WO2017208160A1 - Récepteur gnss et procédé de réception à très large bande de signaux gnss - Google Patents

Récepteur gnss et procédé de réception à très large bande de signaux gnss Download PDF

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Publication number
WO2017208160A1
WO2017208160A1 PCT/IB2017/053187 IB2017053187W WO2017208160A1 WO 2017208160 A1 WO2017208160 A1 WO 2017208160A1 IB 2017053187 W IB2017053187 W IB 2017053187W WO 2017208160 A1 WO2017208160 A1 WO 2017208160A1
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WO
WIPO (PCT)
Prior art keywords
signals
frequency
group
navigation
mhz
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Application number
PCT/IB2017/053187
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English (en)
Inventor
Sergey Lyusin
Original Assignee
Magellan Systems Japan, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Magellan Systems Japan, Inc. filed Critical Magellan Systems Japan, Inc.
Publication of WO2017208160A1 publication Critical patent/WO2017208160A1/fr

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Classifications

    • 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
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end

Definitions

  • the present invention relates to GNSS receivers. More specifically, the present invention relates to a super-wideband GNSS receiver and a method for receiving super- wideband GNSS signals.
  • GNSS Global Navigation Satellite Systems
  • GPS Global Positioning System
  • GLONASS Russian Global Orbiting Navigation Satellite System
  • BDS BeiDou Satellite Navigation System
  • QZSS Japanese Quasi-Zenith Satellite System
  • GNSS frequency bands are allocated to various satellite systems and their respective bands.
  • the GPS has LI band (Center Frequency: 1575.42 MHz), L2 band (1227.60 MHz), and L5 band (1176.45 MHz).
  • the GLONASS has LI (Gl) band (1602 MHz), L2 (G2) band (1246 MHz), and L3 (G3) band (1202.025 MHz).
  • the Galileo has El band (1575.42 MHz), E5 band
  • the BeiDou has B l band (1561.098 MHz), B l-2 band (1589.74 MHz), B2 band (1207.14 MHz), and B3 band (1268.52 MHz).
  • the QZSS has LI band (1575.42 MHz), E6/LEX band (1278.75 MHz), L2 band (1227.60MHz), and L5 band (1176.45 MHz).
  • the GNSS may have other frequency bands not mentioned above.
  • FIG. 2 shows a table of some of the GNSS frequency bands.
  • FIG. 2 schematically illustrates an example of a conventional super heterodyne wideband GNSS receiver which is adapted to receive two frequency bands.
  • a respective front-end is provided as a receiver path for each of the frequency bands, where each frequency band corresponds to one of the satellite signals.
  • the GNSS receiver need to have the same number of multiple receiver paths (RF chips) as the number of the navigation signal frequency bands.
  • parallel receiver paths require increased hardware and power consumption.
  • the embodiments of the present invention provide a method for receiving and processing GNSS signals in super-wide frequency band with lesser increase of hardware, and a GNSS receiver implementing the method.
  • the method includes (a) receiving wideband GNSS signals via an antenna, the GNSS signals including a first plurality of navigation signals from one or more satellite systems, each navigation signal having a respective frequency range, (b) separating the received GNSS signals, by filtration, into a second plurality of frequency bands, each frequency band including a group of navigation signals from among the first plurality of navigations signals, (c) amplifying the group of navigation signals in each frequency band, (d) performing one or more frequency down- conversion onto the group of navigation signals in each frequency band into a group of intermediate frequency (IF) signals with a predetermined band width, (e) performing analog-to-digital conversion onto the group of IF signals to output a group of digitized IF signals, (f) digital filtering and separating the group of digitized IF signals into individual signals of the navigation systems, and (g) performing subsequent digital processing onto the separated individual signals of the navigation systems to generate solutions.
  • IF intermediate frequency
  • the digital separating and filtering may be performed under software control, and this software may adaptively adjust frequency characteristics of digital filters that separate the group of digitized IF signals into the individual signals of navigation systems, thereby providing a high quality of navigation solution and a sufficient level of interference immunity.
  • the second plurality of frequency bands may be a full set or any subset of frequency bands selected from among the group consisting of approximately the following bands: 1560 to 1610 MHz (Fl), 1165 to 1215 MHz (F5), 1215 to 1260 MHz (F2), and 1260 tol300 MHz (F6).
