WO2013088528A1 - Gnss信号処理方法、測位方法、gnss信号処理プログラム、測位プログラム、gnss信号処理装置、測位装置、および、移動端末 - Google Patents
Gnss信号処理方法、測位方法、gnss信号処理プログラム、測位プログラム、gnss信号処理装置、測位装置、および、移動端末 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7085—Synchronisation aspects using a code tracking loop, e.g. a delay-locked loop
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B2201/00—Indexing scheme relating to details of transmission systems not covered by a single group of H04B3/00 - H04B13/00
- H04B2201/69—Orthogonal indexing scheme relating to spread spectrum techniques in general
- H04B2201/707—Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation
- H04B2201/70715—Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation with application-specific features
Definitions
- the present invention relates to a GNSS signal processing method for performing tracking by locking the code phase of a GNSS signal code-modulated with a spreading code.
- the GNSS signal is a signal obtained by code-modulating a carrier wave having a predetermined frequency with a spreading code.
- the spreading code is set individually for each GNSS satellite (GNSS signal).
- the positioning device generally tracks the GNSS signal by the following method.
- the positioning device generates a replica signal including a replica code of a spreading code set for a target GNSS satellite.
- the positioning device correlates the received GNSS signal with the replica signal.
- the positioning device calculates an error detection value from the correlation value.
- the positioning device tracks the target GNSS signal by controlling the code phase of the replica signal using the error detection value and locking the code phase of the target GNSS signal.
- tracking can be performed easily and accurately. If the multipath signal received by the positioning device after the GNSS signal is reflected on a high-rise building or the like is included, tracking accuracy may be lowered.
- Non-Patent Document 1 and Patent Document 1 an error detection value calculation formula is set so that the correlation value becomes “0” in a specific code phase range. Yes. Specifically, with the code phase of the target GNSS signal as a reference phase, a dead region where the correlation value is “0” is set in a predetermined code phase range between the reference phase and a predetermined code phase separation. ing. If the code phase of the multipath signal enters this insensitive area, the code phase of the target GNSS signal is locked without being affected by the multipath signal.
- the code phase cannot be locked if the code phase of the intended GNSS signal of the direct wave signal enters the insensitive region. In this case, the target GNSS signal cannot be tracked.
- a plurality of replica signals for acquisition are generated with a predetermined code phase resolution, and the code phase to be given to the initial tracking is set from the correlation value between each replica signal and the GNSS signal. For this reason, the code phase that is in close proximity to the code phase of the target GNSS signal is not necessarily detected.
- a certain code phase difference remains between the target GNSS signal and the code phase of the replica signal, and the code phase of the target GNSS signal may enter the dead zone. is there. In particular, when the code phase interval of the capture replica signal is wide, it is more likely to enter the insensitive area.
- an object of the present invention is to provide a GNSS signal processing method capable of locking the code phase of a target GNSS signal reliably and with high accuracy.
- the GNSS signal processing method of the present invention is characterized by having the following correlation processing step, difference value calculation step, error detection value calculation step, and code phase control step.
- the first early replica signal advanced by the first code phase relative to the prompt replica signal, the first late replica signal delayed by the first code phase relative to the prompt replica signal, and the second code relative to the prompt replica signal are correlated.
- the early difference value is calculated by subtracting the second early correlation value from the first early correlation value.
- the first early correlation value is obtained from the correlation result between the GNSS signal and the first early replica signal.
- the second early correlation value is obtained from the correlation result between the GNSS signal and the second early replica signal.
- the late difference value is calculated by subtracting the second late correlation value from the first late correlation value.
- the first late correlation value is obtained from the correlation result between the GNSS signal and the first late replica signal.
- the second late correlation value is obtained from the correlation result between the GNSS signal and the second late replica signal.
- an error calculation method is set based on the signs of the early difference value and the late difference value, and the error detection value is calculated using the set error calculation method.
- the code phase of the prompt replica signal is controlled based on the error detection value, and the code phase of the GNSS signal is tracked.
- This method uses the fact that the sign of the early difference value and the late difference value changes according to the phase difference between the code phase of the received GNSS signal and the code phase of the prompt replica signal. By appropriately setting the error detection method according to the sign of the early difference value and the late difference value, it is possible to perform appropriate code phase control according to the code phase difference. This improves the tracking performance of the GNSS signal.
- the error detection value calculation step of the GNSS signal processing method of the present invention when the early difference value and the late difference value have different signs, the first calculation in which the code phase range where the error detection value takes a value other than 0 is widened.
- the error detection value is calculated by a first error detection method using an equation.
