CN108873024A - A method of secondary ring is floated using clock - Google Patents
A method of secondary ring is floated using clock Download PDFInfo
- Publication number
- CN108873024A CN108873024A CN201710666685.7A CN201710666685A CN108873024A CN 108873024 A CN108873024 A CN 108873024A CN 201710666685 A CN201710666685 A CN 201710666685A CN 108873024 A CN108873024 A CN 108873024A
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- Prior art keywords
- clock drift
- clock
- ring
- doppler
- model
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Classifications
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, 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
- G01S19/24—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
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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)
- Electric Clocks (AREA)
Abstract
A kind of method using clock drift secondary ring of the present invention, includes the following steps：Step S1, the pseudorange rates of generation are repaired and is rejected, the carrier wave that cycle slip occurs is distinguished；Step S2, the equation that tests the speed is established according to pseudorange change rate, the clock drift value of calculating fits the parameter of self-stabilization motion model, clock drift model is established with the clock drift measured, the parameters of model are obtained by least square, then newest clock drift value and the clock drift value of model prediction are compared, difference is excessive will to end output；Step S3, original clock drift is obtained, not homologous ray is converted into the auxiliary parameter of different frequent points, and associate with carrier wave ring and code ring, is eliminated by crystal oscillator drift bring Doppler contribution.Method of the present invention, algorithm is simple and reliable, will not cause great burden to resource.The method that the present invention states adapts to the crystal oscillator of various grades, and the sensitivity of data and reliability are improved.
Description
Technical field
The present invention relates to navigation field more particularly to a kind of methods using clock drift secondary ring.
Background technique
High precision and high sensitivity positioning is widely used in various mappings and carrier navigation field now.The stability of data is straight
Connect the performance indicator for influencing product, especially this index of data user rate.The product substantially function of current each producer is all
It has been provided with, but becomes the hot spot of research in next step on how improving the quality of data and product index.Wherein external producer
Forefront has been gone in this respect, and due to technology blockage and commercial value etc., there are no such as producer both at home and abroad now
What improves data reliability, and the technology external disclosure of stability etc., paper and patent are also almost without the explanation of this respect.
Herein based on the B380 multimode multi-frequency high-precision board ground certainly, the auxiliary for how utilizing clock drift to carrier loop, the party are elaborated
Method Project Realization is simple and works well, and has a certain upgrade to the sensitivity of loop.
Summary of the invention
The present invention provides a kind of methods for improving loop dynamics and sensitivity.It is intended to during loop tracks
It eliminates since clock floats bring Doppler contribution, to improve the reliability of loop.Thoughts and processing stream of the invention
Journey is as follows：
Step S1, the pseudorange rates of generation are repaired and is rejected, the carrier wave that cycle slip occurs is distinguished；
Step S2, it is tested the speed equation according to the foundation of pseudorange change rate, the clock drift value of calculating fits self-stabilization motion model
Parameter, with measure clock drift establish clock drift model, the parameters of model are obtained by least square, then by newest clock
Drift value and the clock drift value of model prediction compare, and difference is excessive will to end output；
Step S3, obtain original clock drift, not homologous ray be converted into the auxiliary parameter of different frequent points, and with carrier wave ring and
Code ring associates, and eliminates by crystal oscillator drift bring Doppler contribution.
The above-mentioned method using clock drift secondary ring, wherein the clock drift value that model obtains is floated according to clock, is first converted into logical
Doppler frequency word needed for road tracking, in the NCO frequency word for the carrier loop that is then added to.
The above-mentioned method using clock drift secondary ring, wherein the auxiliary of code ring leans on the doppler values of carrier wave ring, and clock drift produces
Raw Doppler does not assist directly.
The above-mentioned method using clock drift secondary ring, wherein clock drift generates the step of instrumental value of corresponding loop and includes：
Clock drift value divided by the wavelength of corresponding loop multiplied by the time of integration, with obtain generating during once setting NCO due to clock drift
Doppler values.
The above-mentioned method using clock drift secondary ring, wherein step S2 further includes：
The clock deviation value handled is converted into the aided Doppler of loop needs, how general is obtained using clock deviation divided by wavelength
Strangle, the optional word under the time span is then determined according to the setting time of NCO, is added in carrier loop, code ring it is auxiliary
It helps and is provided by carrier wave ring.
Method of the present invention, algorithm is simple and reliable, will not cause great burden to resource.The method energy that the present invention states
The crystal oscillator of various grades is adapted to, the sensitivity of data and reliability are improved.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of work flow diagram that secondary ring is floated using clock that a kind of example of the present invention provides；
Fig. 2 is the step flow chart of present invention setting NCO.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
Currently, about the influence and processing clock floated to loop, this is described in detail in related patents not yet, some
Only simple to improve from loop parameter itself, such as the time of integration, the parameters such as loop bandwidth, these processing has been ground
That studies carefully is very thorough, but often index still has some gaps with external producer, and method set forth herein can be improved significantly
Loop dynamics, to there is bigger adjustment space on loop bandwidth.So that the quality of data can be improved up again.
It is shown referring to Figures 1 and 2 the present invention provides a kind of method using clock drift secondary ring, include the following steps：
S1, the pseudorange rates of generation are repaired and is rejected, the carrier wave that cycle slip occurs is distinguished；
S2, it is tested the speed equation according to the foundation of pseudorange change rate, the clock drift value of calculating fits self-stabilization motion model
(ARMA) parameter establishes clock drift model with the clock drift measured, obtains the parameters of model by least square, then will most
The clock drift value of new clock drift value and model prediction compares, and difference is excessive will to end output；
S4, original clock drift is obtained, not homologous ray is converted into the auxiliary parameter of different frequent points, and with carrier wave ring and code ring
It associates, eliminates by crystal oscillator drift bring Doppler contribution.