  • the performing one or more frequency down-conversion may include down-converting the frequency bands Fl and F6 to an intermediate frequency of approximately 150 MHz with a predetermined bandwidth, using a joint heterodyne.
  • the final stage of frequency down-conversion may transfer a signal spectrum of the group of signals to a final intermediate frequency, and the analog-to- digital conversion is performed in a single channel I-only processing.
  • the final stage of frequency down-conversion is performed using a quadrature (I / Q) down-converter, and the analog-to-digital conversion is performed in a two-channel I and Q processing.
  • the first plurality may be equal to or greater than twelve (12), and the second plurality may be equal to or smaller than four (4), and a number of signals included in the group of signals may be equal to or smaller than four (4).
  • a GNSS receiver includes an antenna, a signal separator, a plurality of signal processing path, and a signal processing section.
  • the antenna receives wideband GNSS signals including a first plurality of navigation signals from one or more satellite systems, each navigation signal having a respective frequency range.
  • the signal separator separates, by filtration, the received GNSS signals into a second plurality of frequency bands, each frequency band including a group of navigation signals which are a subset of the first plurality of navigation signals.
  • the plurality of signal processing paths are provided to process the second plurality of frequency bands.
  • Each signal processing path includes an amplifier, at least one frequency down-converter, an analog- to-digital convertor, and a set of digital filters.
  • the amplifier receives corresponding one of the frequency bands and amplifies the group of navigation signals in the frequency band.
  • the at least one frequency down- convertor is coupled to the amplifier, and converts the amplified navigation signals into a group of intermediate frequency (IF) signals.
  • the analog-to-digital convertor is coupled to an output of the at least one frequency down-convertor, and generates digital signals including a group of digitized IF signals.
  • the set of digital filters receive and separate the group of digitized IF signals into individual navigation signals of the satellite systems.
  • the signal processing section that performs subsequent digital processing onto the individual navigation signals of the satellite systems to generate solutions.
  • the signal separator may include a signal splitter, at least one diplexer coupled to the signal splitter, and at least two filters coupled to the diplexer.
  • the digital filters are implemented by software, and may be adaptive digital filters whose frequency characteristics are adjustable so as to provide a high quality of navigation solution and a sufficient level of interference immunity.
  • the second plurality of frequency bands may be a full set or any subset of frequency bands selected from among the group consisting of approximately the following bands: 1560 to 1610 MHz (Fl), 1165 to 1215 MHz (F5), 1215 to 1260 MHz (F2), and 1260 to 1300 MHz (F6).
  • the at least one frequency down-convertor may include a final down- con vertor to obtain an intermediate frequency of approximately 150 MHz with a predetermined bandwidth; and a local oscillator providing a down-conversion frequency to both of the frequency bands Fl and F6.
  • the at least one frequency down-convertor may transfer a signal spectrum of the group of signals to have a final intermediate frequency, and the analog-to-digital convertor performs a single-channel I-only processing.
  • the at least one frequency down-converter may include a quadrature (I / Q) down-converter, and the analog-to-digital convertor performs a two-channel I and Q processing.
  • I / Q quadrature
  • FIG. 1 is a table of some of the GNSS signal frequency bands.
  • FIG. 2 is a block diagram schematically illustrating a conventional super heterodyne wideband GNSS receiver.
  • FIG. 3 is a block diagram schematically illustrating a super-wideband GNSS receiver in accordance with one embodiment of the present invention.
  • FIG. 4 shows a table of example of navigation signals and corresponding signal frequency ranges, and divided frequency bands in accordance with one embedment of the present invention.
  • FIG. 5 is a diagram schematically illustrating an example of multi-stage frequency down-convertor.
  • FIG. 6 is a flow chart illustrating a process flow of a method for receiving GNSS signals in accordance with one embodiment of the present invention.
  • FIG. 3 schematically illustrates an example of a GNSS receiver 100 in accordance with one embodiment of the present invention.
