KR101271257B1 - Global navigation satellite signal tracking device, location information obtaining deviec and method of tracking global navigation satellite signal - Google Patents

Abstract

PURPOSE: A satellite navigation signal tracking apparatus, a position data acquisition apparatus, and a satellite navigation signal tracking method are provided to improve a tracking function of a satellite navigation signal in a jamming environment. CONSTITUTION: A satellite navigation signal tracking apparatus is comprised of the followings: a plurality of individual signal trackers(131a-131n) which respectively receive a plurality of baseband signals and track a satellite navigation signal; and an error extractor(136) which is combined with a plurality of individual signal trackers and extracts tracking errors from the tracking result of the plurality of individual signal trackers. If the satellite navigation signal tracking is successfully performed among the plurality of individual signal trackers, the individual signal trackers which are not available for the satellite navigation signal tracking perform the error correction and the signal tracking function at the same time, based on an error value which is extracted from the error extractor. [Reference numerals] (132a,132b,132b) Frequency corrector; (133a,133b,133n) Synchronization corrector; (134a,134b,134n) Correlator; (135a,135b,135n) Local synchronization error extractor; (136) Frequency error extractor; (137) Integration code synchronization error extractor; (AA) Frequency; (BB,DD,FF) Data/correlator; (CC,EE,GG) Delay value; (HH) Synchronization value

Description

GLOBAL NAVIGATION SATELLITE SIGNAL TRACKING DEVICE, LOCATION INFORMATION OBTAINING DEVIEC AND METHOD OF TRACKING GLOBAL NAVIGATION SATELLITE SIGNAL}

The present invention relates to a satellite navigation signal tracking device, a location information acquisition device, and a satellite navigation signal tracking method.

As technology advances, navigation technology is also developing. A typical navigation technology that is widely used recently is the Global Navigation Satellite System (GNSS). Global satellite navigation system is a system that installs a navigation satellite in the earth orbit, and determines the position of the receiver based on the signals received from the navigation satellites.

Global satellite navigation systems include the Global Positioning System (GPS) in the US, Galileo in Europe, GLONASS in Russia, and the Compass in China.

Disclosure of Invention An object of the present invention is to provide a satellite navigation signal tracking device, a location information acquisition device, and a satellite navigation signal tracking method having an improved satellite navigation signal tracking function in an environment such as jamming.

Satellite navigation signal tracking device according to an embodiment of the present invention comprises a plurality of individual signal trackers for each satellite for receiving a plurality of baseband signals, respectively, and tracking the satellite navigation signal; And an error extractor for extracting tracking errors from the tracking results of the plurality of individual signal trackers. If the satellite navigation signal tracking is successfully performed in one or more of the plurality of individual signal trackers, the individual signal trackers that are not satellite navigation signal tracking also perform error correction based on the error value extracted by the error extractor. Simultaneously performs the tracking function.

In one embodiment of the present invention, the error extractor comprises: a frequency error extractor for extracting a frequency error from the tracking result; And an integrated code synchronization error extractor for extracting code synchronization errors from the tracking result.

In one embodiment of the invention, when the same satellite navigation signal is tracked in the plurality of individual signal trackers, the error extractor may select an average value of error values detected in the plurality of individual signal trackers.

In one embodiment of the present invention, when the same satellite navigation signal is tracked in the plurality of individual signal trackers, the error extractor detects an error value detected in the individual signal tracker that is most well tracked among the plurality of individual signal trackers. Can be selected.

In one embodiment of the present invention, each of the plurality of individual signal trackers comprises: a correlator that correlates the input signal and the navigation satellite codes; A local synchronization error extractor for extracting code synchronization errors based on the output signal of the correlator; A frequency corrector for correcting the frequency of the baseband signal according to the frequency error extraction value of the error extractor; And a sync corrector configured to perform sync correction according to an integrated code sync error extract value of the error extractor or a code sync error extract value of the local sync error extractor.

In one embodiment of the present invention, the error extractor may calculate a frequency error and a code synchronization error based on an output signal of the correlator.

In one embodiment of the present invention, if the satellite navigation signal to be tracked does not exist, the synchronization corrector may perform synchronization correction according to the integrated code synchronization error extraction value of the error extractor.

In one embodiment of the present invention, if the satellite navigation signal to be tracked, the synchronization corrector may perform the synchronization correction according to the code synchronization error extraction value of the local synchronization error extractor.

In one embodiment of the present invention, the delay time between the baseband signal may be extracted based on a difference between the code synchronization error extraction value of the local synchronization error extractor and the integrated code synchronization error extraction value of the error extractor.

