EmL) between the two is calculated and output.

In this case, the early-late correlator 3 fixes the time difference between the late signal and the early signal on a 1-chip so that the minimum point of the early correlator and the late correlator output difference (Eml) may have a multipath fading signal. Even in this case, the synchronization is exactly matched.

Here, the early-late correlator (3) eliminates the imbalance between the early correlator and the late correlator by using the delay circuit as a single correlator without separating the early correlator and the late correlator into two correlators.

The early-late correlator 3 also has variable integrators to minimize noise effects and convergence time.

In this case, the integrating time of the variable integrator is variably controlled according to the convergence state of the minimum point, and is selectively controlled according to the change of the variable step size in order to variably control the integration time according to the convergence state of the minimum point.

On the other hand, the minimum tracker (4) receives the Early-Late correlator output value (EmL) to converge to the minimum value using the adaptive algorithm.

The minimum point tracker (4) controls the variable step size according to the code change of the slope according to the code state of the output value of the early-late correlator (3) in order to minimize the influence of noise and minimize the convergence time even under various noise environments. And a variable delay time control scheme.

The minimum point tracker 4 includes an accumulator 47 as shown in FIG. 6 to be described later.

Accordingly, the accumulator 47 (see FIG. 6) has an accumulating function such that the output signal of the code generator 1 is variably delayed in accordance with the output signal of the minimum point tracker 4.

In addition, the moving averager 5 reduces the influence of catching by taking the moving average in order to minimize the unnecessary variable factor in the minimum point tracker 4 to track the minimum point.

The tracking error corrector 6 compensates for a constant delay time for the minimum point output from the minimum point tracker.

The second variable delay unit 7 controls the synchronization of the code generator to be exactly matched according to the code compensated by the tracking error corrector 6.

A code tracking method using a code tracking device for removing multipath errors according to such a configuration will be briefly described as follows.

First, when an early signal code and a late signal code are output from the code generator, the first variable delay unit 2 outputs the code which has been delayed for a predetermined time to the Early-Late correlator 3.

Then, the early-late correlator (3) has a late signal of 1 to 2 chips later than the correlation value (E) and the early signal of the early signal and the received signal for the integral time set as the initial value. After obtaining the correlation value L of the received signal, the difference EmL of the correlation values E and L is output.

In this case, the output value is calculated by using a variable integrator to variably control the integration time, but integrating according to the change of the variable step size in order to variably control the integration time according to the convergence state of the minimum point.

The minimum tracker (4) receives the output value (EmL) of the early-late correlator (3) and tracks the minimum point using an adaptive algorithm.

Subsequently, the output of the minimum tracker is input to the early-late correlator (3) through the variable delay unit, and the correlation value (EmL) is obtained through the integration process according to the integral length determined by the minimum tracker.

In this case, if the channel environment is good, it may be good to take about 8 상관. However, if the channel environment is not good, the minimum length tracker may be used if the channel length is longer and the cumulative average is obtained. Judging whether it is good or bad, the Early-Late correlator (3) determines how much integration time it takes.

That is, according to the minimum point output signal of the minimum point tracker 4, the accumulator 47 (see FIG. 6) accumulates so that the output signal of the code generator 1 is variably delayed controlled.

The tracking error corrector 6 then compensates for a constant delay time for the tracked minimum point.

At this time, the minimum variable tracker 4 calculates the moving average in order to minimize the unnecessary variable in tracking and tracking the minimum point, so that the second variable delay unit 7 tracks the tracking error corrector ( According to the output signal of 6), control the code generator to be synchronized exactly.

2 to 4 are graphs illustrating a method for converging an output value of an early-late correlator to a minimum point using a code tracking device for multipath error cancellation according to an embodiment of the present invention.

FIG. 2 (a) shows the autocorrelation function when the time difference between the 0.25-chip early-correlator and the 0.25-chip late-correlator is fixed to 0.5-chip when a multipath signal is received, and FIG. 2 (b) Shows the output of the Early-Late correlator.