- the error detection value calculation step when the early difference value and the late difference value have the same sign, the error is detected by the second error detection method using the second calculation formula having a narrow code phase range in which the error detection value takes a value other than 0. The detection value is calculated.
- This method shows a specific example of the error detection method to be selected.
- the code phase difference between the prompt replica signal and the GNSS signal is large, as shown in the embodiments and the drawings described later. Therefore, by using the first error detection method having a wide code phase range in which the error detection value does not become 0, it is difficult to lose the GNSS signal and reliable tracking is possible.
- the code phase difference between the prompt replica signal and the GNSS signal is as shown in the embodiments and figures described later, as shown in the drawings described later. small. Therefore, by using the second error detection method having a narrow code phase range in which the error detection value takes a value other than 0, the code phase of the GNSS signal can be locked with high accuracy without being affected by multipath. High-precision tracking becomes possible.
- the first early correlation value and the first late correlation value are used in the first calculation formula, or the second early correlation value and the second late correlation value are used.
- the first and second early correlation values and the first and second late correlation values are used in the second calculation formula.
- This method shows a combination of correlation values used in the first calculation formula and the second calculation formula.
- a specific calculation formula will be described in an embodiment described later.
- the positioning method of the present invention includes a step of acquiring a navigation message from the correlation result between the GNSS signal tracked by the GNSS signal processing method described above and the prompt replica signal.
- This positioning method includes a step of calculating a pseudo distance from an error detection value with respect to the GNSS signal being tracked.
- This positioning method includes a step of performing a positioning calculation using the navigation message and the pseudorange.
- the navigation message can be reliably demodulated and the pseudorange can be calculated with high accuracy. Thereby, highly accurate positioning calculation becomes possible.
- the code phase of the target GNSS signal can be tracked reliably and with high accuracy.
- FIG. 1 is a flowchart of a GNSS signal processing method according to an embodiment of the present invention.
- the target GNSS signal is tracked by repeating the flow shown in FIG.
- a replica signal is a signal having a replica code of a spread code signal of a target GNSS signal.
- a prompt replica signal S RP a first early replica signal S RE , a second early replica signal S RVE , a first late replica signal S RL , and a second late replica signal S RVL are used.
- the code phases of these replica signals are set as shown in FIG.
- FIG. 2 is a diagram showing the relationship of the code phase timing of each replica signal in the GNSS signal processing method according to the embodiment of the present invention.
- the prompt replica signal SRP is a signal in which the code phase of the replica code is set so that the received GNSS signal matches the code phase based on the previously calculated error detection value ⁇ . is there.
- the prompt replica signal SRP is a signal in which the code phase is set so that the correlation value with the GNSS signal is maximized.
- the first early replica signal S RE is a signal whose code phase is advanced by the code phase difference ⁇ 1/2 with respect to the prompt replica signal S RP .
- Second early replica signal S RVE is the prompt replica signal S RP, only the code phase difference tau 2/2, a signal advanced code phase.
- Code phase difference tau 2/2 is set to be larger than the code phase difference ⁇ 1/2.
- the code phase difference tau 1/2 is 0.05 chips
- the code phase difference tau 2/2 is 0.075 chips.
- the first late replica signal S RL is a signal whose code phase is delayed by the code phase difference ⁇ 1/2 with respect to the prompt replica signal S RP .
- the second late replica signals S RVL is the prompt replica signal S RP, only the code phase difference tau 2/2, a signal delayed code phases.
- the code phase difference (spacing) between the first early replica signal SRE and the first late replica signal SRL becomes ⁇ 1 .
- the spacing is 0.1 chip.
- the code phase difference (spacing) between the second early replica signal S RVE and the second late replica signal S RVL is ⁇ 2 .
- the spacing is 0.15 chip.
- GNSS signal and the prompt replica signal S RP calculates the prompt correlation value CV P.
- a second early correlation value CV VE is calculated.
- GNSS signals and by the first late replica signals S RL correlated process calculates a first rate correlation value CV L.
- a second late correlation value CV VL is calculated.
- an early difference value ⁇ CV E and a late difference value ⁇ CV L are calculated (S102).
- the early difference value ⁇ CV E is calculated by subtracting the first early correlation value CV E by the second early correlation value CV VE .
- the late difference value ⁇ CV L is calculated by subtracting the first late correlation value CV L by the second late correlation value CV VL .
- the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are compared. If the sign of the early difference value ⁇ CV E and the sign of the late difference value ⁇ CV L are different (S103: NO), the error detection value ⁇ ( ⁇ A ) is calculated by the first error detection method.
