201133020 六、發明說明： 【發明所屬之技術領域】 /本發明係有關一種GPS (全球定位系統）_，更具體而古， 係有關用於檢測GPS衛星的載波頻率的技術。 【先前技術】 如圖1所示之一般的GPS接收器100，主要由天線10、前置 放士器2〇、射頻/中頻（RF/IF)變換器30、類比/數位⑽）變 換器4G、數位細處理器5〇、導織·⑼和控繼示單元π #組成。GPS衛星發射的射頻信號⑽通過天線1〇接收，並通過 無源的帶通濾波器（圖中未示出）舰，以減小帶外射頻干擾。 然後’射頻信號被前置放大器2〇預放大，並被rf/if變換器3〇 下變頻為中頻⑻信號，再用A/D變換器4()對IF ^ =位化，制的數財雜號（也稱為触絲錄數 基頻處理器⑽）50進行處理。數位基頻處理器5〇主要 下功能：搜索衛星，牽引並跟縱衛星；對導航資料信號實行解擴， 里。為貫現擴頻域的解擴、解調，數位基頻處理器（勒5〇中包 含數位虛擬碼延遲鎖定迴路（DDLL)、數位載波鎖相迴路⑽〇 ΐ數頻迴路（DFLL)。從中頻資料解雛得到的衛星資訊 至料航轉錄愤取_朗值和導航_ f料被送至 :導航處理60進行定位計算，確定用戶的位置、速度和時間⑽） 育訊。從圖1中可以看到，導航處理㈣包括 ，，的衛星資訊進行處理，速度解算裝請和:置二 轉异裝置咖用树定PVT f訊，以及包括後處理裝置_。最 f ’通過控制顯示單元70在GPS接收器的勞幕上將ρντ資訊直 顯示出來。 3 201133020 波鎖相迴秘触敎鹏、數位载 :。虛擬碼延遲鎖定迴路用於測量虛擬碼的接 間的值直接決定了偽距的測量 夺間該接收時 相位測量，數位載波鎖頻迴路用二載鎖相迴路用於載波 個測量值用於進行對基頻信號的 離。若載波鎖相迴路、載__和_^=^2剝 致衛星的偽距測量不準，從而 r=:====: ===;=::=迴路快，所”設 虛擬碼延遲鎖定迴路==多普勒頻率偏移值用於修正 則會導致虛擬碼延遲鎖 ΐΐ=皮ΓΓ跟縱的载波多普勒頻率偏移隨 不忍圖200。從圖2可以看出，力也丁丨j π夂化 (DFLU驴蹤的都、士户並吊情況下，數位載波鎖頻迴路 ^ )觀的載❹普勒頻偏變化規律是非常平滑的減小或增 认 圖3不出了當鎖頻迴路跟縱里當睹， =出的載波多普勒頻率_。從圖3可以看出在 麵s 細槪 很難保證綱迴路跟蹤的長期穩定，當出麵钱鱗，使用i 201133020 波鎖定檢測也無法反映出跟縱是否正常。 【發明内容】 寥於以上情況，本發明提出了—種檢測Gps衛星的一载波頻 率的-多普勒頻率偏移的方法，包括：a.對於跟縱上的所有衛星 中的每顆衛星，計算該每顆衛星的—載波頻率在一預耕間内的 -多普勒頻率變化值，· b.計算該所有衛星的該載波頻率的該多普 勒頻率變化值的-平均值；以及e.如果該所有衛星中的一或多顆 術星的該載波解的該多絲頻率變化值大於該多普勒頻率變化 ，的該平均值與-設定觀_積，且切—設定_值，則判 疋該顆或該多顆衛星的載波出現—異常頻率偏移。 本發明還提供了-種檢測—未參與定位Gps衛星的一載波頻 率之一多普_率值是否正麵方法 ^ 衛星的—位置資訊和—多普勒資訊，計== 定位。GPH ，魏過多絲頻偏計算公式得_未參與 GPS衛生的該載波頻率的一多普勒頻率計算值；匕比較該未 星衛星的該载波頻率的該多普勒頻率計算值與GPS衛 並=該夕h勒頻率測量值；以及c.當該多普勒頻率計算值鱼該多 ς頻率測量值不一致時，確定該未參與定位Gp _ 勒頻率測量值是錯誤的。 星的該^曰 還提供了一種檢測gps衛星的一載波頻率的—多普勒 頻率偏移檢測裝置’包括：—頻率 户曰勒 每顆衛星’計算每-該衛星的該== :所有衛星，的一或多顆衛星的皁 變化值大於該多普勒頻率變化值的該平均值與一設定夕= 201133020 積’且大於一設定臨限值，則該頻率跟偏檢測裝置判定該一或多 顆衛星的載波出現一異常頻率偏移。 本發明還提供了一種全球定位系統（GPS)接收器，包括一數 位基頻處理器和-導航處理器，其中該導航處理器包括一多普勒 頻率偏，檢測裝置’其巾當勒鮮偏移檢職置判定二一 或多顆衛星的載波出現該異偏移時，鮮# 測裝置通知該數位基頻處理器，激發對被判定為載波出貝 頻率偏移的該一或多顆衛星的重新捕獲。 本發明還提供了-種全球定位系統（GPS)接收器，包括 位基頻處理n和—導航處理器，其中解航處㈣包括 頻率偏移檢_置，以朋於選星的—選星裝置，其中：^= =偏=裝置判定該一或多顆衛星的載波出現該異常頻 ==::頻率偏移檢測裝置通知該選星裝置不將該- 本，明還提供了 一種檢測—未參與枝Gps衛星的一載 率之一夕普勒頻率測量值是一、 裝置利用被選擇偏差異制裝置’該頻偏計算 訊，計管出垃疋位的術星的一位置資訊和-多普勒資 公式=未===速ί，並透過多普勒頻偏計算 差異檢職置比的一夕普勒頻率計算值；該頻偏 --：rr?4 勒頻率測量值不-致時，判定該未參:定: 该多普勒頻率測量值是錯誤的_ ”疋位GPS術星的 本發明還提供了—種全球定位系統⑽）接收 器’包括一數 201133020 位基頻處理$和—導航處理器，其巾該導航處理器包括一多普勒 ;率測量錄_置’射，當衫普__4鎌測裝置判 ，該未參與定位GPS衛星的該多普勒頻率測量值是錯誤的時，該 夕曰勒頻率測置值檢測裝置通知該數位基頻處理器激發對該未參 與定位GPS衛星的重新捕獲。 【實施方式】 以下將對本發明的實施例給出詳細的說明。雖然本發明 將f合Ϊ施例進行闡述，但應理解這並非意指將本發明限定 籲於巧些實施例。相反地，本發明意在涵蓋由後附申請專利範 圍所界定的本發明精神和範圍⑽定義的各種變化、修改和 均等物。 此外，在以下對本發明的詳細描述中，為了提供針對本 發明的完全的理解，提供了大量的具體細節。然而，於本技 術領域中具有通常知識者將理解，沒有這些具體細節，本發 明同樣可以實施。在另外的—些實例中，對於大家熟知的方 法、程式、兀件和電路未作詳細描述，以便於凸顯本發明之 主旨0 再者，應該瞭解，在開發任何這種實際實施例的過程中必須 做出很多特定於實施方式的決定，以便實現開發人員的具體目 標，並且這些決定可能會隨著實施方式的不同而有所改變。此外， 還應該瞭解，雖然開發工作有可能是非常複雜和費時的，但對得 益於本公開内容的本領域技術人員來說，這種開發工作僅僅是例 行的任務。 如前所述，由於在弱信號情況下，雜訊和多徑的影響很難保 證鎖頻迴路跟蹤的長期穩定’因此衛星的載波頻率容易出現偏移。 根據gps衛星的運動規律以及接收器的運動規律，在Eni〇廿 201133020 D. _如等人所著的《GPS原理與應用》（第 開了載波的多普勒頻率大小的計算公式·· ）第42頁中a 其中，Λ是衛星發射信號的頻率； Κ是衛星與用戶的相對速度向量； α是沿衛星指向用戶的直線方向單位向量. c為傳播速度； ’ 點積^表示相對速度向量沿衛星的連線的徑向向量。 通過上式可以得知’真實情況下多#麵率的·大小是可 =估計的，如已知接收器的最大加速度為吻u為重力加速度）， ，可以估异出多普勒鮮在單位時間_最大增量（當該加速度 在沿衛星指向用戶的直線方向料位向量方向上時取得）為： Δ/rf =- =2SHz/s c 由於當接收器有此加速度時，跟蹤的多顆衛星載波多普勒頻 率均會發生較大變化，而當某時刻只有跟蹤的1-2顆衛星載波多 普勒頻率發生較大變化時，則可以認為跟蹤該衛星載波的DFLL出 現問題。基於這一思路，本發明提出了 一種用於檢測Gps衛星的 載波頻率的多普勒頻率偏移的方法，其中，計算跟蹤上的衛星的 DFLL載波多普勒頻率偏移在一定時間内的變化量，若變化量滿足 一定的條件，則認為所述跟蹤上的衛星的載波有問題，即出現了 異常頻率偏移。 圖4示出了根據本發明的一個實施例用於檢測GPS衛星的载 波頻率的多普勒頻率偏移的方法的流程圖400，其中包括如下步 201133020 _ S410 :對於跟縱上的所有N顆衛星中的每顆衛星，計算每顆 =波頻率在預定時間内的多普勒頻率變化值佩 S420 :根據下述等式計算跟蹤上的所有衛星的多普勒頻率變 化值的平均值： S430 :如果跟蹤上的所有▲星中有一顆或 勒頻率變化值Α/χ，w為設定權重，並且％大於設定臨= THRESH1，則判定跟蹤的該一顆或者多顆衛星現頻 ,Γ。和設定臨限值珊咖可以通過模擬== 二St方法為:在有多處異常頻率偏移的資料中」 率1而得到合適的權重值。一般該權重值設定在Γ5 3 GtT 特別地’計算每顆衛星的多普勒頻率變化值 :::述每顆衛星，用數位載波鎖頻迴路的當前時刻二普勒 之前的7多預定時間（例如，假設用讀單位時間表示） 卜^ Μ，制相應衛星的多普勒頻率變化值 時間選擇為1G至20之間。在—實施例中，單位 方法移較快的軌下，通過利用上述 提出^制綠，根縣㈣的-個實施例， -〜上述方法的步驟中:::算:置： 201133020 跟縱上的各衛星的載波頻率在預定時間⑽多普勒頻率變化值， 和所有跟縱上的衛星的載波頻率的多普勒頻率變化的平均值；以 及頻率跟驗職置，設計祕貌域綠的步驟獅中的處 理’即’基於辭偏料算裝置的計算結果制各職上的衛星 的載波頻率的多普勒頻率變化值，藉此判斷所跟縱的相應的衛星 載波是否出現異常鮮偏移。在此，在_中並未單麟出多普 勒頻率偏移檢測裝置的示意圖，其結構可以參見例如圖6中用議 表示的部分，並在下文進行更詳細的描述。 通過上面所述的方法和多絲鮮偏移制裝置，可以有效 地從所跟縱的多顆衛星中確定某顆衛星的載波的狐是否出現問 題。 基於圖4中所述的方法’可以在檢測到Gps衛星的載波頻率 的多普勒異常鮮偏移的情況下，針對不同制情㈣採取相應 的應對方法。 " 圖5示出了根據本發明的另一實施例的用於檢測多普勒頻率 偏移並且根據需要激發職波出現異常醉偏移的衛星的重新捕 獲的方法流程圖500。 在圖5所示的方法巾，步驟S51〇至咖〇分別對應於圖4中 所:的步驟S410至S43〇，因此’為了說明書的簡潔起見在此就不 再坪述了。圖5所示的方法姻4所補方法的不同之處在於， 增加了步驟S54G ’其中：激發對被舦為載波出現異常頻率偏移 的衛星的重新捕獲。 圖6不出了可以執行圖5所示的方法的Gps接收器的結構圖 00從圖6中可以看出，在導航處理器6〇中包括上文所述的多 ，勒頻率偏移檢測裝置咖，且該多普勒頻率偏移檢測裝置600 匕括頻率偏移計算裝置65G和頻率跟偏檢測裝置66G。數位基頻處 201133020 理器50輪出的資料被輸入到頻 移計算裝置6料執行結合圖5 置650令。在頻率偏 令的處理，即，計算跟獻的各衛星==^驟=0和删 多普勒頻率變化值，和所有 、率在預定時間内的 率變化的抑1信户㈠有跟的術星的载波頻率的多普勒頻 測各跟蹤上的衛星的多普勒_變化值的叶异結果檢 •問題，則多普勒頻率偏移檢測裝置_通^^立路跟=有 出現==鮮的魅躺綠叹皮 4賴（即判定該 細獲來減少由於：:=差通過激發對該顆衛星的 資訊星過程中’為了避免將DFLL跟縱出錯較大的衛星 選，。因此’本發明還提出了一種選擇衛星=== 所闡述的方法。圖7示出了該檢測多普勒頻率偏 too 選擇載波頻率出現偏移異常的衛星的方法流程 在圖7所示的方法中’步驟_至S·分別對應於圖4中 所：的步驟期至S430,與圖4所示的方法的不同之處在於增加 IV驟S740 ’其不將被檢測出載波出現異常頻率偏移的相鹿衛星 用於定位。 圖8示出了可以執行圖7所示的方法的哪接收器的結構圖 11 201133020 μ 可以看出’在導航處理器60中同樣增加了上文所 述的、^括頻率偏移計轉置咖和頻率跟偏檢測衫_的多 :勒=移檢測裝置_。