FIG. 3 (a) shows the autocorrelation function when the time difference between the 0.5 chip Early-correlator and the 0.5 chip Late-correlator is fixed to 1 to 2 chips when the multipath signal is received. b) shows the output of the Early-Late correlator.

4 (a) shows the autocorrelation function when the time difference between the 0.75 chip Early-correlator and the 0.75 chip Late-correlator is fixed at 1.5-chip when the multipath signal is received, and FIG. 4 (b) Shows the output of the Early-Late correlator.

2 to 4, even though a multipath fading signal exists in FIG. 3 in which the time difference between the early-correlator and the late-correlator is fixed to 1 to 2 chips, the difference between the early-correlator and the late-correlator output values. It can be seen that the minimum of is always 0.5 ~ 1 chip later than the point of synchronization.

In other words, it can be seen that the point of synchronization coincides with the point of 0.5-1 chip delay from the minimum point of the difference between the early-correlator and late-correlator output values, regardless of the presence of the multipath signal.

FIG. 5 is an explanatory diagram of an adaptive algorithm of a minimum tracker with respect to an output value of a 0-chip Early-1 chip late correlator according to an exemplary embodiment of the present invention, and shows a process where a slope of an output value becomes a minimum point.

However, because the slope of the output value is discontinuous, it is necessary to apply a modified algorithm rather than a general adaptive algorithm.

를 따른다. 여기서, Y(n)은 Early-Late 상관기의 출력을 나타내고, L(n)은 최소점추적기(4)의 출력을 나타낸다. In other words, the slope of the output of the early-correlator and the late-correlator

Follow. Where Y (n) represents the output of the Early-Late correlator and L (n) represents the output of the minimum point tracker 4.

에 따라 기울기의 부호 변화에 따른 가변 스텝 크기 제어 방식으로 최소점을 추적하고, 최종적으로

에 의한 값을 제 1 가변지연기(2) 또는 이동평균기(5)로 출력한다. And since the slope of the output value is discontinuous, the minimum point tracker

According to the variable step size control method according to the change of the sign of the slope according to the minimum point and finally

Is output to the first variable delay unit 2 or the moving average unit 5.

Here, L (n-1) represents the value stored in the accumulator 47, and S ₀ represents the approximate positive slope of the correlator output value EmL in the state where the influence of noise is excluded.

6 is a block diagram of a minimum point tracker for the output of the Early-Late correlator according to the present invention.

Referring to FIG. 6, reference numerals 41a and 41b denote input signals for calculating slopes of an output value of an early-late correlator and an output of a minimum point tracker.

Further, reference numerals 42a, 42b, 42c, and 42d denote input / output signals for controlling the noise when generated according to various noise environments of the system, and reference numeral 43 denotes input signals of the variable controller 1 and the moving averager 5. Reference numerals 44a and 44b denote input / output signals for controlling the variable step size, and reference numeral 45 denotes that the output signal of the code generator 1 is variably controlled according to the output signal of the minimum point tracker 4. An input of the accumulator 47 (see FIG. 6) is shown.

46 outputs a signal for selectively controlling the variable integrator of the early-late correlator.

7 is an embodiment configuration diagram of a variable integrator of the Early-Late correlator according to the present invention.

Referring to FIG. 7, reference numerals 21 to 25 perform variable integration functions to minimize adaptive convergence time and have accurate code tracking in the process of tracking the minimum point by the minimum point tracker according to various noise environments. .

Reference numeral 26 denotes a switch function for selecting an integrator according to a control input signal, and also allows an early-late correlator to use only one correlator instead of two correlators, thereby allowing an early correlator to be located between an early correlator and a late correlator. It has the advantage of resolving any imbalances.

In other words, the minimum point tracker determines whether the channel environment is good or bad, and takes a correlation value of about 8㎳ when the channel environment is good, and when the channel environment is not good, increases the integration length and accumulates the average for a long time. Since it is possible to increase the integration length, it is desirable.

8 is an exemplary diagram illustrating a control condition for controlling a code tracker according to the present invention to have a variable integration time.