- the first error detection method by the first early correlation value CV E and the first late correlation value CV L and prompt correlation value CV P, it is assigned to the first calculation formula of the following, error detection value .DELTA..tau (.DELTA..tau A ) Is calculated.
- the error detection value ⁇ ( ⁇ B ) is calculated by the second error detection method.
- first, second early correlation value CV E, CV VE, first, second late correlation value CV L, the CV VL and prompt correlation value CV P the second calculation formula of the following By substituting, an error detection value ⁇ ( ⁇ B ) is calculated.
- Equation 2 c 1 , c 2 , and c 3 are appropriately set constants.
- the code phase control of the replica signal is performed using the calculated error detection value ⁇ ( ⁇ A or ⁇ B ).
- the error detection value ⁇ is 0, or to advance the code phase of the prompt replica signal S RP, or delay.
- the code phase of the prompt replica signal S RP is also set.
- the code phase of the GNSS signal is locked, and the GNSS signal is tracked.
- locking the code phase indicates that the code phase control is performed so that the code phase of the prompt replica signal SRP and the code phase of the GNSS signal substantially coincide with each other continuously.
- the error detection value is calculated by selecting two types of calculation formulas according to the situation. Next, the function and effect obtained by selecting the calculation formula for the error detection value ⁇ will be described.
- FIG. 3 is a diagram showing a characteristic (900 NW) of the error detection value ⁇ A calculated by the first error detection method with respect to the code phase difference.
- FIG. 4 is a diagram showing a characteristic (900 ELS) with respect to the code phase difference of the error detection value ⁇ B calculated by the second error detection method. 3 and 4 are shown schematically so that only the difference in characteristics can be clearly seen.
- the code phase difference is increased until the absolute value of the code phase difference reaches 1.0 chip. Except for the case of 0, the error detection value ⁇ ( ⁇ A ) does not become zero. Therefore, a non-zero error detection value ⁇ can be obtained in a wide range of code phase differences. Thereby, even if the code phase difference between the target GNSS signal and the prompt replica signal RP is relatively large, the code phase control of the prompt replica signal SRP can be reliably performed so that these code phases match. .
- the first error detection method is particularly effective when shifting from capture to tracking.
- a plurality of replica signals are generated at a predetermined code phase interval and correlated with the GNSS signal.
- the code phase of the replica signal having the highest correlation value is used as the initial code phase for tracking the GNSS signal.
- the code phase at the beginning of tracking may be away from the true code phase of the GNSS signal depending on the code phase interval used at the time of acquisition and the reception status.
- the code phase characteristics as in the first error detection method since the code phase range where the error detection value is not 0 is wide, it is easily affected by the multipath signal.
- the code phase difference is increased until the absolute value of the code phase difference reaches 1.0 chip.
- the error detection value ⁇ ( ⁇ B ) is 0.
- the code phase difference is +1.0 chip from a predetermined chip (negative value) whose code phase difference is 0.0 side than the -1.0 chip.
- the error detection value ⁇ ( ⁇ B ) does not become zero except for the case where the code phase difference is 0 until the predetermined phase (positive value) on the 0.0 side of the code phase difference.
- the error detection value ⁇ ( ⁇ B ) is 0 over the predetermined code phase range in the code phase difference where the code phase difference is farther from 0.0 than the range where the error detection value ⁇ is not 0.
- An insensitive area is provided. As a result, even if a multipath signal is received, the code phase of the multipath signal is likely to be related to the dead area. When the code phase of the multipath signal enters the insensitive region, accurate code phase control can be performed without being affected by the multipath signal.
- the second error detection method is particularly effective when the code phase difference between the prompt replica signal SRP and the GNSS signal is reduced and driven to near zero.
- the code phase is controlled so that the code phase difference between the prompt replica signal SRP and the GNSS signal becomes 0 and the multipath signal is received, the error detection value ⁇ ( ⁇ B ) There is no signal effect. Therefore, the code phase can be accurately controlled.
- the code phase of the target GNSS signal can be locked with high accuracy and the target GNSS signal can be tracked. Furthermore, even if a multipath signal is received during tracking, the target GNSS signal can be accurately tracked without being affected by the multipath signal.
- Figure 5 is a diagram showing a first status prompt replica signal S RP is advanced code phase for the purposes of the GNSS signals.
- 6 is a diagram showing a second situation which prompted the replica signal S RP is advanced code phase for the purposes of the GNSS signals.
- Figure 7 is a diagram showing a third situation which prompted the replica signal S RP is advanced code phase for the purposes of the GNSS signals.
