CN109917437A - Satellite navigation signal carrier phase multipath deviation elimination method based on APCRW correlator - Google Patents
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Abstract
The invention provides a satellite navigation signal carrier phase multipath deviation eliminating method based on an APCRW correlator, which designs an auxiliary code reference waveform with power compensation capability on the basis of a time-reference code reference waveform. The influence of multipath fading on the satellite navigation signal carrier phase measurement is eliminated by estimating the carrier phase multipath error. The invention also designs a satellite navigation receiver by utilizing the method, and combines the ACRW correlator and the PCRW correlator to realize the elimination of the multipath deviation of the carrier phase. The invention is simple to realize and very convenient to implement, and can be directly used for a carrier tracking loop of a traditional navigation receiver.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a satellite navigation signal carrier phase multipath deviation elimination method based on an auxiliary punctual branch reference waveform (APCRW) correlator, which can be applied to a satellite navigation signal receiver or other types of spread spectrum receivers.
Background
Multipath fading is one of the most dominant error sources in satellite navigation positioning systems. In urban multipath environments, satellite navigation receiver pseudoranges and carrier phase measurements can be skewed by being affected by Non-Line of Sight (NLOS) signals generated by building transmissions. The multi-path deviation of the pseudo-range may generate meter-level positioning error, while the carrier phase multi-path may cause cycle slip of the measured value, even affect the time and success rate of the carrier phase whole-cycle ambiguity resolution, and reduce the performance of high-precision positioning. Although there are many documents on the multipath estimation and suppression algorithms, there are still many places worth further research to improve the multipath resistance of the system.
For static or low dynamic users, the variation of multipath error is mainly influenced by the satellite motion and shows the characteristic of slow time-varying deviation. This makes it difficult to repair the carrier multipath deviation in a short time even with the data filtering method. At present, a great deal of literature has been devoted to the study of multipath techniques. Compared with pseudorange multipath, carrier phase multipath has less influence but greater processing difficulty. However, since high-precision positioning depends mainly on carrier phase, the influence of carrier multipath error on high-precision users is not negligible.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a satellite navigation signal carrier phase multipath deviation elimination method based on an APCRW correlator, aiming at eliminating the influence of multipath fading on satellite navigation signal carrier phase measurement by estimating carrier phase multipath errors.
In order to realize the technical purpose of the invention, the following technical scheme is adopted:
a satellite navigation signal carrier phase multipath deviation eliminating method based on an APCRW correlator comprises the following steps:
(1) carrying out quadrature digital down-conversion on the received original satellite navigation signal to obtain an in-phase component z of a baseband signali(t) and the orthogonal component zq(t)；
(2) In-phase component zi(t) multiplying the reference waveform of the time-reference code (PCRW) and then obtaining an integral accumulated value I through integral accumulation operationPSOrthogonal component zq(t) multiplying the reference waveform of the time-reference code (PCRW) and then obtaining an integral accumulated value Q through integral accumulation operationPS；
(3) In-phase component zi(t) multiplying the Auxiliary Code Reference Waveform (ACRW) and then obtaining an integral accumulation value I through integral accumulation operationAS(ii) a Orthogonal component zq(t) multiplying the Auxiliary Code Reference Waveform (ACRW) and then obtaining an integral accumulation value Q through integral accumulation operationAS；
(4) Calculating carrier loop tracking errorAnd carrier phase multipath error
(5) Eliminating carrier phase multipath error;
for carrier phase multipath errorFiltering to obtain smoothed multipath error correctionUsing multipath error correctionAnd correcting the carrier phase measurement value of the original satellite navigation signal, and eliminating the influence of signal multipath on the carrier phase measurement.
A satellite navigation receiver comprises a carrier wave generator, a time code reference waveform generator, an auxiliary code reference waveform generator, a 1# time code reference waveform correlator, a 2# time code reference waveform correlator, a 1# auxiliary code reference waveform correlator, a 2# auxiliary code reference waveform correlator, an integral accumulator, a phase discriminator, a carrier loop filter and a smoothing filter.