6 and 8, the magnitude of the output signal 46 shown in FIG. 6 has a smaller value as it converges to the minimum point, and according to the magnitude of the output signal, that is, at the beginning of operation, an integrator having a small integration time is obtained. As it is used and converged, it is controlled to use an integrator with a larger integration time so that it can operate stably without being affected by noise.

9 is an exemplary embodiment of the minimum point tracking algorithm of the minimum point tracker according to the present invention. It was implemented.

As described above, the present invention is a method of fundamentally solving the disadvantages of the existing multipath mitigation technique, and the phase ambiguity in the Galileo system as well as the GPS system is a BPSK-like scheme. If the solution is solved, the code tracking function can be improved for the Galileo system, and the location estimation performance can be improved to be practically used for various application services.

1 is a block diagram of a code tracking device for removing the multi-path error of the present invention.

2 to 4 are graphs illustrating a method of converging an output value of an Early-Late correlator to a minimum point according to an embodiment of the present invention.

5 is an explanatory diagram of an adaptive algorithm of a minimum point tracker for an output value of an Early-Late correlator according to an embodiment of the present invention;

6 is a block diagram of a minimum tracker for the output of the Early-Late correlator according to the present invention.

Figure 7 is an embodiment configuration for a variable integrator of the Early-Late correlator according to the present invention.

8 is an explanatory diagram for a control condition for controlling a code tracker according to the present invention to have a variable integration time.

Figure 9 is an exemplary implementation of the minimum point tracking algorithm of the minimum point tracker according to the present invention.

<Description of the symbols for the main parts of the drawings>

1: Code Generator

2: first variable delay unit

3: Early-Late Correlator

4: Minimum Point Tracker

5: moving average

6: Tracking Error Corrector

7: second variable delay unit

Claims (8)

In the code tracking device, Code Generator: A first variable delay unit configured to variably delay-control the output signal of the code generator; Obtain the correlation value (E) of the early signal and the received signal output from the code generator, and obtain the correlation value (L) of the late signal (Late) and the received signal 1 to 2 chips output from the code generator Early-Late correlator for calculating and outputting the difference (EmL) of the two; A minimum point tracker for converging the Early-Late correlator output value (EmL) to a minimum value; A tracking error corrector for compensating for a constant delay time and a hardware error factor with respect to the minimum point output from the minimum point tracker; And And a second variable delay unit configured to control the synchronization of the code generator to be exactly matched according to the output signal of the tracking error corrector. The method of claim 1, The early-late correlator is a code tracking device for removing multi-path error, characterized in that to eliminate the imbalance by using the early correlator and the late correlator as a single correlator. 3. The method of claim 2, The early-late correlator has a variable integrator to minimize noise effects and convergence time, the code tracking device for multi-path error cancellation. The method of claim 3, wherein The variable integrator of the early-late correlator is a code tracking device for removing the multi-path error, characterized in that the integration time is variably controlled according to the convergence state of the minimum point. The method of claim 3, wherein And the variable integrator of the early-late correlator is selectively controlled according to the change of the variable step size in order to variably control the integration time according to the convergence state of the minimum point. The method of claim 1, And the minimum point tracker uses a variable step size control method and a variable delay time control method according to a code change of a slope according to a code state of an early-late correlator output value. The method of claim 1, The minimum point tracker further comprises a moving averager for minimizing unnecessary variable factors in tracking the minimum point. In the method of eliminating multipath error, Calculating a correlation value (E) between the early signal and the received signal generated by the code generator and a late value (L) between the late signal (Late) and the received signal generated by the code generator; , Calculating and outputting a difference (EmL) between the correlation value (E) of the early signal and the received signal and the late signal (Late) 1 to 2 chips late and the correlation value (L) of the received signal; Allowing the difference (EmL) of the correlation values (E, L) to converge to the minimum value (EmL) of the correlation values (E, L) using an adaptive algorithm, Calculating an error (EmL) of a correlation value (E, L) according to an integration time converged by the adaptive algorithm, and measuring an error with respect to a received signal; And generating a code by constantly phase shifting the minimum converged value according to the measured error.

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