In one embodiment of the present invention, the plurality of baseband signals may correspond to signals received from different directions.

An apparatus for obtaining location information according to an embodiment of the present invention includes an antenna unit including a plurality of antennas; Carrier processing and beam construction unit for down-converting the signals received from the plurality of antennas, outputting a plurality of baseband signals, or beamforming the signals received from the plurality of antennas to output a plurality of baseband signals ; A satellite navigation signal tracking unit for tracking satellite navigation signals based on the plurality of baseband signals; And a signal processor detecting position and visual information based on the tracked satellite navigation signals.

The satellite navigation signal tracking unit includes a plurality of individual signal trackers each receiving the plurality of baseband signals; And an error extractor for extracting a tracking error from the tracking results of the plurality of individual signal trackers. Each of the plurality of individual signal trackers may perform error correction based on the error value extracted by the error extractor from the individual signal tracker in which the satellite navigation signal exists when the satellite navigation signal does not exist.

In one embodiment of the present invention, the antenna unit may include a plurality of directional antennas having directivity in a plurality of directions.

In one embodiment of the present invention, the carrier processing and beam configuration unit may perform beamforming so that the plurality of antennas have directivity in a plurality of directions.

A satellite navigation signal tracking method according to an embodiment of the present invention comprises the steps of: tracking a satellite navigation signal in a plurality of directions using a plurality of individual signal trackers for each satellite; And when the satellite navigation signal is tracked, simultaneously operating individual signal trackers for which the satellite navigation signal is not tracked according to the tracked satellite navigation signal.

In one embodiment of the present invention, operating the individual signal trackers comprises: extracting a frequency error and a code synchronization error from the tracked satellite navigation signal; And operating individual signal trackers for which the satellite navigation signal is not tracked according to the extracted frequency error and code synchronization error.

Satellite navigation signal tracking device according to an embodiment of the present invention includes a plurality of signal tracking units for tracking a satellite by receiving a plurality of baseband signals facing different directions; And a signal processing unit processing the output signals of the signal tracking units. Each of the signal trackers includes a plurality of individual signal trackers each assigned to the baseband signals. Each of the plurality of individual signal trackers may perform frequency correction, synchronization correction, and correlation on the corresponding baseband signal in parallel. Code synchronization error extraction and frequency synchronization error extraction may be performed by combining the signal tracking units.

Satellite navigation signal tracking method according to an embodiment of the present invention comprises the steps of forming a plurality of baseband signals facing different directions; Performing frequency correction, synchronization correction, and correlation on the baseband signals in parallel; And integrating the baseband signals to perform integrated code synchronization error extraction and frequency synchronization error extraction.

According to the present invention, individual signal trackers which do not have signal tracking due to no satellite navigation signal may operate simultaneously using the results of the individual signal trackers that succeed in signal tracking for the same satellite. Even if the direction of the satellite navigation signal changes due to the change in positional relationship, the individual signal trackers continue to operate with the tracked satellite navigation signal, so the direction is changed and there is no satellite navigation signal. Signal tracking takes place. Accordingly, there is provided a satellite navigation signal tracking device, a location information acquisition device, and a satellite navigation signal tracking method having an improved satellite navigation signal tracking function without delay even in the direction change.

1 is a block diagram illustrating an apparatus for obtaining location information according to an exemplary embodiment of the present invention.
FIG. 2 is a block diagram illustrating a satellite navigation signal tracking unit of FIG. 1.
3 is a block diagram illustrating a signal tracking unit of FIG. 2.
4 is a flowchart showing a satellite navigation signal tracking method according to an embodiment of the present invention.
5 shows an example in which the location information acquisition apparatus receives satellite navigation signals.
6 is a table illustrating a tracking result of the apparatus for obtaining location information.
7 shows an example in which the position information obtaining apparatus rotates to receive satellite navigation signals.
8 is a table illustrating a tracking result of the apparatus for obtaining location information.
9 shows an antenna unit according to the first example.
10 shows an antenna unit according to the second example.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the technical idea of the present invention. .

The Global Navigation Satellite System (GNSS) system transmits location information using satellites evenly distributed on Earth. The GNSS receiver may calculate the position of the GNSS receiver by measuring the delay time of the satellite signal. For example, there is a global positioning system (GPS) as a commercially available GNSS system. GPS is designed and operated for military use by the US Department of Defense. The GPS receiver receives signals from 24 satellites orbiting the earth at 12 hours. GPS receivers generally receive four or more satellite signals. The GPS receiver may determine the position of the receiver by performing a series of signal processing on the received satellite signal.