其中多普勒頻率偏移檢測裝置_ 執行與在圖6中所闡述的相同的功能。圖8所示的GPS接收哭盥 圖6所示的GPS接收器的不同之處在於如果確定某眺迴路跟縱 有問題二則多普勒頻率偏移檢測裝置_通知選星裝置議不將 相應的作ί星用於定位。 通過這種選擇衛星的方法和相應的Gps接收器，可以有效地 避免將DFLL跟蹤出錯較大的衛星資訊用於定位，從而保證 的定位精度。 ▲然地’也可能是藉助圖5賴述的方法與藉賴7所闊述 的方法結合，即首先分別制轉±的各衛星的乡普勒頻率變化 值=及所有魅的多普麵輕化值的平均值；然後欺跟縱的 某衛星載波是否出現異常頻率偏移；在檢測出衛星載波出現異常 頻率偏移的情況下，激發觸捕獲和/或避免將相應衛星用於定 位。相應地，在GPS接收器中也可以同時包括從多普勒頻率偏移 檢測裝置_至數位基頻處聽5〇以及至選星裝i⑽的信號過 程。雖然在此並未提供相應的方法流程圖和/或裝置結構圖，但°是 本領域技術人員可以很容易地根據上述描述繪製出相應的方法流 程圖和/或裝置結構圖。 " 抓 另外，需要說明的是，圖5所示的方法流程圖中的權重和臨 限值與圖7所示的方法流程圖中的權重和臨限值可以相同也可以 不同。 對於未參與定位的_星，根據本發明的另一實施例，還提出 了一種用於檢測未參與定位的GPS衛星的載波頻率檢測值是否正 確的方法。圖9示出了該方法的流程圖900，其中包括如下步驟： 12 201133020 _ S91(^it過被選擇用於GPS雜的衛星的位置資訊和多普勒 資訊，計算出GPS接收器的運動速度，在參與定位的衛星資訊、 多普勒資訊正確的姑下’則糾計算的接U獅速度是正確 的’從而通過下述多普勒頻偏計算公式可以得到未參與定位的 星的載波頻率的多普勒頻率計算值： fa-f^vr-g)；201133020 VI. Description of the invention: [Technical field to which the invention pertains] / The present invention relates to a GPS (Global Positioning System)_, more specifically, to a technique for detecting a carrier frequency of a GPS satellite. [Prior Art] A general GPS receiver 100 as shown in FIG. 1 is mainly composed of an antenna 10, a front layman 2, a radio frequency/intermediate frequency (RF/IF) converter 30, and an analog/digital (10) converter. 4G, digital fine processor 5〇, guided weave · (9) and control relay unit π # composition. The RF signal (10) transmitted by the GPS satellite is received through the antenna 1〇 and passed through a passive bandpass filter (not shown) to reduce out-of-band RF interference. Then the 'RF signal is preamplified by the preamplifier 2〇, and is down-converted to the intermediate frequency (8) signal by the rf/if converter 3, and then the IF ^ = bit is converted by the A/D converter 4(). The Cai Miscellaneous (also known as the Touch Recording Baseband Processor (10)) 50 performs processing. The digital baseband processor has the following main functions: searching for satellites, pulling and following satellites; and de-spreading navigation data signals. In order to realize the despreading and demodulation of the spread spectrum domain, the digital baseband processor includes a digital virtual code delay locked loop (DDLL) and a digital carrier phase locked loop (10) digital frequency loop (DFLL). The satellite information obtained by the frequency data is retrieved from the transcript of the voyage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ As can be seen from Fig. 1, the navigation processing (4) includes, the satellite information processing, the speed calculation and the installation and the setting of the PVT, and the post-processing device _. The most f' shows the ρντ information directly on the screen of the GPS receiver by controlling the display unit 70. 3 201133020 The wave locks back to the secrets of Peng Peng, digital position: The virtual code delay locked loop is used to measure the value of the connection of the virtual code, which directly determines the phase measurement of the pseudorange measurement. The digital carrier frequency lock loop uses the two-carrier phase-locked loop for the carrier measurement value. The separation of the fundamental frequency signal. If the carrier phase-locked loop, the carrier __ and _^=^2 stripped satellites, the pseudorange measurement is not accurate, so r=:====: ===;=::=the loop is fast, the virtual code is set Delay locked loop == Doppler frequency offset value is used to correct the virtual code delay lock ΐΐ = skin and vertical carrier Doppler frequency offset can not bear the graph 200. As can be seen from Figure 2, force also丨j π 夂 (the DFLU 的 的 、 、 、 、 、 、 、 士 士 士 士 士 士 士 士 士 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数 数When the frequency-locked loop is in the vertical direction, the carrier Doppler frequency is out. From Figure 3, it can be seen that it is difficult to ensure the long-term stability of the track tracking in the surface s. When the money scale is used, i 201133020 The wave lock detection also fails to reflect whether the vertical direction is normal. SUMMARY OF THE INVENTION In view of the above, the present invention proposes a method for detecting a carrier frequency Doppler frequency offset of a GPS satellite, including: a. Calculate the Doppler frequency variation of the carrier-frequency of each satellite in a pre-farm with each satellite in the vertical a value, - b. calculating an average of the Doppler frequency change values for the carrier frequency of all satellites; and e. if the carrier of the one or more of the satellites of the satellite is solved by the carrier The frequency change value is greater than the Doppler frequency change, and the average value is set to - and the cut-set value is used to determine that the carrier of the satellite or the plurality of satellites is present - an abnormal frequency offset. It also provides a type of detection—one