  • the GNSS receiver 100 receives GNSS signals at an antenna 10.
  • the GNSS receiver 100 is capable of receiving a super- wideband GNSS signals including a plurality of navigation signals from one or more satellite systems.
  • satellite systems include GPS, GLONASS, Galileo, BeiDou, and QZSS.
  • each navigation signal has a respective frequency range allocated thereto. Since some of the navigation signals from different satellite systems use the same center frequency, the currently used or available navigation signals may be categorized into twelve (12) frequency ranges.
  • FIG. 4 lists twelve navigation signals with respective notations (Gl, B l-2, LI, Bl, E6, B3, G2, L2, B2, G3, E5, and L5) and corresponding signal frequency ranges in MHz.
  • the navigation signal of the same notation may include signals from two or more satellite systems.
  • the total number of the frequency ranges does not have to be 12 or a specific number and may be increased or decreased in accordance with application.
  • the received GNSS signals are amplified by an amplifier 12 (typically a low noise amplifier) and then split by a signal splitter 14 into two signal channels.
  • the received GNSS signals are divided into a higher frequency part and a lower frequency part by filtration using a respective diplexer 16a, 16b.
  • the divided signals are further filtered using respective SAW filters 18.
  • the first diplexer 16a divides the received GNSS signals into a first frequency range Fl (1551 -1610 MHz) with a center frequency 1583.5 MHz, and a second frequency range F2 (1218 -1254 MHz) with a center frequency 1325.5 MHz.
  • the second diplexer 16b divides the received GNSS signals into a third frequency range F5 (1164 -1217 MHz) with a center frequency 1191.5 MHz, and a fourth frequency range F6 (1259 -1299 MHz) with a center frequency 1278.5 MHz.
  • the received GNSS signals are separated into four frequency bands Fl, F2, F5, and F6, which are also shown in the table of FIG. 4.
  • the frequency ranges may be slightly different: with the first frequency range Fl of 1560 - 1610 MHz; the second frequency range F2 of 1215 - 1260 MHz; the third frequency range F5 of 1165 - 1215 MHz; and the fourth frequency range F6 of 1260 - 1300 MHz.
  • These frequency bands include a respective group of navigation signals which are a subset of the originally received (12, in this example) navigation signals.
  • the first frequency band Fl (with a band width 59 MHz) may include four navigation signals Gl, Bl-2, LI, and B l, as shown in FIG. 4.
  • the second frequency band F2 (with a band width 36 MHz) may include two navigation signals G2 and L2;
  • the third frequency band F5 (with a band width 53 MHz) may include four navigation signals B2, G3, E5, and L5;
  • the fourth frequency band F6 (with a band width 40 MHz) may include two navigation signals E6 and B3, as shown in FIG. 4.
  • a band gap is provided between the third frequency band F5 and fourth frequency band F6 when the second diplexer 16b divides these two frequency bands, since the second frequency band F2 therebetween is processed by the first diplexer 16a.
  • Such a band gap facilitates clear separation of the two frequency bands F5 and F6 and reduces interference therebetween.
  • Each signal processing path includes an amplifier 20, at least one frequency down- converter including a mixer 22 and a SAW filter 24, an amplifier 26, an analog-digital convertor 28, and a set of digital filters 30.
  • the amplifier 20 receives one of the frequency bands (Fl, F2, F5, or F6) and amplifies the group of navigation signals in the frequency band.
  • the at least one frequency down-convertor (mixer) 22 is coupled to the amplifier 20, and converts the amplified navigation signals into a group of intermediate frequency (IF) signals.
  • the IF singles are filtered by the SAW filter 24, and then amplified by the amplifier 26 before being input to the analog-to-digital converter 28.
  • the resulting IF signals have a center frequency of 150 MHz with a band width of 50 MHz.
  • a suitable down-conversion frequency is supplied to each down-convertor (mixer) 22 from a local oscillator (not shown). It should be noted that by setting the IF at 150 MHz and dividing the GNSS signals into the frequency bands Fl, F2, F5, and F6 as noted above, the same down-conversion frequency (1430 MHz) from the same local oscillator can be used for both first and fourth frequency bands Fl and F6, thereby reducing the number of local oscillators.
  • the analog-to-digital convertor 28 is coupled to the amplified output of the at least one frequency down-convertor, and generates a group of digitized IF signals corresponding to the multiple navigation signals from multiple satellite systems.