- the code phase difference between the prompt replica signal SRP and the target GNSS signal is larger than in the second and third situations.
- the code phase difference between the prompt replica signal SRP and the target GNSS signal is larger than that in the third situation.
- Figure 8 is a diagram showing a fourth situation prompt replica signal S RP is delayed code phases for the purposes of the GNSS signals.
- Figure 9 is a diagram showing a fifth status of the prompt replica signal S RP is delayed code phases for the purposes of the GNSS signals.
- the code phase difference between the prompt replica signal SRP and the target GNSS signal is larger than that in the fifth situation.
- FIG. 6, FIG. 7, FIG. 8, and FIG. 9 shows the correlation value characteristic according to the code phase difference between the replica signal and the GNSS signal, and 900P shows the correlation curve.
- (B) shows a code phase difference characteristic of an error detection value when the second error detection method is used, and 900 ELS shows a second error detection value characteristic curve.
- (C) shows the code phase difference characteristic of the error detection value when the first error detection method is used, and 900 NW shows the second error detection value characteristic curve.
- (1) prompt replica signal S RP is as shown if Figure 5 is progressing code phase for the purposes of the GNSS signal, a first situation, the code prompt replica signal S RP is for the purposes of the GNSS signal If the phase is advanced greatly, first, second early correlation value CV E, CV VE, first, second late correlation value CV L, CV VL and prompt correlation value CV P is the code phase difference is a negative value It appears side by side on the correlation curve 900P in the range.
- the first early correlation value CV E is larger than the second early correlation value CV VE .
- Prompt correlation value CV P is greater than the first Early correlation value CV E.
- First late correlation value CV L is larger than the prompt correlation value CV P.
- the second late correlation value CV VL is larger than the first late correlation value CV L. That is, CV E ⁇ CV VE ⁇ CV P ⁇ CV L ⁇ CV VL .
- the early difference value ⁇ CV E CV E ⁇ CV VE becomes a positive value.
- the late difference value ⁇ CV L CV L ⁇ CV VL becomes a negative value. Therefore, the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are different.
- the position of the code phase of the prompt replica signal SRP is point A, and the error detection value ⁇ B obtained by the second error detection method is 0 as shown in FIG. As shown in FIG. 5C, the error detection value ⁇ A obtained by the first error detection method is a negative value. Accordingly, code phase control cannot be performed with the second error detection method, but code phase control can be performed with the first error detection method.
- the prompt replica signal S RP cases is progressing code phase for the purposes of the GNSS signal, a first similar to the situation, first, second early correlation value CV E, CV VE, first, second late correlation value CV L, CV VL and prompt correlation value CV P, to the extent the code phase difference is a negative value It appears side by side on the correlation curve 900P.
- the early difference value ⁇ CV E CV E ⁇ CV VE becomes a positive value.
- the late difference value ⁇ CV L CV L ⁇ CV VL becomes a negative value. Therefore, the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are different.
- the code phase position of the prompt replica signal SRP is point B, and as shown in FIG. 6B, the error detection value ⁇ B obtained by the second error detection method is 0 to a negative value. It becomes a boundary to switch to. As shown in FIG. 6C, the error detection value ⁇ A obtained by the first error detection method is a negative value. Therefore, the code phase difference between the prompt replica signal S RP is GNSS signal of interest is smaller than the second situation, the possibility is also the code phase control second error detection method is. However, in practice, it is better to consider the observation error, and if the observation error is taken into account, it is difficult to perform the code phase control by the second error detection method. In the first error detection method, code phase control is possible.
- the prompt replica signal SRP is in a state where the code phase is advanced with respect to the target GNSS signal and the code phase difference is small (first, If not as advanced as the second situation), the first, second early correlation value CV E, CV VE, first late correlation value CV L and prompt correlation value CV P is correlated code phase difference is in the range of negative values It appears side by side on the curve 900P. However, the second late correlation value CV VL appears on the correlation curve 900P in the range where the code phase difference is a positive value.
- the late difference value ⁇ CV L CV L ⁇ CV VL becomes a positive value.
- the early difference value ⁇ CV E and the late difference value ⁇ CV L CV L ⁇ CV VL are both positive values. Therefore, the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are the same.
- the code phase position of the prompt replica signal SRP is C point, and as shown in FIGS. 7B and 7C, the error detection value ⁇ B obtained by the second error detection method and the first error detection are obtained. Both error detection values ⁇ A obtained by the method are negative values. Therefore, the code phase control can be performed by either the second error detection method or the first error detection method.