of the carrier frequencies that are not involved in locating the GPS satellite. Is the Doppler_rate value positive? ^ Satellite-position information and - Doppler information, count == positioning. GPH, Wei excess wire The frequency offset calculation formula obtains a Doppler frequency calculation value of the carrier frequency that is not involved in GPS hygiene; 匕 compares the Doppler frequency calculation value of the carrier frequency of the unstar satellite with the GPS satellite and the The frequency measurement value; and c. when the Doppler frequency calculation value is inconsistent with the frequency measurement value, it is determined that the non-participating positioning Gp _ frequency measurement value is wrong. The star also provides a detection One carrier frequency of the gps satellite - Doppler frequency offset The shift detecting device 'includes: - the frequency of each satellite 'calculates each - the satellite's ==: all satellites, one or more satellites have a soap change value greater than the average of the Doppler frequency change values The frequency deviation detecting means determines that the carrier of the one or more satellites exhibits an abnormal frequency offset with a set time = 201133020 product and is greater than a set threshold. The present invention also provides a global positioning system (GPS) a receiver comprising a digital baseband processor and a navigation processor, wherein the navigation processor comprises a Doppler frequency offset, and the detecting device is configured to determine two or more satellites When the carrier offset occurs, the fresh device notifies the digital baseband processor to trigger reacquisition of the one or more satellites determined to be offset by the carrier frequency. The present invention also provides a global positioning system (GPS) receiver, including a bit baseband processing n and a navigation processor, wherein the escaping (4) includes a frequency offset check, to select a star-selector The device, wherein: ^==bias=the device determines that the abnormal frequency of the carrier of the one or more satellites==:: the frequency offset detecting device notifies the star selecting device not to provide a detection- One of the load rates of one of the carrier frequencies that are not involved in the Gps satellite is: 1. The device uses the selected partial difference device to calculate the position information of the star. Doppler formula = not === speed, and calculate the value of the empire frequency of the difference check-in ratio by Doppler frequency offset; the frequency offset --: rr? 4 勒 frequency measurement value is not - When the time is up, it is determined that the non-parameter is determined: the Doppler frequency measurement is wrong. The present invention also provides a global positioning system (10) receiver that includes a number of 201133020 bit base frequencies. Processing $ and - navigation processor, the towel of the navigation processor includes a Doppler; rate measurement record _ set 'shoot When the 普__4 detecting device determines that the Doppler frequency measurement value of the non-targeting GPS satellite is wrong, the 曰 曰 频率 frequency measuring value detecting device notifies the digital base frequency processor to fire the un Participating in the recapture of positioning GPS satellites. [Embodiment] A detailed description of embodiments of the present invention will be given below. While the present invention will be described with respect to the embodiments, it should be understood that this is not intended to limit the invention. Rather, the invention is intended to cover various modifications, alternatives and equivalents of the invention and the scope of the invention as defined by the scope of the appended claims. A full understanding of the present invention is provided, and a plurality of specific details are provided. However, it will be understood by those of ordinary skill in the art that the present invention may be practiced without these specific details. In other examples, Well-known methods, programs, components and circuits have not been described in detail in order to highlight the gist of the present invention. Again, it should be understood that Many implementation-specific decisions must be made in the course of any such actual embodiment to achieve the developer's specific goals, and these decisions may vary from implementation to implementation. In addition, it should be understood that While development work can be very complex and time consuming, such development work is only a routine task for those skilled in the art having the benefit of this disclosure. As previously mentioned, due to weak signal conditions The influence of noise and multipath is difficult to ensure the long-term stability of