  • the set of digital filters 30 receive the group of digitized IF signals and separate them into individual navigation signals of the multiple satellite systems. For example, for the frequency band Fl, the digital filters 30 separate the digitized IF signals into the individual navigation signals of Gl, B l-2, LI , and B l based on their respective center frequencies. Similarly, for the frequency band F2, the digital filters 30 separate the digitized IF signals into the individual navigation signals G2 and L2 based on their respective center frequencies.
  • a signal processing section (not shown) performs subsequent digital processing onto the individual navigation signals of the satellite systems to generate solutions.
  • Such digital processing includes, for example, obtaining the baseband signal, correlation, synchronization, obtaining time, calculating position, and the like.
  • the digital filters 30 are controlled by software.
  • the digital filters 30 may be adaptive digital filters whose frequency characteristics are adjustable so as to provide a high quality of navigation solution and a sufficient level of interference immunity.
  • a super wideband GNSS receiver needs to separate received multichannel/multiband GNSS signals into individual channels/frequency bands, and thus if the received GNSS signals include 12 different frequency ranges of navigation signals, there should be 12 arrays/cannels or receiver paths to
  • the software-controlled digital filters are more flexible to configure and easier to fine-tune the filtering characteristics, they can be adjusted to obtain optimum conditions for the application, for example, signal strength, resolution, processing time, amount of interference, and the like. Furthermore, performing the frequency down-conversion before the digital filtering makes the software
  • the received GNSS signals are separated into four frequency bands: Fl band of approximately 1560 to 1610 MHz, F5 band of approximately 1165 to 1215 MHz, F2 band of approximately 1215 to 1260 MHz, and F6 band of approximately 1260 to 1300 MHz. That is, in accordance with this embodiment, the four frequency bands are received using one RF chip, compared with the conventional method in which four RF chips are necessary to receive four frequency bands.
  • the frequency bands are not limited to these four frequency bands, but any subset of these four frequency bands can be used.
  • the number of the receiver paths (channel) may be 2, 3, or 4, depending on which signals are to be received and processed in a specific application of the GNSS receiver.
  • the frequency bands F6 and F2 may be processed in one hardware-based channel, and then the digital filters 30 may separate the combined frequency bands F6/F2 into the four individual frequency ranges E6, B3, G2, and L2 (see FIG. 4).
  • the frequency down converter in each receiver path may be multi-staged, for example, such as a two-stage frequency down-convertor 220 shown in FIG. 5.
  • the two-stage frequency down-convertor 220 uses two mixers 42 and 44 and corresponding two local oscillators.
  • the at least one frequency down-convertor may transfer a signal spectrum of the group of signals of the frequency band to have a final intermediate frequency (150 MHz in this example), and the analog-to-digital convertor 28 may perform a single-channel I-only processing.
  • the at least one frequency down-converter may include a quadrature (I / Q) down-converter, and the analog-to- digital convertor 28 may perform a two-channel I and Q processing.
  • the GNSS signal receiving method separates the received GNSS signals into a plurality of frequency bands by filtration, such that each of the frequency bands includes signals of one or more satellite navigation systems.
  • This first stage frequency band separation is performed by hardware-based receiver paths (channels).
  • the signals are amplified and then one or more frequency down-conversion and analog-to-digital conversion of the signals are performed, which are also performed in the hardware-based receiver paths (channels).
  • each of the individual frequency ranges of navigation signals from multiple satellite systems is separated using digital filtering. That is, the second stage frequency range separation is performed by the software-based digital filters. And then digital processing is performed on the each of the separated individual navigation signals.
  • Frequency characteristics of the digital filters that separate signals of the individual navigation systems can be adaptively adjusted to ensure the best quality of navigation solution and a sufficient level of interference immunity.
  • the frequency bands separated by filtering may represent the full set or any subset of the following frequency bands: approximately 1560 -1610 MHz (Fl), approximately 1165 ⁇ 1215 MHz (F5), approximately 1215 -1260 MHz (F2), and approximately 1260 -1300 MHz (F6).