Because GPS uses very weak signals, it is very vulnerable to jamming, so it needs to be prepared for special use. The most common method of anti-jamming method of GPS is to remove a jamming signal by forming a beam having a specific direction by using a plurality of antennas. At this time, the beam forming the null signal with respect to the direction of the jamming signal is removed to remove the jamming signal, and the baseband signal processing is performed. The method of making a choice is used. All of these methods suffer from the complexity of the accurate beamforming process and the lack of coping with high speed beamforming at high speed and rotation.

The satellite navigation signal tracking device according to an embodiment of the present invention performs signal processing on a plurality of beams in a baseband when a plurality of beams having different directions are formed with a plurality of antennas to overcome jamming of GPS. Can be integrated.

In general, even if a plurality of beams are formed for anti-jamming, the baseband signal processing is selected for each satellite by parallel processing for each beam. However, the satellite navigation signal tracking device according to an embodiment of the present invention integrates GPS baseband signal processing such as code synchronization and frequency synchronization for a plurality of beams. Accordingly, the satellite navigation signal tracking device can reduce the complexity of calculation required for accurate beam formation. The satellite navigation signal tracking device can easily implement an anti-jamming effect including smart jamming (jamming by a disturbance signal of the same type as GPS) even in a high-speed, high-rotation environment.

The satellite navigation signal tracking device according to an embodiment of the present invention simultaneously processes a plurality of beam signals or baseband signals provided at a constant angle or a constant solid angle in parallel. The baseband signals are processed to obtain an optimal frequency and sync code value, and the frequency sync and code sync are kept the same for all baseband signals (all beams). The above signal processing is performed for each satellite. Signal processing of a beam (baseband signal) having no satellite navigation signal is always performed as a result of processing of a beam (baseband signal) with satellite navigation signal. Therefore, even if a signal suddenly enters a beam without a satellite navigation signal at high speed and high rotation, the signal processing result can be extracted without any delay.

The present invention does not require the accuracy of beam forming, it is possible to cope with smart jamming, and the satellite navigation signal tracking device, position information acquisition device, which can cope with a sudden change in the signal in each beam at high speed and rotation, and Provides a satellite navigation signal tracking method.

1 is a block diagram illustrating an apparatus 100 for obtaining location information according to an exemplary embodiment of the present invention. The location information acquisition apparatus 100 may receive satellite navigation signals and, accordingly, obtain its location information.

Referring to FIG. 1, the apparatus 100 for obtaining location information includes an antenna unit 110, a carrier processing and beam construction unit 120, a satellite navigation signal tracking unit 130, and a signal processing unit 140.

The antenna unit 110 includes a plurality of antennas. The antenna unit 110 may output the received signals R1 to Rm. The antenna unit 110 may include directional antennas that receive signals from different directions. Alternatively, the antenna unit 110 may include an antenna array to have directionality by the beamforming technique.

The carrier processing and beam construction unit 120 receives signals R1 to Rm from the antenna unit 110. The carrier processing and beam configuration unit 120 may amplify and downconvert the received signals R1 to Rm using carrier waves corresponding to the satellite navigation signals.

When the antenna section 110 is directional antennas, the output of the directional antennas has already formed a beam. Therefore, the carrier processing and beam configuration unit 120 does not need to process a separate beam forming process.

When the antenna unit 110 uses antenna arrays, the carrier processing and beam configuration unit 120 may adjust the amplitude and phase of the downconverted signal to form a beam. Accordingly, the carrier processing and beam configuration unit 120 may output baseband signals B1 to Bn that have undergone beamforming.

For example, the carrier processing and beam configuration unit 120 may perform beamforming divided by a predetermined angle. That is, beamforming according to the present invention may be performed so that the beam follows the satellite while changing the weighting with time, or may be performed so that the beams are distributed uniformly in space without changing with time. have. Accordingly, the present invention is possible in various configurations as compared to the beamforming method for tracking satellites.

The carrier processing and beam construction unit 120 may configure a beam such that the antennas of the antenna unit 110 receive signals from different directions. Beams may be formed to face different directions. The baseband signals B1 to Bn may correspond to different beams, respectively.

The satellite navigation signal tracking unit 130 receives baseband signals B1 to Bn. The satellite navigation signal tracking unit 130 may process the satellite navigation signals by processing the baseband signals B1 to Bn as a whole. The satellite navigation signal tracking unit 130 may output information on the tracked satellite navigation signals.