the frequency-locked loop tracking. Therefore, the carrier frequency of the satellite is prone to shift. According to the motion law of the GPS satellite and the motion law of the receiver, in Eni〇廿201133020 D. _ For example, "GPS Principles and Applications" (the calculation formula of the Doppler frequency of the carrier is opened) on page 42a, where Λ is the frequency of the satellite transmitting signal; Κ is the satellite and the user Relative velocity vector; α is the unit of the direction of the line along the satellite pointing to the user. c is the propagation velocity; 'point product ^ indicates the relative velocity vector along the satellite Radial vector. Through the above formula, we can know that the size of the multi-surface rate is estimable. If the maximum acceleration of the receiver is known as the gravity acceleration of the receiver, it can be estimated that the Doppler is in the unit. Time_maximum increment (taken when the acceleration is in the direction of the line vector in the direction of the satellite pointing to the user): Δ/rf =- = 2SHz/sc Since the receiver has this acceleration, the multiple satellites are tracked The carrier Doppler frequency will change greatly. When only the 1-2 satellite carrier Doppler frequencies of the tracking change greatly change at a certain time, it can be considered that there is a problem in tracking the DFLL of the satellite carrier. Based on this idea, the present invention proposes a method for detecting a Doppler frequency offset of a carrier frequency of a GPS satellite, wherein the variation of the DFLL carrier Doppler frequency offset of the satellite on the tracking is calculated within a certain time. If the amount of change satisfies certain conditions, it is considered that there is a problem with the carrier of the satellite on the tracking, that is, an abnormal frequency offset occurs. 4 shows a flow chart 400 of a method for detecting a Doppler frequency offset of a carrier frequency of a GPS satellite, including the following steps 201133020_S410: for all N in the vertical direction, in accordance with an embodiment of the present invention. For each satellite in the satellite, calculate the Doppler frequency change value for each = wave frequency within a predetermined time. S420: Calculate the average of the Doppler frequency change values of all satellites on the tracking according to the following equation: S430 : If there is one or all frequency change value Α/χ in all ▲ stars on the tracking, w is the set weight, and % is greater than the setting Pro = THRESH1, then the one or more satellites that track the current frequency are determined, Γ. And setting the threshold Shanca can pass the simulation == two St method: in the data with multiple abnormal frequency offsets, the rate is 1 to get the appropriate weight value. Generally, the weight value is set at Γ5 3 GtT, specifically 'calculating the Doppler frequency change value of each satellite::: For each satellite, the current time of the digital carrier frequency-locked loop is more than 7 predetermined times before the second time ( For example, suppose that the unit time is expressed by the reading unit time, and the time of the Doppler frequency change value of the corresponding satellite is selected to be between 1G and 20 degrees. In the embodiment, the unit method moves faster under the track, by using the above-mentioned proposed green, root county (four) - an embodiment, - the steps of the above method::: calculation: set: 201133020 The carrier frequency of each satellite at a predetermined time (10) Doppler frequency change value, and the average of the Doppler frequency changes of all carrier frequencies with the longitudinal satellite; and the frequency with the inspection position, the design secret field is green The processing in the step lion is 'based on the calculation result of the derogation device to determine the Doppler frequency change value of the carrier frequency of each satellite in the job, thereby judging whether the corresponding satellite carrier of the vertical direction is abnormally biased. shift. Here, a schematic diagram of the Doppler frequency offset detecting device is not singular in _, and its structure can be referred to, for example, the portion indicated by the discussion in Fig. 6, and will be described in more detail below. By the method described above and the multi-filament fresh offset device, it is possible to effectively determine whether or not a fox of a carrier of a certain satellite has a problem from a plurality of satellites. Based on the method described in FIG. 4, a corresponding countermeasure can be adopted for different modalities (4) in the case where the Doppler abnormality shift of the carrier frequency of the GPS satellite is detected. " Figure 5 