In an optional embodiment of the invention, the clock drift value that model obtains is floated according to clock, is first converted into channels track institute
The Doppler frequency word needed, in the NCO frequency word for the carrier loop that is then added to.
Establishing the observed quantity needed before the equation that tests the speed is pseudorange change rate, and used herein is the pseudorange that carrier phase obtains
Change rate, such change rate rate accuracy and clock drift precision are higher, but cycle slip easily occurs for carrier phase, needs to such
Situation identification and reparation.
Further, the clock deviation value that step S2 has been handled also needs to be converted into the aided Doppler of loop needs, calculates and thinks
Road is that clock deviation divided by wavelength obtains Doppler, then determines the optional word under the time span according to the setting time of NCO, so
After be added in carrier loop, the auxiliary of code ring is provided by carrier wave ring.
In an optional embodiment of the invention, the auxiliary of code ring leans on the doppler values of carrier wave ring, and how general clock drift generate
Le does not assist directly.
In an optional embodiment of the invention, clock floats the step of generating the instrumental value for corresponding to loop and includes：Clock drift value is removed
To correspond to the wavelength of loop multiplied by the time of integration, to obtain the doppler values generated during once setting NCO due to clock drift.
Method of the present invention, algorithm is simple and reliable, will not cause great burden to resource.The method energy that the present invention states
The crystal oscillator of various grades is adapted to, the sensitivity of data and reliability are improved.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (5)
1. a kind of method using clock drift secondary ring, which is characterized in that include the following steps：
Step S1, the pseudorange rates of generation are repaired and is rejected, the carrier wave that cycle slip occurs is distinguished；
Step S2, it is tested the speed equation according to the foundation of pseudorange change rate, the clock drift value of calculating fits the ginseng of self-stabilization motion model
Number establishes clock drift model with the clock drift measured, the parameters of model is obtained by least square, then by newest clock drift value
It is compared with the clock drift value of model prediction, difference is excessive will to end output；
Step S3, original clock drift is obtained, not homologous ray is converted into the auxiliary parameter of different frequent points, and with carrier wave ring and code ring
It associates, eliminates by crystal oscillator drift bring Doppler contribution.
2. utilizing the method for clock drift secondary ring as described in claim 1, which is characterized in that float the clock that model obtains according to clock
Drift value, Doppler frequency word needed for being first converted into channels track, in the NCO frequency word for the carrier loop that is then added to.
3. utilizing the method for clock drift secondary ring as claimed in claim 2, which is characterized in that the auxiliary of code ring is by carrier wave ring
Doppler values, the Doppler that clock drift generates do not assist directly.
4. utilizing the method for clock drift secondary ring as claimed in claim 2, which is characterized in that clock drift generates the auxiliary of corresponding loop
The step of helping value include：Clock drift value divided by the wavelength of corresponding loop multiplied by the time of integration, to obtain during once setting NCO
The doppler values generated due to clock drift.
5. utilizing the method for clock drift secondary ring as claimed in claim 2, which is characterized in that step S2 further includes：
The clock deviation value handled is converted into the aided Doppler of loop needs, obtains Doppler divided by wavelength using clock deviation, so
The optional word under the time span is determined according to the setting time of NCO afterwards, is added in carrier loop, the auxiliary of code ring is by carrying
Wave ring provides.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017103391265 | 2017-05-15 | ||
| CN201710339126 | 2017-05-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108873024A true CN108873024A (en) | 2018-11-23 |
| CN108873024B CN108873024B (en) | 2022-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710666685.7A Active CN108873024B (en) | 2017-05-15 | 2017-08-07 | Method for assisting loop by using clock drift |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070211791A1 (en) * | 2005-09-07 | 2007-09-13 | Suman Ganguly | Coherent processing using composite codes |
| CN103995269A (en) * | 2014-05-26 | 2014-08-20 | 南京理工大学 | Method for inertial information assisting GNSS tracking loop |
| CN106199655A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of vector tracking method based on federated filter |
| CN106199652A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of self adaptation vector tracking method of GPS |
| CN106501832A (en) * | 2016-12-16 | 2017-03-15 | 南京理工大学 | A kind of fault-tolerant vector tracking GNSS/SINS deep integrated navigation methods |
-
2017
- 2017-08-07 CN CN201710666685.7A patent/CN108873024B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070211791A1 (en) * | 2005-09-07 | 2007-09-13 | Suman Ganguly | Coherent processing using composite codes |
| CN103995269A (en) * | 2014-05-26 | 2014-08-20 | 南京理工大学 | Method for inertial information assisting GNSS tracking loop |
| CN106199655A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of vector tracking method based on federated filter |
| CN106199652A (en) * | 2016-06-24 | 2016-12-07 | 南京理工大学 | A kind of self adaptation vector tracking method of GPS |
| CN106501832A (en) * | 2016-12-16 | 2017-03-15 | 南京理工大学 | A kind of fault-tolerant vector tracking GNSS/SINS deep integrated navigation methods |
Non-Patent Citations (3)
| Title |
|---|
| MARYAM ABEDI等: "Improvement in tracking loop threshold of high dynamic GNSS receiver by installation of crystal oscillator on gyroscopic mounting", 《2015 JOINT CONFERENCE OF THE IEEE INTERNATIONAL FREQUENCY CONTROL SYMPOSIUM & THE EUROPEAN FREQUENCY AND TIME FORUM》 * |
| 张提升: "GNSS_INS标量深组合跟踪技术研究与原型系统验证", 《中国优秀博士学位论文全文数据库 信息科技辑》 * |
| 陈小鱼: "双系统高动态导航接收机基带技术研究与实现", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
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| CN108873024B (en) | 2022-01-28 |
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