The signal processor 140 receives information about the satellite navigation signals tracked from the satellite navigation signal tracker 130. Based on the received information, the signal processor 140 may perform a position and time calculation.

2 is a block diagram illustrating the satellite navigation signal tracking unit 130 of FIG. 1.

Referring to FIG. 2, the satellite navigation signal tracking unit 130 includes a plurality of signal tracking units 131 to 13k. Each signal tracker may receive baseband signals B1 to Bn. Each signal tracker may track the satellite navigation signal by processing the baseband signals B1 to Bn as a whole.

For example, each signal tracking unit 131 may track a satellite navigation signal corresponding to one satellite. Each signal tracking unit 131 may output information about the tracked satellite navigation signal. For example, the first signal tracker 131 may be set to track the first satellite, and the second signal tracker 132 may track a second satellite different from the first satellite.

The satellite navigation signal tracker 130 may include at least four signal trackers. Accordingly, the first signal tracker 131 tracks only the first satellite, and the second signal tracker 132 may control the second signal. Only satellites may be tracked, the third satellite tracker may track only the third satellite, and the fourth satellite tracker may track only the fourth satellite.

3 is a block diagram illustrating the signal tracking unit 131 of FIG. 2. For example, the other signal tracking units 132 to 13k may have the same structure as the signal tracking unit 131 shown in FIG. 3 and may operate in the same manner.

Referring to FIG. 3, the first signal tracker 131 includes a plurality of individual signal trackers 132a to 132n, a frequency error extractor 136, and an integrated code sync error extractor 137.

The plurality of individual signal trackers 132a to 132n each receive a plurality of baseband signals B1 to Bn. The number of individual signal trackers 132a to 132n may match the number of beams or the number of baseband signals B1 to Bn.

Each individual signal tracker can track the satellite navigation signal in the received baseband signal. That is, the plurality of individual signal trackers 131a to 131n may track satellite navigation signals in different directions. The tracking results of the plurality of individual signal trackers 131a to 131n are transmitted to the frequency error extractor 136 and the integrated code sync error extractor 137.

Each individual signal tracker 131a includes a frequency corrector 132a, a sync corrector 133a, a correlator 134a, and a local sync error extractor 135a.

The frequency corrector 132a receives the frequency error from the frequency error extractor 136. Using the received frequency error, the frequency corrector 132a may correct the frequency error of the baseband signal B1. The signal whose frequency is corrected by the frequency corrector 132a is output to the synchronous corrector 133a.

The synchronous corrector 133a receives the output signal of the frequency corrector 132a. The sync corrector 133a receives the sync error from the local sync error extractor 135a. The synchronization corrector 133a may correct the synchronization of the input signal by using the received synchronization error. The signal whose synchronization has been corrected by the synchronization corrector 133a is output to the correlator 134a.

The correlator 134a may cross correlate the input signal with the navigation satellite codes. Navigation satellite codes may be unique codes assigned to navigation satellites. The navigation satellite codes may be pseudo random codes (PRN code). Correlator 134a may perform cross-correlation while changing navigation satellite codes.

For example, when the correlation value is calculated above the first threshold value, the correlator 134a may determine that a satellite navigation signal that matches the corresponding navigation satellite code is received. When the correlation value according to a specific navigation satellite code is greater than or equal to a threshold value, the correlator 134a may perform cross correlation while maintaining the corresponding navigation satellite code.

For example, when there is no satellite navigation signal, the correlator 134b may be fixed with the navigation satellite code of another correlator 134a from which the satellite navigation signal is extracted.

The correlation result (eg, correlation value) of the correlator 134a is sent to the local synchronous error extractor 135a, the frequency error extractor 136, and the integrated code synchronous error extractor 137. The local synchronization error extractor 135a may provide a delay value to the signal processor 140. The delay value is the difference in path-by-path delay of the baseband input RF path through antennas, amplifiers, and filters. It can be difficult to calibrate the delay value.

Local synchronization error extractor 135a receives the correlation result from correlator 134a. The local synchronization error extractor 135a may extract the synchronization error based on the correlation result. For example, it may be determined that a signal is received when the correlation value is greater than or equal to a predetermined threshold. The local synchronization error extractor 135a may select a synchronization correction value and transmit it to the synchronization corrector 133a.