  • An intermediate frequency may be obtained if after-the-first-down-con version frequency is equal to approximately 150 MHz, which allows the use of a joint heterodyne for down converting the frequency bands Fl and F6.
  • other IF may also be used.
  • the last frequency down- conversion may transfer the signal spectrum to the last intermediate frequency, and then performs the single-channel analog-to-digital conversion (I-only processing).
  • the last frequency down- conversion may be performed using quadrature (I / Q) downconverter, and then performs the two-channel analog-to-digital conversion (I and Q processing).
  • FIG. 6 is a process flow chart of a method for receiving and processing GNSS signals in accordance with one embodiment of the present invention. This process may be performed with the GNSS receiver 100 described above.
  • Wideband GNSS signals is received via an antenna, where the GNSS signals include a first plurality (Nl) of navigation signals from one or more satellite systems (Step 102). Each navigation signal has a respective frequency range, for example, as shown in the table in FIG. 4.
  • the received GNSS signals are separated by filtration into a second plurality (N2) of frequency bands (Step 104).
  • such frequency bands may be: Fl (1551 to 1610 MHz), F6 (1259 to 1299 MHz), F2 (1218 to 1254 MHz), and F5 (1164 to 1217 MHz), as shown in the table of FIG. 4.
  • Each frequency band includes a corresponding group of navigation signals from among the first plurality (Nl) of navigations signals.
  • the band width of each frequency band may be slightly wider or narrower (by a few MHz) so long as the frequency ranges of the corresponding group of navigation signals are included therein.
  • Each frequency band is processed through a corresponding receiver path (channel), and the group of navigation signals in each frequency band are amplified (Step 106). And one or more frequency down-conversion is performed onto the group of navigation signals in each frequency band so as to generate a group of intermediate frequency (IF) signals (Step 108).
  • Each group of IF signals may have a center frequency of approximately 150 MHz and a band width of approximately 50 MHz after filtration.
  • Analog-to-digital conversion is performed onto the group of IF signals, thereby outputting a group of digitized IF signals (Step 110). Digital filtering is performed on the group of digitized IF signals so as to separate them into individual signals of the navigation systems (Step 112).
  • the digitized IF signals corresponding to the Fl frequency band are separated into the individual signals corresponding to the frequency ranges Gl , Bl-2, LI, and B l in accordance with the respective center frequencies. Then, subsequent digital processing is performed onto the separated individual signals of the navigation systems (Step 114) so as to generate solutions (Step 116).
  • the steps 104 through 112 are performed by hardware-based receiver paths (channels), while step 114 is performed by software-based digital filters.
  • the digital filtering (Step 112) may include adaptively adjusting frequency characteristics of digital filters that separate the group of digitized IF signals into the individual signals of navigation systems, thereby providing a high quality of navigation solution and a sufficient level of interference immunity.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Superheterodyne Receivers (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un récepteur GNSS qui (a) reçoit des signaux GNSS à large bande comprenant une première pluralité de signaux de navigation provenant d'un ou plusieurs systèmes satellitaires, chaque signal de navigation ayant une plage de fréquences respective, (b) sépare les signaux GNSS reçus, par filtrage, en une deuxième pluralité de bandes de fréquence, chaque bande de fréquence comprenant un groupe de signaux de navigation, (c) amplifie le groupe de signaux de navigation dans chaque bande de fréquence, (d) effectue une ou plusieurs conversions à la baisse de fréquence sur le groupe de signaux de navigation dans chaque bande de fréquence en un groupe de signaux de fréquence intermédiaire (IF) ayant une largeur de bande prédéterminée, (e) effectue une conversion analogique-numérique sur le groupe de signaux IF pour délivrer en sortie un groupe de signaux IF numérisés, (f) filtre numériquement et sépare le groupe de signaux IF numérisés en signaux individuels des systèmes de navigation, et (g) effectue un traitement numérique consécutif sur les signaux individuels séparés des systèmes de navigation pour générer des solutions.
PCT/IB2017/053187 2016-05-31 2017-05-31 Récepteur gnss et procédé de réception à très large bande de signaux gnss WO2017208160A1 (fr)