A carrier generator for performing quadrature digital down-conversion on the received original satellite navigation signal and outputting in-phase component z of the baseband signali(t) and the orthogonal component zq(t); in-phase component zi(t) simultaneously inputting the 1# time-reference code correlator and the 1# auxiliary code reference waveform correlator; orthogonal component zq(t) simultaneously inputting the 2# time-reference code waveform correlator and the 2# auxiliary code waveform correlator;
the time code reference waveform generator generates a time code reference waveform and inputs the time code reference waveform into the 1# time code reference waveform correlator and the 2# time code reference waveform correlator respectively;
an auxiliary code reference waveform generator for generating an auxiliary code reference waveform and inputting the auxiliary code reference waveform into the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator respectively;
the output ends of the 1# time code reference waveform correlator, the 2# time code reference waveform correlator, the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator are respectively connected with an integral accumulator, each integral accumulator carries out integral accumulation on the correlation result output by each correlator, each integral accumulation result is input to a phase discriminator, the phase discriminator obtains a carrier loop tracking error and a carrier phase multipath error, a carrier loop filter carries out filtering and noise reduction processing on the carrier loop tracking error, estimates the carrier initial phase and the Doppler frequency of a received original satellite navigation signal and outputs the estimated values of the carrier initial phase and the Doppler frequency of the original satellite navigation signal to a carrier generator, generating a local carrier signal; the smoothing filter filters the multipath error of the carrier phase to obtain the smoothed multipath error correction quantity; and correcting the carrier phase measurement value of the original satellite navigation signal by using the multipath error correction quantity, and eliminating the influence of signal multipath on the carrier phase measurement.
Compared with the prior art, the invention can produce the following technical effects:
the invention designs an Auxiliary Code Reference Waveform (ACRW) with power compensation capability on the basis of researching a standard time Code Reference Waveform (PCRW), provides an Automatic Code Reference Waveform (ACRW) method for combining an ACRW correlator and a PCRW correlator, and designs a satellite navigation receiver by utilizing the method.
The invention can separate carrier tracking and carrier multipath, and obtains fully matched combined estimated carrier phase and partially matched combined estimated carrier multipath by combining the time-reference code reference waveform correlator and the auxiliary code reference waveform correlator. Simulation and actual measurement results show that when gate width of a reference waveform takes 1/8 chips, the multipath resistance of the invention is improved by 73.8% compared with the traditional matching receiving method, and the tracking sensitivity of a carrier loop is kept unchanged. In addition, the whole implementation process of the invention only changes the waveform shape of the local reference code of the classical receiver and does not involve complex operations such as matrix inversion, characteristic decomposition and the like, so the invention has simple implementation, small operand and very convenient implementation and can be directly used for the carrier tracking loop of the traditional navigation receiver.
Drawings
Fig. 1 is a block diagram of a satellite navigation receiver provided in embodiment 1 of the present invention;
FIG. 2 is a time-reference code and an auxiliary code reference waveform;
fig. 3 is a diagram illustrating correlation curves of a direct signal, a multi-path signal and a composite signal under an infiniband condition.
FIG. 4 is a carrier multipath error envelope under infiniband conditions;
FIG. 5 is a carrier multipath error envelope under limited bandwidth conditions;
FIG. 6 shows the carrier phase accuracy simulation results of the FMRW, PCRW and APCRW methods under different carrier-to-noise ratios;
FIG. 7 shows carrier phase multipath error estimates corresponding to different gate widths under the signal simulation source test condition;
FIG. 8 is a graph of carrier phase measurements for different gate widths under signal simulation source test conditions;
FIG. 9 shows carrier phase multipath errors corresponding to different satellites under the measured conditions of the sky;
fig. 10 shows carrier phase accuracy for different satellites.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a satellite navigation signal carrier phase multipath deviation eliminating method based on an APCRW correlator, which comprises the following steps:
(1) carrying out quadrature digital down-conversion on the received original satellite navigation signal to obtain an in-phase component z of a baseband signali(t) and the orthogonal component zq(t)。
The navigation receiver receives a satellite navigation signal, the received original satellite navigation signal r (t) can be equivalent to linear superposition of a direct signal (LOS, Line of Sight), an N-way Non-direct multipath signal (NLOS, Non-Line of Sight) and channel Additive White Gaussian Noise (AWGN), and r (t) is expressed as:
wherein,is the signal amplitude;is the signal carrier initial phase;delay the signal code phase; i equals 0 to represent LOS direct signal, i equals 1, …, and N represents N NLOS multipath signal; x (t) is a modulated baseband spreading code sequence; n (t) is a Gaussian white noise sequence.