Local synchronization error extractor 135a receives a synchronization correction value from integrated code synchronization error extractor 137. When the satellite navigation signal to be tracked does not exist, the local sync error extractor 135a may output a sync correction value received from the integrated code sync error extractor 137 to the sync corrector 133a.

The frequency error extractor 136 receives the tracking result from the plurality of individual signal trackers 131a to 131n. Based on the tracking result, the frequency error extractor 136 may extract the frequency error of the satellite navigation signal being tracked. For example, the frequency error extractor 136 may detect the phase change of the satellite navigation signal being tracked and extract the frequency error according to the detection result. The extracted frequency error (or corresponding frequency correction value) is transmitted to the plurality of individual signal trackers 131a to 131n or the frequency correctors 133a to 1333n. The frequency error extractor 136 may output a frequency of the baseband signal having the representative beam or the highest correlation value to the signal processor.

When the satellite navigation signal is tracked in two or more individual signal trackers 131a and 131b, the frequency error extractor 136 may extract the frequency error according to the tracking result of the individual signal tracker 131a which shows the best tracking result. have.

When the satellite navigation signal is tracked from two or more individual signal trackers 131a and 131b, the frequency error extractor 136 extracts the average value of the frequency errors of the two or more individual signal trackers 131a and 131b as the final frequency error. can do.

The integrated code sync error extractor 137 receives the tracking result from the plurality of individual signal trackers 131a to 131n. Based on the tracking result, the integrated code sync error extractor 137 extracts the integrated code sync error. The extracted frequency error is transmitted to a plurality of individual signal trackers 131a to 131n or local synchronization error extractors 135a to 135n. The integrated code synchronization error extractor 137 may provide the signal processing unit with a synchronization value (arrival time) of the baseband signal having the representative beam or the highest correlation value.

When the satellite navigation signal is tracked in two or more individual signal trackers 131a and 131b, the integrated code synchronization error extractor 137 is based on the tracking result of the individual signal tracker 131a which shows the best tracking result. Can be extracted. The extracted code synchronization error (or corresponding code synchronization correction value) is transmitted to a plurality of individual signal trackers 131a to 131n or local synchronization error extractors 135a to 135n.

In exemplary embodiments, the frequency corrector 132a, the correlator 134a, and the frequency error extractor 136 may form a frequency locked loop (FLL). The sync corrector 133a, the correlator 134a, and the local sync error extractor 135a or the integrated code sync error extractor 137 may form a delay locked loop (DLL).

When the satellite navigation signal is tracked in an individual signal tracker, frequency error and integrated code synchronization error are extracted therefrom. The individual signal trackers without satellite navigation signals or very weak satellite signals are not tracked. The correlator operates by frequency correction and synchronization correction according to the frequency error and code synchronization error extracted from the individual signal tracker for which the satellite navigation signals are tracked. . Thus, when the direction in which the satellite navigation signal is received changes, the baseband signal or beam in which the satellite navigation signal is detected may change. At this time, the individual signal tracker for receiving the satellite navigation signal may change. In other words, when changing from another baseband signal to include a satellite navigation signal, the individual signal trackers corresponding to the other baseband signal are always in operation and immediately signal tracking is possible.

For example, it is assumed that the first individual signal tracker 131a is tracking the first satellite and the other individual signal trackers 131b to 131n are unable to track the satellite because there is no satellite signal. The other individual signal trackers 131b to 131n receive data through a frequency error extractor and an integrated code sync error extractor for frequency correction and synchronization correction by the first individual signal tracker 131a to perform synchronization correction and correlation.

After a predetermined time, when the satellite signal of the first satellite appears in the second baseband signal B2, the second individual signal tracker 131b has already received data on the frequency correction and the synchronization correction for the first satellite. Is working with. Thus, the second individual signal tracker 131b can immediately track the first satellite.

If individual signal trackers that do not track satellite navigation signals are performing frequency and synchronous corrections, the individual signal trackers that newly receive the satellite navigation signals facilitate the satellite navigation signals, even if the individual signal trackers receiving the satellite navigation signals change. Can be tracked.

According to the tracking result of the satellite navigation signal, the signal tracking unit 131 may output information (delay value, synchronization value, frequency, data, correlation value) about the tracked satellite navigation signal to the signal processor 140. For example, the frequency error extractor 136 may output information about the frequency of the satellite navigation signal with the best tracking (eg, the highest correlation value) to the signal processor 140. Based on this, the signal processor 140 may determine the frequency of the satellite navigation signal.