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US62/343,643 2016-05-31

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109752732A (zh) * 2019-01-17 2019-05-14 上海华测导航技术股份有限公司 一种gnss高低导航频带分别处理的电路结构
WO2020121033A1 (fr) * 2018-12-12 2020-06-18 Magellan Systems Japan, Inc. Récepteur de navigation très fiable
US20220123828A1 (en) * 2020-10-16 2022-04-21 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver

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EP1669773A1 (fr) * 2004-12-09 2006-06-14 Seiko Epson Corporation Dispositif de réception de signal et méthode de control pour le dispositif de réception de signal.
EP1988407A1 (fr) * 2007-05-02 2008-11-05 Septentrio N.V. Circuit frontal pour système de navigation satellite
US20090207075A1 (en) * 2008-02-20 2009-08-20 Stuart Riley Sample decimation in a GNSS receiver
US20120026039A1 (en) * 2010-07-27 2012-02-02 Texas Instruments Incorporated Single rf receiver chain architecture for gps, galileo and glonass navigation systems, and other circuits, systems and processes

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
EP1669773A1 (fr) * 2004-12-09 2006-06-14 Seiko Epson Corporation Dispositif de réception de signal et méthode de control pour le dispositif de réception de signal.
EP1988407A1 (fr) * 2007-05-02 2008-11-05 Septentrio N.V. Circuit frontal pour système de navigation satellite
US20090207075A1 (en) * 2008-02-20 2009-08-20 Stuart Riley Sample decimation in a GNSS receiver
US20120026039A1 (en) * 2010-07-27 2012-02-02 Texas Instruments Incorporated Single rf receiver chain architecture for gps, galileo and glonass navigation systems, and other circuits, systems and processes

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020121033A1 (fr) * 2018-12-12 2020-06-18 Magellan Systems Japan, Inc. Récepteur de navigation très fiable
JP2022520315A (ja) * 2018-12-12 2022-03-30 マゼランシステムズジャパン株式会社 高信頼性ナビゲーション受信機
US11802974B2 (en) 2018-12-12 2023-10-31 Magellan Systems Japan, Inc. Highly reliable navigation receiver
CN109752732A (zh) * 2019-01-17 2019-05-14 上海华测导航技术股份有限公司 一种gnss高低导航频带分别处理的电路结构
US20220123828A1 (en) * 2020-10-16 2022-04-21 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver
US11764862B2 (en) * 2020-10-16 2023-09-19 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver
US20230421245A1 (en) * 2020-10-16 2023-12-28 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver

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