illustrates a flow diagram 500 of a method for re-capture of a satellite for detecting a Doppler frequency offset and exciting an occupational wave with an abnormal drunk shift, in accordance with another embodiment of the present invention. In the method towel shown in Fig. 5, steps S51 to Curry correspond to steps S410 to S43 in Fig. 4, respectively, and therefore 'for the sake of brevity of the specification, it will not be described again. The method of complementing the method shown in Fig. 5 differs in that step S54G' is added in which the re-capture of the satellite that is anomalously frequency-shifted by the carrier is excited. Figure 6 shows the structure of a Gps receiver that can perform the method shown in Figure 5. Figure 00 can be seen in Figure 6, including the multi-frequency shift detection device described above in the navigation processor 6A The Doppler frequency offset detecting means 600 includes a frequency offset calculating means 65G and a frequency deviation detecting means 66G. Digital base frequency 201133020 The data of the 50 rounds of the processor is input to the frequency shift calculation device 6 and executed in conjunction with Figure 5. In the processing of the frequency deviation, that is, the calculation of the satellites of the follow-up ==^^=0 and the value of the Doppler frequency change, and all the rates of the rate change within a predetermined time are suppressed by the letter (1) The Doppler frequency of the carrier frequency of the satellite is measured by the Doppler_variation value of each satellite on the tracking. The Doppler frequency offset detection device _通^^立路跟= appears ==Fresh charm lying green sneak 4 赖 (that is, the determination of the fine to reduce due to :: = difference in the process of exciting the satellite in the information star process in order to avoid the DFLL and the vertical error. Therefore, the present invention also proposes a method for selecting a satellite ===. Fig. 7 shows a method flow for detecting a Doppler frequency offset too selecting a satellite with an offset frequency abnormality in the method shown in Fig. 7. The 'step_ to S· respectively correspond to the step period of FIG. 4 to S430, which is different from the method shown in FIG. 4 in that the IV step S740 is added, which does not detect the abnormal frequency offset of the carrier. The phase deer satellite is used for positioning. Figure 8 shows which reception of the method shown in Figure 7 can be performed Structure of the device 11 201133020 μ It can be seen that 'there are also more in the navigation processor 60, including the above-mentioned frequency offset meter transposition coffee and frequency deviation detection shirt _: Le = shift detection device The Doppler frequency offset detecting means performs the same function as that explained in Fig. 6. The GPS receiving crying shown in Fig. 8 differs from the GPS receiver shown in Fig. 6 in that if a certain The loop circuit has a problem with the Doppler frequency offset detection device. The notification star device does not use the corresponding star for positioning. This method of selecting the satellite and the corresponding GPS receiver can effectively Avoid using satellite information with large DFLL tracking errors for positioning, so as to ensure the positioning accuracy. ▲Ran' may also be combined with the method described in Figure 5 by means of the method described in Figure 5, that is, first separately ± The frequency of the township's frequency change of each satellite = the average value of all the fascinating values of the Doppler surface; then whether there is an abnormal frequency offset on the satellite carrier of the singularity; Excited Capturing and/or avoiding the use of the corresponding satellite for positioning. Accordingly, the GPS receiver may also include signals from the Doppler frequency offset detecting device _ to the digital base frequency to 5 〇 and to the star select i (10) Processes. Although the corresponding method flowcharts and/or device structure diagrams are not provided herein, those skilled in the art can easily draw corresponding method flowcharts and/or device structure diagrams according to the above description. In addition, it should be noted that the weights and thresholds in the method flowchart shown in FIG. 5 may be the same as or different from the weights and thresholds in the method flowchart shown in FIG. 7. _Star, according to another embodiment of the present invention, a method for detecting whether a carrier frequency detection value of a GPS satellite not participating in positioning is correct is also proposed. Figure 9 shows a flow chart 900 of the method, which includes the following steps: 12 201133020 _ S91 (^it is selected for the GPS miscellaneous satellite position information and Doppler information, calculate the GPS receiver movement speed In the satellite information that participates in the positioning, and the Doppler information is correct, the speed of the U-lion is correct. Therefore, the carrier frequency of the star that is not participating in the positioning can be obtained by the following Doppler frequency offset calculation formula. Doppler frequency calculation: fa-f^vr-g);