- the first error detection method is easily affected by the multipath signal, and thus the second error detection method is switched. Thereby, after this switching, it is difficult to be influenced by the multipath signal, and the code phase control can be accurately performed so as to lock the code phase of the target GNSS signal.
- the first early correlation value CV E is smaller than the second early correlation value CV VE .
- Prompt correlation value CV P is smaller than the first Early correlation value CV E.
- First late correlation value CV L is smaller than the prompt correlation value CV P.
- the second late correlation value CV VL is smaller than the first late correlation value CV L. That is, CV VE > CV E > CV P > CV L > CV VL .
- the early difference value ⁇ CV E CV E ⁇ CV VE becomes a negative value.
- Late difference value ⁇ CV L CV L ⁇ CV VL becomes a positive value. Therefore, the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are different.
- the position of the code phase of the prompt replica signal SRP is point D, and the error detection value ⁇ B obtained by the second error detection method is 0, as shown in FIG. 8B.
- the error detection value ⁇ A obtained by the first error detection method is a positive value. Accordingly, code phase control cannot be performed with the second error detection method, but code phase control can be performed with the first error detection method.
- the first early correlation value CV E, first, second late correlation value CV L, CV VL and prompt correlation value CV P is the code phase difference on the correlation curve 900P in the region of positive values Appears side by side.
- the second early correlation value CV VE appears on the correlation curve 900P in the range where the code phase difference is a negative value.
- the early difference value ⁇ CV E CV E ⁇ CV VE becomes a positive value.
- the early difference value ⁇ CV E and the late difference value ⁇ CV L CV L ⁇ CV VL are both positive values. Therefore, the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are the same.
- the code phase position of the prompt replica signal SRP is point E, and as shown in FIGS. 9B and 9C, the error detection value ⁇ B obtained by the second error detection method and the first error detection are obtained. Both error detection values ⁇ A obtained by the method are positive values. Therefore, the code phase control can be performed by either the second error detection method or the first error detection method. However, as described above, the first error detection method is easily affected by the multipath signal, and thus the second error detection method is switched. Thereby, after this switching, the code phase control can be performed accurately so as to lock the code phase of the target GNSS signal without being affected by the multipath signal.
- the error detection method can be switched at an appropriate timing by using the GNSS signal processing method of the present embodiment.
- the target GNSS signal can be tracked reliably and accurately, and the influence of the multipath signal on the tracking of the target GNSS signal can be suppressed.
- the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L are detected. Then, when it is detected that the combination of signs is changed, i.e., the code phase difference between the GNSS signal and the prompt replica signal S RP is determined to have become smaller than the predetermined value, it is switched to the second error detection method, GNSS signal Continue tracking.
- the early difference value ⁇ CV corresponding to the early difference value ⁇ CV E , the late difference value ⁇ CV L , and the error detection value ⁇ A of the first error detection method.
- the code phase difference between the GNSS signal and the prompt replica signal SRP is monitored. Then, the code phase difference between the GNSS signal and the prompt replica signal S RP is determines that becomes larger than a predetermined value, to continue the tracking of the GNSS signal is switched to the first error detection method based on these difference values.
- FIG. 10 is a block diagram showing a configuration of the positioning device 1 according to the embodiment of the present invention.
- FIG. 11 is a block diagram showing the configuration of the demodulator 13.
- the positioning device 1 includes a GNSS receiving antenna 11, an RF processing unit 12, a demodulation unit 13 corresponding to the GNSS signal processing device of the present invention, a navigation message analysis unit 14, and a positioning calculation unit 15.
- the GNSS receiving antenna 11 receives a GNSS signal transmitted from a GNSS satellite (GPS satellite or the like) and outputs it to the down converter 12.
- the down converter 12 converts the GNSS signal into a predetermined intermediate frequency signal (hereinafter referred to as IF signal) and outputs the signal to the demodulator 13.
- the demodulator 13 performs code phase control of the replica signal based on the error detection value ⁇ as described above, and captures and tracks the GNSS signal including the IF signal. .
- Demodulator 13 locks the code phase of the GNSS signal, a successful tracking, and outputs a correlation value between the GNSS signal and the prompt replica signal S RP (the prompt correlation value CV P) to the navigation message analysis unit 14.
- the demodulation unit 13 calculates a pseudo distance by integrating the error detection value ⁇ for a predetermined time, and outputs the pseudo distance to the positioning calculation unit 15.
- Navigation message analysis unit 14 analyzes demodulates the navigation message from the prompt correlation value CV P from demodulator 13, and supplies the contents to the positioning calculating section 15.