The integrated code synchronization error extractor 137 may output the location of the code, that is, information (synchronization value) about the synchronization time point of the code, to the signal processor 140. Based on this, the signal processor 140 may acquire synchronization information of the satellite navigation signal. The synchronization information indicates a delay time until the satellite navigation signal transmitted from the navigation satellite reaches the position information obtaining apparatus 100, and may be essential information required for the position calculation.

Each of the local synchronization error extractors 135a to 135n may output a delay value, which is a difference between the integrated code synchronization error value and the local synchronization error value, to the signal processor 140. Based on the delay value, the signal processor 140 may determine a difference in delay time occurring in each path of the antenna unit 110, the carrier processing and beam construction unit 120, and the satellite navigation signal processing unit 130. have. The delay value is the difference between the propagation delay of each baseband signal as the difference between the local synchronization error value and the integrated synchronization error value. For example, if the signal propagation time between basebands is the same, the delay value may be zero.

The correlator 134a may output data of the tracked satellite navigation signal. For example, the correlator 134a may output GPS information such as Ephemeris, Almanac, time, CNR (Carrier to Noise Ratio) indicating a signal quality, a correlation value, and the like.

4 is a flowchart showing a satellite navigation signal tracking method according to an embodiment of the present invention.

3 and 4, in step S110, it is determined whether there is a satellite navigation signal being tracked. If there is a satellite navigation signal to be tracked, in step S120, individual signal trackers are operated that do not track the satellite navigation signal according to the tracked satellite navigation signal. The individual signal trackers that are not tracked because of no satellite navigation signal are corrected by the frequency error and code synchronization error of the tracked satellite navigation signal so that the correlator can be operated. That is, individual signal trackers can operate in a ready state that can always track satellite navigation signals.

5 shows an example in which the location information acquisition apparatus 100 receives satellite navigation signals. 6 is a table illustrating a tracking result of the apparatus 100 for obtaining location information.

5 and 6, the location information acquisition apparatus 100 receives signals from different directions or processes signals of respective antennas to perform beamforming. The location information acquisition apparatus 100 may receive signals from different directions using directional antennas. It is not necessary to consider the directionality of the satellites when forming the beam. Thus, beam forming is possible in a simple form. For example, the beam may be formed to be split at an angle.

Alternatively, the location information acquisition apparatus 100 may process the received signals to form beams in different directions using beam forming.

When the location information acquisition apparatus 100 uses the directional antennas, the number of directions for receiving the signal may be equal to the number of baseband signals B1 to Bn (see FIG. 2). That is, one baseband signal can be generated from one direction.

In exemplary embodiments, two navigation satellites S1 and S2 and one jammer J1 may transmit signals. The satellite navigation signal of the first navigation satellite S1 is received from the fifth direction 5, the satellite navigation signal of the second navigation satellite S2 is received from the ninth direction 9, and the jamming of the jammer J1 is performed. The signal may be received from the seventh direction 7.

The satellite navigation signals may be determined to be suitable satellite navigation signals in terms of signal strength and synchronization. The jamming signal has a high signal strength but may not be synchronized. The signal that is not synchronized is determined as a jamming signal and may not be tracked by the signal tracking units 131 to 13k (see FIG. 2).

In addition, in the case of smart jamming, which transmits a signal of the same type as the satellite navigation signal, unlike the normal jamming, the same satellite navigation code is used, so that synchronization and signal tracking are possible. However, the directionality of the satellites is inconsistent with the directionality of the beam. For example, a plurality of satellite navigation signals may be tracked in the baseband signal B7 received in the seventh direction, and the directionalities of the plurality of satellites tracked may not coincide with the seventh direction. Therefore, the baseband signal B7 in the seventh direction may be determined as a smart jamming signal.

The signal of the first navigation satellite S1 may be tracked by one signal tracker (eg, 131). In the signal tracking unit (eg, 131), an individual signal tracker 131e in charge of the fifth direction 5 may track the satellite navigation signal. According to the frequency error and the code synchronization error extracted from the individual signal tracker 131e, the individual signal trackers of the signal tracker (e.g., 131) (e.g., individual signal trackers for which the satellite navigation signal is not tracked). ) Can perform frequency correction and synchronous correction.

The signal of the second navigation satellite S2 may be tracked by another signal tracker (eg, 132). In the signal tracking unit (for example, 132), an individual signal tracker 131i in charge of the ninth direction 9 may track the satellite navigation signal. Depending on the frequency error and code synchronization error extracted from this individual signal tracker 131i, the individual signal trackers of the signal tracker (e.g., 132) (e.g., individual signal trackers for which the satellite navigation signal is not tracked). ) Can perform frequency correction and synchronous correction.