When carrier phase estimation is carried out on received original satellite navigation signals by adopting a full-matching correlation method, local reference signals in a carrier tracking loopThe cross-correlation function with the received original satellite navigation signal may be expressed as:
wherein,indicating the initial phase of the signal carrierAn estimated value of (d); tau is0Representing an initial code phase of the signal; ω (τ) represents a correlation value of the local signal with the reception noise; the signal autocorrelation function R (τ) can be expressed as:
R(τ)＝∫x(t)x(t+τ)dt
(2) in-phase component zi(t) multiplying the reference waveform of the time-reference code (PCRW) and then obtaining an integral accumulated value I through integral accumulation operationPS. Orthogonal component zq(t) multiplying the reference waveform of the time-reference code (PCRW) and then obtaining an integral accumulated value Q through integral accumulation operationPS。
The time-code reference waveform (PCRW) can be described by the following equation:
wherein,representing the kth time reference waveform, ck(T) is a spreading code symbol, TCIs the spreading code symbol width.
(3) In-phase component zi(t) multiplying the Auxiliary Code Reference Waveform (ACRW) and then obtaining an integral accumulation value I through integral accumulation operationAS(ii) a Orthogonal component zq(t) multiplying the Auxiliary Code Reference Waveform (ACRW) and then obtaining an integral accumulation value Q through integral accumulation operationAS。
The Ancillary Code Reference Waveform (ACRW) can be described by the following equation:
wherein,representing the kth auxiliary code reference waveform, ck(T) is a spreading code symbol, TCIs the spreading code symbol width.
(4) Calculating carrier loop tracking errorAnd carrier phase multipath error
Because the ACRW reference code and the PCRW reference code are time-division FMRW reference codes, the output results of the ACRW correlator and the PCRW correlator are accumulated to obtain the integral accumulated value consistent with the FMRW correlator. Therefore, the carrier loop tracking error of the inventive method (i.e., the APCRW method) can be calculated as follows:
because the PCRW method has the capability of resisting carrier multipath, the carrier phase multipath error constructed by the method (i.e., the APCRW method) of the present invention is:
wherein,representing a carrier phase estimate received in full match.
(5) Eliminating carrier phase multipath error;
for carrier phase multipath errorFiltering to obtain smoothed multipath error correctionUsing multipath error correctionCorrecting the carrier phase measurement value of the original satellite navigation signal to eliminate the image of signal multipath on the carrier phase measurementAnd (6) sounding.
Referring to fig. 1, a block diagram of a satellite navigation receiver according to embodiment 1 of the present invention is provided. A satellite navigation receiver comprises a carrier wave generator, a time code reference waveform generator, an auxiliary code reference waveform generator, a 1# time code reference waveform correlator, a 2# time code reference waveform correlator, a 1# auxiliary code reference waveform correlator, a 2# auxiliary code reference waveform correlator, an integral accumulator, a phase discriminator, a carrier loop filter and a smoothing filter.
A carrier generator for performing quadrature digital down-conversion on the received original satellite navigation signal and outputting in-phase component z of the baseband signali(t) and the orthogonal component zq(t); in-phase component zi(t) simultaneously inputting the 1# time-reference code correlator and the 1# auxiliary code reference waveform correlator; orthogonal component zq(t) simultaneously inputting the 2# time-reference code waveform correlator and the 2# auxiliary code waveform correlator;
the time code reference waveform generator generates a time code reference waveform and inputs the time code reference waveform into the 1# time code reference waveform correlator and the 2# time code reference waveform correlator respectively;
an auxiliary code reference waveform generator for generating an auxiliary code reference waveform and inputting the auxiliary code reference waveform into the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator respectively;
the output ends of the 1# time code reference waveform correlator, the 2# time code reference waveform correlator, the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator are respectively connected with an integral accumulator, each integral accumulator carries out integral accumulation on the correlation result output by each correlator, each integral accumulation result is input to a phase discriminator, the phase discriminator obtains a carrier loop tracking error and a carrier phase multipath error, a carrier loop filter carries out filtering and noise reduction processing on the carrier loop tracking error, estimates the carrier initial phase and the Doppler frequency of a received original satellite navigation signal and outputs the estimated values of the carrier initial phase and the Doppler frequency of the original satellite navigation signal to a carrier generator, generating a local carrier signal; the smoothing filter filters the multipath error of the carrier phase to obtain the smoothed multipath error correction quantity; and correcting the carrier phase measurement value of the original satellite navigation signal by using the multipath error correction quantity, and eliminating the influence of signal multipath on the carrier phase measurement.