- the positioning calculation unit 15 performs a positioning calculation based on the content of the navigation message from the navigation message analysis unit 14 and the pseudo distance from the demodulation unit 13 and estimates the position of the positioning device 1.
- the demodulation unit 13 includes a replica signal generation unit 31, correlation units 32 ⁇ / b> P, 32 ⁇ / b> VE, 32 ⁇ / b> E, 32 ⁇ / b> L, 32 ⁇ / b> VL, and a calculation unit 33.
- the replica code generation unit 31 Based on the code phase control signal given from the operation unit 33, the replica code generation unit 31 performs the above-described prompt replica signal S RP , first early replica signal S RE , second early replica signal S RVE , and first late replica. A signal S RL and a second late replica signal S RVL are generated.
- the replica code generation unit 31 outputs the prompt replica signal SRP to the correlation unit 32P.
- Replica code generator 31, the first early replica signal S RE output to the correlation unit 32E.
- the replica code generation unit 31 outputs the second early replica signal S RVE to the correlation unit 32VE.
- the replica code generation unit 31 outputs the first late replica signal SRL to the correlation unit 32L.
- the replica code generation unit 31 outputs the second late replica signal S RVL to the correlation unit 32VL.
- Correlation unit 32P includes a GNSS signal and a prompt replica signal S RP Correlates, outputs the prompt correlation value CV P.
- Prompt correlation value CV P is output to the arithmetic unit 33, is outputted to the navigation message analysis unit 14.
- the correlator 32E correlates the GNSS signal and the first early replica signal SRE, and outputs a first early correlation value CV E.
- the first early correlation value CV E is output to the calculation unit 33.
- the correlation unit 32VE correlates the GNSS signal with the second early replica signal S RVE and outputs a second early correlation value CV VE .
- the second early correlation value CV VE is output to the calculation unit 33.
- Correlation unit 32L includes a GNSS signal and a first late replica signals S RL Correlates, and outputs a first late correlation value CV L.
- First late correlation value CV L is output to the arithmetic unit 33.
- the correlation unit 32VL performs a correlation process on the GNSS signal and the second late replica signal S RVL and outputs a second late correlation value CV VL .
- the second late correlation value CV VL is output to the calculation unit 33.
- the calculation unit 33 is configured by a CPU or the like.
- the calculation unit 33 stores a program that realizes the above-described error detection value calculation calculation and code phase control, and reads and executes the program.
- the calculation unit 33 uses the prompt correlation value CV P , the first early correlation value CV E , the second early correlation value CV VE , the first late correlation value CV L , and the second late correlation value CV VL as described above. Select the error detection method.
- the calculation unit 33 calculates the error detection value ⁇ by the selected error detection method.
- the computing unit 33 generates a code phase control signal based on the calculated error detection value ⁇ so that the code phase difference between the prompt replica signal and the GNSS signal approaches zero.
- the calculation unit 33 provides the code phase control signal to the replica signal generation unit 31.
- the GNSS signal can be tracked reliably and accurately as described above. Since the tracking can be performed accurately, the code phase of the GNSS signal can be acquired with high accuracy, and the navigation message can be demodulated and the pseudorange can be calculated with high accuracy. Thereby, highly accurate positioning can be performed.
- the positioning device 1 is divided into the functional units and the positioning process is performed.
- the RF processing unit 12, the demodulation unit 13, the navigation message analysis unit 14, and the positioning calculation unit 15 are You may integrate with information processing apparatuses, such as a computer.
- the flowchart of the positioning process shown in FIG. 12 including the above-described processes is programmed and stored. Then, the positioning program is read and executed by the information processing apparatus.
- FIG. 12 is a flowchart of the positioning method according to the embodiment of the present invention.
- the GNSS signal is received and captured (S201).
- a plurality of replica signals are generated at predetermined code phase intervals. Correlation processing is performed between each of the plurality of replica signals and the GNSS signal.
- the code phase of the replica signal having the highest correlation value is set as the code phase of the GNSS signal.
- Tracking is started using the code phase set by acquisition as the initial phase (S202). At this time, the GNSS signal is tracked while selecting the calculation method of the error detection value ⁇ according to the signs of the early difference value ⁇ CV E and the late difference value ⁇ CV L.
- the error detection value ⁇ is integrated every predetermined time to calculate the pseudo distance (S203). By integrating the prompt correlation value CV P, it is obtained by demodulating the navigation message (S204). Note that the pseudo distance calculation process and the navigation message demodulation and acquisition process are not particularly limited in this order, and may be performed in parallel.
- the positioning calculation is performed using the obtained pseudo distance and the navigation message (S205).