FIG. 7 shows an example in which the location information acquisition apparatus 100 rotates to receive satellite navigation signals. 8 is a table illustrating a tracking result of the apparatus 100 for obtaining location information.

Referring to FIGS. 7 and 8, the position information acquisition apparatus 100 is rotated so that the satellite navigation signal of the first navigation satellite S1 is received in the sixth direction 6, and the second navigation satellite S2 is rotated. The satellite navigation signal may be received in the tenth direction 10.

The individual signal trackers of the signal tracking unit (eg, 131) for tracking the satellite navigation signal of the first navigation satellite S1 (eg, the individual signal trackers for which the satellite navigation signal is not tracked) are frequency corrected, Sync correction and correlation are performed. The correlators of the individual signal trackers of the signal tracker 131 may be fixed with the PRN code of the first navigation satellite S1.

Therefore, the individual signal tracker in the sixth direction 6, which did not track the satellite navigation signal, can immediately output the correlator output from the moment a newly received satellite navigation signal is received to track the satellite navigation signal.

According to an exemplary embodiment of the present disclosure, among the individual signal trackers of the signal tracker (eg, 131), the individual signal trackers 131e that are in charge of the fifth direction and the fourth and sixth directions adjacent to the fifth direction may be selected. Only the individual signal trackers 131d and 131f in charge may operate. In this case, power consumption can be reduced.

The individual signal trackers of the signal tracking unit (eg, 132) for tracking the satellite navigation signals of the second navigation satellite S2 (eg, individual signal trackers for which the satellite navigation signals are not tracked) are frequency corrected, Synchronous correction and correlation are always performed. Thus, the individual signal tracker in charge of the tenth direction 10, which did not track the satellite navigation signal, can immediately track the newly received satellite navigation signal.

As described above, if a satellite navigation signal is tracked in a particular individual signal tracker, the individual signal trackers for which the satellite navigation signal is not tracked may operate in synchronization with the individual signal tracker tracking the satellite navigation signal. Therefore, even if the position information obtaining apparatus 100 performs a high speed and rotational motion, the position information can be easily obtained.

9 shows the antenna unit 110a according to the first example.

Referring to FIG. 9, the antenna unit 110a may include a plurality of directional antennas arranged in different directions. One directional antenna is responsible for one direction and may correspond to one baseband signal. When the antenna unit 110a includes directional antennas, the carrier processing and beam configuration unit 120 may not have a beam forming function.

10 shows the antenna unit 110b according to the second example. Referring to FIG. 10, the antenna unit 110b may include a plurality of antennas. The carrier processing and beam construction unit 120 may form one beam using the outputs of two or more antennas. The carrier processing and beam configuration unit 120 may form a plurality of beams that cover different directions. The signal received in one beam may correspond to one baseband signal.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by the claims equivalent to the claims of the present invention as well as the claims of the following.

100; Location information acquisition device 110; The antenna portion
120; Carrier processing and beam construction 130; Satellite navigation signal tracking unit
140; Signal processor 131 to 13k; Signal tracers
1311 to 131n; Individual signal trackers 132; Frequency compensator
133; Synchronous compensator 134; Correlator
135; Local synchronous error extractor 136; Frequency error extractor
137; Integrated Code Synchronization Error Extractor

Claims (17)