C ^yzu 时木务叙位_星的載波醉的多普勒頻 與該衛星的DFLL多普勒頻率測量值進行比較； S930 ·當多普勒頻率計算值與多f勒頻率測量值不一致 ==::正確的條件下可-定該衛星的祖多普 對應於根據圖9所闡述的方法，根據本發明的—個實施 =了:種甩於檢測未參與定位的GPS衛星載波頻率檢測否 多普勒頻率測量值檢測裝置。該多#勒鮮測量值檢測裝 ^括.頻偏計算裝置680和頻偏差異檢測震置 裝置680中執行上述方法的步驟測〇中的處理，即，=選十; =速定Π星的·訊和多普勒資訊，計算出= 定位的r ㈣31撕述多絲儀計算公式計算刺未參與 衛星資訊和多普勒參與定位的 :=二偏差異檢測裝二 ===:=，多普勒頻率計算值與 r普勒_=:=多== 確，則說_魅不歸胁定位轉，從喊多#_^量 13 201133020C ^yzu when the wood service _ _ star carrier drunk Doppler frequency is compared with the satellite DFLL Doppler frequency measurement; S930 · When the Doppler frequency calculated value is inconsistent with the multi-f s frequency measurement == Under the correct conditions, it is possible to determine that the satellite's Zundop corresponds to the method described in accordance with FIG. 9. According to the present invention, the implementation is: the detection of the GPS satellite carrier frequency detection that is not involved in the positioning. Puller frequency measurement value detection device. The multi-detection value detection device includes a frequency offset calculation device 680 and a frequency offset difference detection device 680 that performs the processing in the step of the above method, that is, = ten; · News and Doppler information, calculate = positioning r (four) 31 tearing multi-wire meter calculation formula to calculate the thorn does not participate in satellite information and Doppler participation in the positioning: = two-bias difference detection installed two ===:=, more The calculation of the Pu'er frequency and r puls _=:= more == Exactly, then _ _ charm does not return to the threat position, from shouting more #_^量13 201133020
值檢測裝置可以通知數位基健理器5Q激發對該未參與定位的 fs衛星的重新捕獲。在此，在附圖中並未單獨繪出多普勒頻率測 量值檢測裝置的示意圖，可以參見例如圖1〇中用謝表示的部分。 圖10示出了可以執行圖9所示的方法的GPS接收器的結構圖 100^。從® 10巾可以看出，在導航處理財增加了上文所述的包 ，頭偏st算裝置_和雜差異檢崎置_的多普勒頻率測量 值心測裝置601。當多普勒頻率測量值檢測裝置謝判定相應衛星 的多普勒頻率測量值不正麵’則多f勒頻率測量值檢難置， 通知數位基頻處理!I 5G激發對該未參與定位的Gps衛星的重新捕 獲數位基頻處理器50不要將該衛星用於定位計算。在一實施制 中，特別地，所述頻偏計算裝置_是以軟體方式實現的。J 通過這_於檢測未參蚊位的Gps衛星的載波頻率檢測值 疋否正確的方法和相應的多普勒頻率測量值檢測裝置以及奶接 收盗，有效避免了將具有錯誤的DFLL多f勒頻率測量值的衛星選 入用於定位計算’從而提高了 GPS接收器的定位精度。 此外’根據本發明的又-實施例，為了便於提高Gps接收器 的定位精度，也可赌合圖5·述財法和/或結合圖7所描述 的方法與結合圖9所描述的方法進行細合n面，分別得到 跟縱上的各衛星料普勒辭變化_及所有衛星衫普勒頻率 =化值的平均值1制定雜的某魅毅是㈣現異常頻率 ^多，在檢_衛聽波出郷常_偏義情況下，激發重新 捕獲和/或避免將相應衛錢於定位；另—方面，可以將未麵定 :立了星的^勒鮮計算值與該衛星的·多_ =較;;此判斷相應衛星的虮L多量值是否正確。 如果该厂日錄不正確’職簡衛星不能被用於定位 计异’並激發對該未參與定位的Gps衛星的重新师。相應地， 201133020 •===:=:=裝置，多 ===/或裝置結構圖:但：領= 述繪製出相應的方法流程圖和/或裝置 參二=2==咖)作為 待檢嶋星帽是_預_道9 ΤΗ_%‘===的 • 3限值TH_3時，認為該衛星信號是 ^的&DFLL，普勒頻率偏移是正常的，上述檢測方法的 =效，並且在根據圖5的方法中並不激發對被取 ^ 吊頻率偏移的衛㈣重新捕獲，以及/或 ’|方㈣ 不影響將被判定域波出現異常鮮 ^圖7的方法中並 星用於定位，以及/或者在根據 DFLL多普勒頻率測量值是正確的^可被用於定位.=^ 定臨限值咖3時，上述檢測方法 ::二: φ應的=歧理。其中臨限值通細_ 多伽ί偏星喊波頻率的 =測值是否正確的樹 j J ’並對檢測結果進行計數’若其中至少Μ -欠产測 目應衛星的载波出現異常頻率偏移，則認為所述二 Ϊ:ϊ=:，異常頻率偏移的判定結果是有效的，以及/ 多並勒頻果均判定所述未參與定位的gps衛星的祖 …貝羊測里值疋錯誤的’則認為所述未參與定位的GPS衛星 15 201133020 ^。ιΓ*波鎖頻迴路多普勒鮮測量值錯誤關定結果是有效 了於::丨古Ν為正整數且。通過如此操作後，有效地降低 了檢測方法的誤檢機率。 干 並勒頻率偏移檢測方法後’可以有效地減小衛星多 、1龜^準確導致的偽距不準確。®11給出了使用結合圖5所 發明財法㈣到的結絲典_賴丨咖，其中 、Φ ^片不DFLL跟蹤的載波多普勒頻率，swfrq表示通過接收器 速又计异=載波多普勒頻率，在圖中·跟縱的頻率發生了偏 ^慕2ΐ在2_左右被檢測出’由此激發對被判定為載波出 f異吊頻率偏移的衛星的重新捕獲，從而使得正常跟蹤的衛星顆 於定位的正常跟鱗星酿較未使祿據本發明的檢測 的^立精^明顯提高’且能夠較大地提高弱信號下GPS接收器 最後，還需要說明的是，術語“包括”、“包含，，或者其 何其，變體s在涵蓋非排他性的包含，從而使得包括—系列要素 的過私、方法、物品或者設備不僅包括那些要素，而且還包 有明確列出的其他要素，或者是還包括為這種過程、方法、物品 或气設備所固有的要素。此外，在沒有更多限制的情況下，由达· 口y包括-個··.，，限定的要素，並不排除在包括所述要素的二 程、方法、物品或者設備中還存在另外的相同要素。 以上雖然結合附圖詳細描述了本發明的實施例，但是應當明 白’上面所描述的實施方式只是用於·本發明，而並不構^ 本發明的限制。對於本領域的技術人員來說，可以對上述實施方 式作出各種修改和變更而沒有背離本發明的實質和範圍。因2， 本發明的範圍僅由所附的權利要求及其等效含義來限定。 16 201133020 . 【圖式簡單說明】 似的附圖標記表示相同或==在_ ^進一步舉例說明本發明的較佳實施例和轉本發明的原理和 圖1現有技術中的GPS接收器的結構圖。 圖2正常情況下祖跟縱的載波多普勒頻偏變化圖。 圖3鎖頻迴路職異常時輸出的載波多普勒鮮圖。 普勒的本==實施例用於檢細衛星的載波的多 據本發明的一個實施例用於檢測Gps衛星的載波的多 ，曰勒頻率絲並且根_要_魅錄捕獲財法的流程圖。 圖6可以執行圖5所示的方法的Gps接收器的結構圖。 圖7根據本發明的-個實施例用於檢測Gps衛星的載波的多 普勒頻率偏移並且根據需要不選擇衛星用於定位的方法的流程 圖。 圖8可以執行圖7所示的方法的GPS接收器的結構圖。 曰圖9根據本發明的一個實施例用於檢測DFLL多普勒頻率測 量值是否正確的方法的流程圖。 圖10可以執行圖9所示的方法的GPS接收器的結構圖。 圖11通過使用如圖5所示的方法得到的頻偏檢測結果例示 圖0 . 【主要元件符號說明】 17 201133020 100 : —般的GPS接收器 10 :天線 20 :前置放大器 30 :射頻/中頻（rf/IF)變換器 40 :類比/數位（a/d)變換器 50 :數位基頻處理器 60 ··導航處理器 70 :控制顯示單元 200 ·正巾情況下靜止接收器載波鎖相迴路棘的載波多普勒頻率 偏移隨時間的變化示意圖 300 :當鎖頻迴路跟縱異常時輸出的載波多普勒頻率圖· 400 .用於檢測GPS衛星的载波頻率的多普勒頻率偏移的方法的流 程圖 S410、S420、S430 :步驟 500 ‘用於檢測多普勒頻率偏移並且根據需要激發對載波出現異常 頻率偏移的衛星重新捕獲的方法流程圖 S510、S520、S530、S540 :步驟 6000 .可以執行圖5所示的方法的Gps接收器的結構圖。 60 :導航處理器 600 :多普勒辭偏移㈣裝置， 601 .夕普勒頻率測量值檢测裝置 610 :選星裝置 620 :速度解算裝置 630 :位置及時鐘解算裝置 640 :後處理裝置 650 :頻率偏移計算裝置 201133020 660 .頻率跟偏檢測農置 680 :頻偏計算裝置 690 .頻偏差異檢測裝置 現偏移 S710、S72G、S73G、S74G:步驟 800 :可以執行圖7所示的方法的GPS接收器的結構圖。