- FIG. 13 is a block diagram illustrating a main configuration of the mobile terminal 100 including the positioning device 1 according to the embodiment of the present invention.
- a mobile terminal 100 as shown in FIG. 13 is, for example, a mobile phone, a car navigation device, a PND, a camera, a watch, etc., and a GNSS reception antenna 11, an RF processing unit 12, a demodulation unit 13, a navigation message analysis unit 14, a positioning calculation. Unit 15 and application processing unit 120.
- the GNSS receiving antenna 11, the RF processing unit 12, the demodulation unit 13, the navigation message analysis unit 14, and the positioning calculation unit 15 have the above-described configuration, and the positioning device 1 is configured as described above.
- the application processing unit 120 displays the own device position and the own device speed based on the positioning result output from the positioning device 1, and executes processing for use in navigation and the like.
- the error detection value ⁇ A is calculated from the first early correlation value CV E and the first late correlation value CV L.
- the error detection value ⁇ AA may be calculated from the second early correlation value CV VE and the first late correlation value CV VL .
- the spacing for calculating the early difference value ⁇ CV E and the late difference value ⁇ CV L may be different from the spacing for calculating the error detection value.
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Abstract
Description
図5に示すように、第1の状況として、プロンプトレプリカ信号SRPが目的のGNSS信号に対してコード位相が大きく進んでいる場合、第1、第2アーリー相関値CVE,CVVE、第1、第2レイト相関値CVL,CVVLとプロンプト相関値CVPは、コード位相差が負値の範囲において相関カーブ900P上に並んで現れる。
図8に示すように、第4の状況として、プロンプトレプリカ信号SRPが目的のGNSS信号に対してコード位相が大きく遅れている場合、第1、第2アーリー相関値CVE,CVVE、第1、第2レイト相関値CVL,CVVLとプロンプト相関値CVPは、コード位相差が正値の範囲において相関カーブ900P上に並んで現れる。
11:GNSS受信アンテナ11、
12:RF処理部、
13:復調部、
14:航法メッセージ解析部、
15:測位演算部、
31:レプリカ信号発生部、
32P,32VE,32E,32L,32VL:相関部、
33:演算部
100:移動端末、
120:アプリケーション処理部
Claims (11)
- プロンプトレプリカ信号に対して第1コード位相進んだ第1アーリーレプリカ信号、前記プロンプトレプリカ信号に対して前記第1コード位相遅れた第1レイトレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相進んだ第2アーリーレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相遅れた第2レイトレプリカ信号のそれぞれと、前記GNSS信号とを相関処理する相関処理工程と、
前記GNSS信号と前記第1アーリーレプリカ信号との相関結果による第1アーリー相関値から、前記GNSS信号と前記第2アーリーレプリカ信号との相関結果による第2アーリー相関値を減算してアーリー差分値を算出し、前記GNSS信号と前記第1レイトレプリカ信号との相関結果による第1レイト相関値から、前記GNSS信号と前記第2レイトレプリカ信号との相関結果による第2アーリー相関値を減算してレイト差分値を算出する差分値算出工程と、
前記アーリー差分値と前記レイト差分値との符号に基づいて誤差算出方法を設定し、設定した誤差算出方法を用いて誤差検出値を算出する誤差検出値算出工程と、
前記誤差検出値に基づいて前記プロンプトレプリカ信号のコード位相を制御し、前記GNSS信号のコード位相を追尾するコード位相制御工程と、を有するGNSS信号処理方法。 - 請求項1に記載のGNSS信号処理方法であって、
前記アーリー差分値と前記レイト差分値とが異符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が広くなる第1算出式を用いた前記第1誤差検出方法で前記誤差検出値を算出し、