Fig. 2 is a time-reference and auxiliary-reference waveform. Both ACRW reference codes and PCRW reference codes are partially matched reference codes compared to FMRW-related spreading code sequences. The PCRW reference code takes only a small portion of the spread spectrum signal at the front end of each spreading code in order to eliminate the influence of the NLOS signal. The ACRW reference code is actually the remaining part of the spread spectrum signal of the PCRW reference code, i.e. the ACRW and PCRW correlators are split in time domain to the FMRW correlator.
Fig. 3 is a diagram illustrating correlation curves of a direct signal, a multi-path signal and a composite signal under an infiniband condition. It is assumed here that the amplitude of the direct signal is 1, the initial phase of the carrier is 0, the pseudo code phase delay is 0, the amplitude of the multipath signal is 0.25, the initial phase of the carrier is 0.5 pi, and the code phase delay is 0.2 chips. The correlation curve of the composite signal is a three-dimensional curve whose carrier phase is related to the code phase delay, the peak of the composite correlation peak is 1.02, the central code phase is 0, and the carrier phase (multipath error) is 11.31 °.
Fig. 4 is a carrier multipath error envelope under infiniband conditions. When the gate width W of the reference waveform is 1, the method of the present invention (APCRW method) is equivalent to the conventional FMRW method, i.e., it does not have carrier phase multipath suppression capability. As can be seen from fig. 4, the smaller the width of the gate wave, the better the multipath resistance of the method of the present invention (APCRW method). When the gate width W is 1/8, the carrier phase multipath error envelope area is reduced by about 87.5%.
Fig. 5 is a carrier multipath error profile under limited bandwidth conditions. For an actual satellite navigation receiver, the limited front-end signal broadband can distort the signal correlation peak, thereby reducing the estimation accuracy of the carrier phase multipath error of the method (APCRW method). It can be seen that the smaller the gate width of the reference waveform, the greater the effect of the finite bandwidth on its anti-multipath performance. Under the limited broadband condition of 10MHz, when the gate width W is 1/8, the carrier phase multipath error envelope area is reduced by about 73.8%.
Fig. 6 shows the carrier phase accuracy simulation results of three methods, FMRW, PCRW and the method of the present invention (APCRW method), under different carrier-to-noise ratios. The reference waveform gate width was set to 1/8 chips, the carrier loop bandwidth was 2Hz, and the carrier phase multipath error estimate was smoothed with a 0.2Hz low pass filter with a coherent integration time of 20 ms. Simulation results show that the influence of the compensation of the carrier phase multipath error on the carrier phase measurement is relatively small, and the precision loss of the carrier phase is about 0.8dB and is obviously less than the 9dB loss of the PCRW method.
Fig. 7 shows the carrier phase multipath error estimates for different gate widths under the signal simulation source test condition. The carrier phase multipath error estimation value time-varying curve obtained by the method (APCRW method) of the invention is used for traversing four gate width sizes respectively. When W is 1, the method (APCRW method) of the present invention can be equivalent to the FMRW method, that is, the estimated value of multipath error of carrier phase is always zero, and there is no multipath resistance. When W is 1/8, the carrier phase multipath error estimate is about 11.8 °, which coincides with the theoretical value (11.3 °).
FIG. 8 shows carrier phase measurements for different gate widths under signal simulation source test conditions. The carrier phase measurement value obtained by using the PCRW method to solve changes along with time, and four gate width sizes are traversed. Here, when W is 1, PCRW may also be equivalent to FMRW method. It can be seen from the experimental results that the smaller the gate width, the smaller the deviation of the carrier phase and the larger the amplitude of the carrier phase jitter.
Fig. 9 shows the carrier phase multipath errors corresponding to different satellites under the actual measurement condition of the day. It can be seen from the figure that the smaller the width of the gate wave, the larger the estimated value of the multipath error of the carrier phase, i.e. the stronger the multipath restraining capability of the carrier phase. For the 33-star, when the gate width W is 1/8, the maximum carrier phase multipath error is about 7.5 °.