A plurality of individual signal trackers for each satellite, each receiving a plurality of baseband signals and tracking a satellite navigation signal; And
An error extractor coupled to a plurality of individual signal trackers, for extracting a tracking error from a tracking result of the plurality of individual signal trackers,
If the satellite navigation signal tracking is successfully performed in one or more of the plurality of individual signal trackers, the individual signal trackers that are not satellite navigation signal tracking also perform error correction based on the error value extracted by the error extractor. Satellite navigation signal tracking device that simultaneously performs tracking functions. The method of claim 1,
The error extractor,
A frequency error extractor for extracting a frequency error from the tracking result; And
And an integrated code synchronization error extractor for extracting an integrated code synchronization error from the tracking result. The method of claim 1,
And when the same satellite navigation signal is tracked in the plurality of individual signal trackers, the error extractor selects an average value of error values detected in the plurality of individual signal trackers. The method of claim 1,
When the same satellite navigation signal is tracked in the plurality of individual signal trackers, the error extractor is detected in the individual signal tracker in which the correlation value of the satellite navigation signal and the navigation satellite codes of the plurality of individual signal trackers is tracked above a threshold. Satellite navigation signal tracking device to select the error value to be. The method of claim 1,
Each of the plurality of individual signal trackers,
A correlator that correlates the input signal with the navigation satellite codes;
A local synchronization error extractor for extracting code synchronization errors based on the output signal of the correlator;
A frequency corrector for correcting the frequency of the baseband signal according to the frequency error extraction value of the error extractor; And
And a synchronization corrector configured to perform synchronization correction according to an integrated code synchronization error extraction value of the error extractor or a code synchronization error extraction value of the local synchronization error extractor. The method of claim 5, wherein
And the error extractor calculates a frequency error and an integrated code synchronization error based on the output signal of the correlator. The method of claim 5, wherein
And if the satellite navigation signal to be tracked does not exist, the synchronization corrector performs synchronization correction according to the integrated code synchronization error extraction value of the error extractor. The method of claim 5, wherein
And a satellite navigation signal to be tracked, wherein the synchronization corrector performs the synchronization correction according to an integrated code synchronization error extraction value of the local synchronization error extractor. The method of claim 8,
And a satellite navigation signal tracking device extracting a delay time between baseband signals based on a difference between a code synchronization error extraction value of the local synchronization error extractor and an integrated code synchronization error extraction value of the error extractor. The method of claim 1,
And said plurality of baseband signals corresponds to signals received from different directions. An antenna unit including a plurality of antennas;
Carrier processing and beam construction unit for down-converting the signals received from the plurality of antennas, outputting a plurality of baseband signals, or beamforming the signals received from the plurality of antennas to output a plurality of baseband signals ;
A plurality of satellite navigation signal tracking units for tracking satellite navigation signals based on the plurality of baseband signals; And
A signal processor detecting position and visual information based on the tracked satellite navigation signals,
Each of the satellite navigation signal tracking unit,
A plurality of individual signal trackers, each receiving the plurality of baseband signals; And
An error extractor coupled to a plurality of individual signal trackers, for extracting a tracking error from a tracking result of the plurality of individual signal trackers,
Each of the plurality of individual signal trackers obtains position information for performing error correction based on an error value extracted by the error extractor from an individual signal tracker having a satellite navigation signal when there is no satellite navigation signal to be tracked. Device. The method of claim 11,
The antenna unit,
And a plurality of directional antennas having directivity with respect to the plurality of directions. The method of claim 11,
The carrier processing and beam configuration unit,
And beamforming so that the plurality of antennas are directed in a plurality of directions. In the satellite navigation signal tracking method of a satellite navigation signal tracking device comprising a plurality of individual signal trackers:
Tracking the satellite navigation signal in a plurality of directions using the plurality of individual signal trackers; And
When the satellite navigation signal is tracked by at least one individual signal tracker of the plurality of individual signal trackers, according to the tracking error detected by the tracked satellite navigation signal, the individual signal trackers for which the satellite navigation signal is not tracked are detected. Simultaneously operating individual signal trackers for which the satellite signal is not tracked to perform error correction. 15. The method of claim 14,
Operating the individual signal trackers,
Extracting a frequency error and an integrated code synchronization error from the tracked satellite navigation signal; And
Operating individual signal trackers for which the satellite navigation signal is not tracked to perform the error correction according to the extracted frequency error and integrated code synchronization error. A plurality of signal tracking units receiving a plurality of baseband signals facing different directions to track satellites; And
A signal processor for processing output signals of the signal trackers;
Each of the signal trackers includes a plurality of individual signal trackers each assigned to the baseband signals,
Each of the plurality of individual signal trackers performs frequency correction, synchronization correction, and correlation on the tracked baseband signal in parallel,
According to the results of the frequency correction, synchronization correction, and correlation of the individual signal trackers having the tracked baseband signal, the code synchronization error correction and the frequency synchronization error correction of the individual signal trackers without the tracked baseband signal may be performed in combination. Satellite navigation signal tracking device, characterized in that. In the satellite navigation signal tracking method of a satellite navigation signal tracking device comprising a plurality of individual signal trackers:
Tracking the plurality of baseband signals looking in different directions using the plurality of individual signal trackers;
Performing frequency correction, synchronization correction, and correlation on baseband signals in parallel using separate signal trackers that track the baseband signals; And
Performing integrated code synchronization error correction and frequency synchronization error correction of the individual signal trackers that do not track the baseband signals according to a result of frequency correction, synchronization correction, and correlation of the individual signal trackers that track the baseband signals. Satellite navigation signal tracking method comprising a.

Images