前記アーリー差分値と前記レイト差分値とが同符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が狭い第2算出式を用いた第2誤差検出方法で前記誤差検出値を算出する、GNSS信号処理方法。 - 請求項2に記載のGNSS信号処理方法であって、
前記第1算出式は、前記第1アーリー相関値と前記第1レイト相関値とを用いるか、前記第2アーリー相関値と前記第2レイト相関値を用い、
前記第2算出式は、前記第1、第2アーリー相関値と前記第1、第2レイト相関値を用いる、GNSS信号処理方法。 - 請求項1乃至請求項3のいずれかに記載のGNSS信号処理方法で追尾しているGNSS信号と前記プロンプトレプリカ信号との相関結果から航法メッセージを取得する工程と、
前記追尾しているGNSS信号に対する前記誤差検出値から擬似距離を算出する工程と、
前記航法メッセージと前記擬似距離とを用いて測位演算を行う工程と、を有する測位方法。 - 受信したGNSS信号のコード位相を追尾する処理をコンピュータに実行させるGNSS信号処理プログラムであって、
前記コンピュータは、
プロンプトレプリカ信号に対して第1コード位相進んだ第1アーリーレプリカ信号、前記プロンプトレプリカ信号に対して前記第1コード位相遅れた第1レイトレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相進んだ第2アーリーレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相遅れた第2レイトレプリカ信号のそれぞれと、前記GNSS信号とを相関処理し、
前記GNSS信号と前記第1アーリーレプリカ信号との相関結果による第1アーリー相関値から、前記GNSS信号と前記第2アーリーレプリカ信号との相関結果による第2アーリー相関値を減算してアーリー差分値を算出し、
前記GNSS信号と前記第1レイトレプリカ信号との相関結果による第1レイト相関値から、前記GNSS信号と前記第2レイトレプリカ信号との相関結果による第2アーリー相関値を減算してレイト差分値を算出し、
アーリー差分値とレイト差分値との符号に基づいて誤差算出方法を設定し、設定した誤差算出方法を用いて前記誤差検出値を算出し、
前記誤差検出値に基づいて前記プロンプトレプリカ信号のコード位相を制御し、前記GNSS信号のコード位相を追尾する、GNSS信号処理プログラム。 - 請求項5に記載のGNSS信号処理プログラムであって、
前記コンピュータは、
前記アーリー差分値と前記レイト差分値とが異符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が広くなる第1算出式を用いた前記第1誤差検出方法で前記誤差検出値を算出し、
前記アーリー差分値と前記レイト差分値とが同符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が狭い第2算出式を用いた第2誤差検出方法で前記誤差検出値を算出する、GNSS信号処理プログラム。 - 請求項5または請求項6に記載のGNSS信号処理プログラムを含み、追尾結果に基づいて前記コンピュータが測位演算を行う測位プログラムであって、
前記コンピュータは、
追尾しているGNSS信号と前記プロンプトレプリカ信号との相関結果から航法メッセージを取得し、
前記追尾しているGNSS信号に対する前記誤差検出値から擬似距離を算出し、
前記航法メッセージと前記擬似距離とを用いて測位演算を行う、測位プログラム。 - プロンプトレプリカ信号に対して第1コード位相進んだ第1アーリーレプリカ信号、前記プロンプトレプリカ信号に対して前記第1コード位相遅れた第1レイトレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相進んだ第2アーリーレプリカ信号、前記プロンプトレプリカ信号に対して第2コード位相遅れた第2レイトレプリカ信号のそれぞれと、前記GNSS信号との相関処理する相関部と、
前記GNSS信号と前記第1アーリーレプリカ信号との相関結果による第1アーリー相関値から、前記GNSS信号と前記第2アーリーレプリカ信号との相関結果による第2アーリー相関値を減算してアーリー差分値を算出し、前記GNSS信号と前記第1レイトレプリカ信号との相関結果による第1レイト相関値から、前記GNSS信号と前記第2レイトレプリカ信号との相関結果による第2アーリー相関値を減算してレイト差分値を算出し、前記アーリー差分値と前記レイト差分値との符号に基づいて誤差算出方法を設定し、設定した誤差算出方法を用いて前記誤差検出値を算出し、誤差検出値に基づいて前記プロンプトレプリカ信号のコード位相を制御する演算部と、
を備えたGNSS信号処理装置。 - 請求項8に記載のGNSS信号処理装置であって、
前記演算部は、
前記アーリー差分値と前記レイト差分値とが異符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が広くなる第1算出式を用いた前記第1誤差検出方法で前記誤差検出値を算出し、
前記アーリー差分値と前記レイト差分値とが同符号の場合に、前記誤差検出値が0でない値を取るコード位相範囲が狭い第2算出式を用いた第2誤差検出方法で前記誤差検出値を算出する、GNSS信号処理装置。 - 請求項8または請求項9に記載のGNSS信号処理装置を備え、追尾結果に基づいて測位演算を行う測位装置であって、
追尾しているGNSS信号と前記プロンプトレプリカ信号との相関結果から航法メッセージを取得する航法メッセージ解析部と、
前記追尾しているGNSS信号に対する前記誤差検出値から算出される擬似距離と前記航法メッセージとを用いて測位演算を行う測位演算部と、を有する測位装置。 - 請求項10に記載の測位装置を備えるとともに、
前記測位演算部の測位演算結果を用いて所定のアプリケーションを実行するアプリケーション処理部を、備える移動端末。
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