Fig. 10 shows carrier phase accuracy for different satellites. The accuracy of the carrier phase measurement calculated here is calculated using three methods, FMRW, the method of the present invention (APCRW method) and PCRW. Wherein, FMRW is full-matching receiving, and jitter of carrier phase is minimum; the PCRF is partial reception, and the carrier phase jitter is maximum; the carrier phase measurement value of the method (APCRW method) of the invention introduces multipath correction error, therefore, the carrier phase jitter is slightly larger than that of the full-matching receiving method.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A satellite navigation signal carrier phase multipath deviation eliminating method based on an APCRW correlator is characterized by comprising the following steps:
(1) carrying out quadrature digital down-conversion on the received original satellite navigation signal to obtain an in-phase component z of a baseband signali(t) and the orthogonal component zq(t)；
(2) In-phase component zi(t) multiplying the reference waveform of the time code and then obtaining an integral accumulated value I through integral accumulation operationPSOrthogonal component zq(t) multiplication with a time-reference code waveformThen obtaining an integral accumulation value Q through integral accumulation operationPS；
(3) In-phase component zi(t) multiplying the auxiliary code reference waveform and then obtaining an integral accumulated value I through integral accumulation operationAS(ii) a Orthogonal component zqMultiplying the (t) and the auxiliary code reference waveform, and then obtaining an integral accumulation value Q through integral accumulation operationAS；
(4) Calculating carrier loop tracking errorAnd carrier phase multipath error
(5) And eliminating the multipath error of the carrier phase.
2. The APCRW correlator-based satellite navigation signal carrier phase multipath deviation cancellation method of claim 1, wherein the time-reference code reference waveform in step (2) can be described by the following formula:
wherein,representing the kth time reference waveform, ck(T) is a spreading code symbol, TCIs the spreading code symbol width.
3. The APCRW correlator-based satellite navigation signal carrier phase multipath deviation cancellation method of claim 1, wherein the auxiliary code reference waveform in step (3) can be described by the following formula:
wherein,representing the kth auxiliary code reference waveform, ck(T) is a spreading code symbol, TCIs the spreading code symbol width.
4. The APCRW correlator-based satellite navigation signal carrier phase multipath deviation elimination method of claim 1, wherein in the step (4), the carrier loop tracking errorObtained by the following formula:
carrier phase multipath errorObtained by the following formula:
5. the APCRW correlator-based satellite navigation signal carrier phase multipath deviation elimination method of claim 1, wherein in the step (5), the carrier phase multipath error is eliminatedFiltering to obtain smoothed multipath error correctionUsing multipath error correctionAnd correcting the carrier phase measurement value of the original satellite navigation signal, and eliminating the influence of signal multipath on the carrier phase measurement.
6. A satellite navigation receiver comprises a carrier wave generator, a time code reference waveform generator, an auxiliary code reference waveform generator, a 1# time code reference waveform correlator, a 2# time code reference waveform correlator, a 1# auxiliary code reference waveform correlator, a 2# auxiliary code reference waveform correlator, an integral accumulator, a phase discriminator, a carrier loop filter and a smoothing filter;
a carrier generator for performing quadrature digital down-conversion on the received original satellite navigation signal and outputting in-phase component z of the baseband signali(t) and the orthogonal component zq(t); in-phase component zi(t) simultaneously inputting the 1# time-reference code correlator and the 1# auxiliary code reference waveform correlator; orthogonal component zq(t) simultaneously inputting the 2# time-reference code waveform correlator and the 2# auxiliary code waveform correlator;
the time code reference waveform generator generates a time code reference waveform and inputs the time code reference waveform into the 1# time code reference waveform correlator and the 2# time code reference waveform correlator respectively;
an auxiliary code reference waveform generator for generating an auxiliary code reference waveform and inputting the auxiliary code reference waveform into the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator respectively;
the output ends of the 1# time code reference waveform correlator, the 2# time code reference waveform correlator, the 1# auxiliary code reference waveform correlator and the 2# auxiliary code reference waveform correlator are respectively connected with an integral accumulator, each integral accumulator carries out integral accumulation on the correlation result output by each correlator, each integral accumulation result is input to a phase discriminator, the phase discriminator obtains a carrier loop tracking error and a carrier phase multipath error, a carrier loop filter carries out filtering and noise reduction processing on the carrier loop tracking error, estimates the carrier initial phase and the Doppler frequency of a received original satellite navigation signal and outputs the estimated values of the carrier initial phase and the Doppler frequency of the original satellite navigation signal to a carrier generator, generating a local carrier signal; the smoothing filter filters the multipath error of the carrier phase to obtain the smoothed multipath error correction quantity; and correcting the carrier phase measurement value of the original satellite navigation signal by using the multipath error correction quantity, and eliminating the influence of signal multipath on the carrier phase measurement.
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| 孙鹏跃 等: "《BDS导航信号抗电离层闪烁载波跟踪的自适应卡尔曼滤波算法》", 《国防科技大学学报》 * |
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