The value detecting means can notify the digital base processor 5Q to trigger reacquisition of the fs satellite not participating in the positioning. Here, a schematic diagram of the Doppler frequency measurement value detecting device is not separately depicted in the drawings, and can be referred to, for example, in the portion indicated by Xie in Fig. 1 . Fig. 10 shows a block diagram 100 of a GPS receiver that can perform the method shown in Fig. 9. As can be seen from the ® 10 towel, the Doppler frequency measurement value heartbeat device 601 of the above-described package, head-to-station device_and miscellaneous difference detection _ is added to the navigation processing. When the Doppler frequency measurement device detects that the Doppler frequency measurement value of the corresponding satellite is not positive, then the multi-f-frequency measurement value is difficult to detect, and the digital base frequency processing is notified! I 5G excitation is performed on the GPS that is not participating in the positioning. The satellite's recapture digital baseband processor 50 does not use the satellite for positioning calculations. In an implementation, in particular, the frequency offset computing device is implemented in a software manner. J. By using this method to detect the carrier frequency detection value of the GPS satellites without mosquitoes, and the corresponding Doppler frequency measurement value detection device and milk receiving theft, effectively avoiding the DFLL with multiple errors. Satellite selection of frequency measurements is used for positioning calculations' to improve the positioning accuracy of the GPS receiver. Furthermore, in accordance with still further embodiments of the present invention, in order to facilitate the positioning accuracy of the Gps receiver, the method described in conjunction with FIG. 5 and/or in conjunction with FIG. 7 and the method described in connection with FIG. 9 may be utilized. Fine n-planes, respectively, get the change of the satellites in the vertical direction, and the average value of all satellites, the frequency of the satellites, and the average value of the value of the singularity of the singularity of the singularity of the singularity of the singularity of the singularity.卫 listening to the waves often _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ = comparison;; this determines whether the corresponding satellite's 虮L multi-value is correct. If the factory's daily record is incorrect, the 'skill satellite cannot be used to locate the difference' and motivate the re-master of the GPS satellite that is not participating in the positioning. Accordingly, 201133020 •===:=:=device, more ===/ or device structure diagram: but: collar = description of the corresponding method flow chart and / or device reference 2 = 2 = = coffee) as Checking the star cap is _ pre-channel 9 ΤΗ _% '=== 3 limit TH_3, the satellite signal is considered to be ^ & DFLL, the Puele frequency offset is normal, the above detection method = effect And in the method according to Fig. 5 does not motivate the wei (4) recapture of the frequency offset, and/or the '| square (4) does not affect the method in which the domain wave will be judged to be abnormal. The star is used for positioning, and/or when the measured value according to the DFLL Doppler frequency is correct, it can be used to locate .=^ When the threshold value is 3, the above detection method:: 2: φ should be = ambiguity . Where the threshold value is fine _ multi-gamma eccentricity screaming frequency = whether the measured value is correct tree j J 'and the detection result is counted 'if at least Μ - under-production measurement should be abnormal frequency deviation of the carrier of the satellite If it is shifted, it is considered that the second Ϊ: ϊ =:, the determination result of the abnormal frequency offset is valid, and / the multi-frequency and the frequency are all determined to determine the ancestors of the GPS satellites that are not participating in the positioning... Wrong 'thinks that the GPS satellites that are not participating in the positioning 15 201133020 ^. ιΓ* wave lock frequency loop Doppler fresh measurement value error setting result is valid::丨古Ν is a positive integer and. By doing so, the probability of false detection of the detection method is effectively reduced. After the dry frequency shift detection method can effectively reduce the inaccuracy of the pseudorange caused by more than one satellite and one turtle. ®11 gives the use of the knot method shown in conjunction with Figure 5 (4), where the Φ ^ slice is not DFLL tracked carrier Doppler frequency, swfrq means the receiver speed is different = carrier The Doppler frequency, in the figure, is offset by the vertical frequency. 2ΐ is detected around 2_, and thus the excitation is re-captured by the satellite determined to be the carrier-off-frequency offset. The normal tracking of the satellites in the normalized scales of the satellites is not significantly improved by the detection of the invention according to the invention, and can greatly improve the GPS receiver under weak signals. Finally, it is also necessary to explain the terminology. "including", "including," or any of its variations, encompasses non-exclusive inclusions, such that the smuggling, methods, articles, or devices that comprise the elements of the series include not only those elements but also those explicitly listed. Other elements, or elements that are inherent to such a process, method, article, or gas device. In addition, without further restrictions, the elements defined by the port y include - a ·. Is not excluded There are additional identical elements in the two-way, method, article or device of the elements. Although the embodiments of the present invention have been described in detail above with reference to the drawings, it should be understood that the embodiments described above are only used for The invention is not limited to the invention, and various modifications and changes can be made to the above-described embodiments without departing from the spirit and scope of the invention. The appended claims and their equivalents are defined. 16 201133020. [Simplified illustration of the drawings] Like reference numerals indicate the same or == further exemplifies the preferred embodiments of the invention and the invention The principle and the structure diagram of the GPS receiver in the prior art in Fig. 1. Fig. 2 is a carrier Doppler shift pattern of the ancestors in the normal case. Fig. 3 is a carrier Doppler fresh map outputted when the frequency-locked loop is abnormal. The present embodiment of the present invention is used to detect the carrier of a GPS satellite, and the carrier frequency of the GPS satellite is also used to detect the carrier frequency of the GPS satellite. Figure 6 is a block diagram of a Gps receiver that can perform the method shown in Figure 5. Figure 7 is an embodiment of the present invention for detecting a Doppler frequency offset of a carrier of a GPS satellite and not as needed A flow chart of a method of selecting a satellite for positioning. Figure 8 is a block diagram of a GPS receiver that can perform the method of Figure 7. Figure 9 is a diagram for detecting whether a DFLL Doppler frequency measurement is used in accordance with an embodiment of the present invention. Flowchart of the correct method. Fig. 10 is a structural diagram of a GPS receiver capable of performing the method shown in Fig. 9. Fig. 11 is an illustration of Fig. 0 by using a frequency offset detection result obtained by the method shown in Fig. 5. [Main component symbol Description] 17 201133020 100 : General GPS Receiver 10 : Antenna 20 : Preamplifier 30 : RF / Intermediate Frequency (rf / IF) Converter 40 : Analog / Digital (a / d) Converter 50 : Digital Base Frequency Processor 60 ··Navigation processor 70: Control display unit 200 · Change in carrier Doppler frequency offset of stationary receiver carrier phase-locked loop with time in the case of a scarf 300: When the frequency-locked loop is abnormal Output carrier Doppler frequency Figure 400. Flowchart S410, S420, S430 of a method for detecting a Doppler frequency offset of a carrier frequency of a GPS satellite: step 500' for detecting a Doppler frequency offset and exciting an abnormality on a carrier as needed Flowchart S510, S520, S530, S540: Step 6000. A structural diagram of a Gps receiver that can perform the method shown in FIG. 60: navigation processor 600: Doppler shift (four) device, 601. Xipule frequency measurement value detecting device 610: star selecting device 620: speed solving device 630: position and clock solving device 640: post processing Device 650: frequency offset calculation device 201133020 660. Frequency deviation detection farm 680: frequency offset calculation device 690. Frequency offset difference detection device is now offset S710, S72G, S73G, S74G: step 800: can be performed as shown in FIG. The structure of the GPS receiver is a structural diagram.
900 :用於檢測未參與定位的GPS衛星的載波頻率檢測值是否正確 的方法流程圖 S910、S920、S930 :步驟 1000 :可以執行圖9所示的方法的GPS接收器的結構圖 1100 :使用結合圖5所述的根據本發明的方法而得到的結果的典 型例示圖900: Method for detecting whether the carrier frequency detection value of the GPS satellite not participating in the positioning is correct. Flowchart S910, S920, S930: Step 1000: Structure of the GPS receiver that can perform the method shown in FIG. 9 FIG. 1100: Using a combination A typical illustration of the results obtained in accordance with the method of the present invention illustrated in FIG.